{
  "schema_version": 1,
  "diagnostic_only": true,
  "extrinsic_was_modified": false,
  "equation": "delta_ij = B_ij^-1 * (X^-1 * A_ij * X)",
  "correction_convention": "X_test = DeltaR_body * X; DeltaR uses fixed body xyz RPY axes",
  "component_frame": "delta translation/RPY components are in station-j LiDAR coordinates, not screen axes",
  "selection_rule": "Never accept a correction from selected_pair alone. Require improvement over all refined pairs, directional consistency across pairs, acceptable ground constraints, and independent visual review. This script never overwrites X.",
  "pairs_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\open3d_gicp\\B_batch2_refined.npz",
  "extrinsic_file": "D:\\Outdoor Ackerman Cart Sensor Adaptation\\LiDAR_RTK_Calibration_Rigorous_20260721\\results\\final_extrinsic_recommended.json",
  "stations": 38,
  "pairs": 66,
  "selected_pair_index": 0,
  "selected_pair_stations": [
    0,
    1
  ],
  "normalization": {
    "translation_scale_m": 0.05,
    "rotation_scale_deg": 0.5
  },
  "z_observability": {
    "body_left_z_test_shift_m": 0.1,
    "max_predicted_motion_change_translation_m": 9.977540720306595e-16,
    "max_predicted_motion_change_rotation_deg": 0.0,
    "numerically_unobservable": true,
    "note": "AX pairs cannot determine X.z when every A rotation preserves body Z; use ground/external height constraints."
  },
  "ranking_by_all_pair_normalized_rms": [
    {
      "rank": 1,
      "label": "baseline",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.0,
        0.0
      ],
      "normalized_global_rms": 2.855641391442648,
      "normalized_global_rms_change": 0.0,
      "improved_pairs": 0,
      "worsened_pairs": 0,
      "unchanged_pairs": 66,
      "median_per_pair_score_change": 0.0,
      "global_consistency_signal": false
    },
    {
      "rank": 2,
      "label": "yaw_-0.200_diagnostic",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.0,
        -0.2
      ],
      "normalized_global_rms": 2.8576089058597884,
      "normalized_global_rms_change": 0.0019675144171404924,
      "improved_pairs": 35,
      "worsened_pairs": 31,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": -0.0004636456605737749,
      "global_consistency_signal": false
    },
    {
      "rank": 3,
      "label": "pitch_+0.000_roll_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.1,
        0.0,
        0.0
      ],
      "normalized_global_rms": 2.859282573021794,
      "normalized_global_rms_change": 0.0036411815791459468,
      "improved_pairs": 38,
      "worsened_pairs": 28,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": -0.014602177580218312,
      "global_consistency_signal": false
    },
    {
      "rank": 4,
      "label": "yaw_+0.200_diagnostic",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.0,
        0.2
      ],
      "normalized_global_rms": 2.8630112438600364,
      "normalized_global_rms_change": 0.007369852417388412,
      "improved_pairs": 18,
      "worsened_pairs": 48,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.00446840177433383,
      "global_consistency_signal": false
    },
    {
      "rank": 5,
      "label": "pitch_+0.000_roll_-0.100",
      "body_left_rpy_correction_deg_xyz": [
        -0.1,
        0.0,
        0.0
      ],
      "normalized_global_rms": 2.870174601960012,
      "normalized_global_rms_change": 0.014533210517364115,
      "improved_pairs": 25,
      "worsened_pairs": 41,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.026002343812685902,
      "global_consistency_signal": false
    },
    {
      "rank": 6,
      "label": "pitch_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.1,
        0.0
      ],
      "normalized_global_rms": 2.8820645462820917,
      "normalized_global_rms_change": 0.026423154839443797,
      "improved_pairs": 27,
      "worsened_pairs": 39,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.009421696072265062,
      "global_consistency_signal": false
    },
    {
      "rank": 7,
      "label": "pitch_+0.100_roll_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.1,
        0.1,
        0.0
      ],
      "normalized_global_rms": 2.885136161262053,
      "normalized_global_rms_change": 0.029494769819405242,
      "improved_pairs": 30,
      "worsened_pairs": 36,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.013664187192618082,
      "global_consistency_signal": false
    },
    {
      "rank": 8,
      "label": "pitch_+0.100_roll_-0.100",
      "body_left_rpy_correction_deg_xyz": [
        -0.1,
        0.1,
        0.0
      ],
      "normalized_global_rms": 2.896999001946205,
      "normalized_global_rms_change": 0.04135761050355713,
      "improved_pairs": 31,
      "worsened_pairs": 35,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.029706550191235692,
      "global_consistency_signal": false
    },
    {
      "rank": 9,
      "label": "pitch_+0.000_roll_-0.200",
      "body_left_rpy_correction_deg_xyz": [
        -0.2,
        0.0,
        0.0
      ],
      "normalized_global_rms": 2.9026099336312234,
      "normalized_global_rms_change": 0.04696854218857549,
      "improved_pairs": 22,
      "worsened_pairs": 44,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.058852162807430775,
      "global_consistency_signal": false
    },
    {
      "rank": 10,
      "label": "pitch_+0.200",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.2,
        0.0
      ],
      "normalized_global_rms": 2.9262023505769332,
      "normalized_global_rms_change": 0.07056095913428528,
      "improved_pairs": 26,
      "worsened_pairs": 40,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.032875044386196706,
      "global_consistency_signal": false
    },
    {
      "rank": 11,
      "label": "pitch_+0.200_roll_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.1,
        0.2,
        0.0
      ],
      "normalized_global_rms": 2.928699135454269,
      "normalized_global_rms_change": 0.07305774401162113,
      "improved_pairs": 29,
      "worsened_pairs": 37,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.028170056427377133,
      "global_consistency_signal": false
    },
    {
      "rank": 12,
      "label": "pitch_+0.100_roll_-0.200",
      "body_left_rpy_correction_deg_xyz": [
        -0.2,
        0.1,
        0.0
      ],
      "normalized_global_rms": 2.929664876976855,
      "normalized_global_rms_change": 0.07402348553420701,
      "improved_pairs": 24,
      "worsened_pairs": 42,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.08265109992793152,
      "global_consistency_signal": false
    },
    {
      "rank": 13,
      "label": "pitch_+0.200_roll_-0.100",
      "body_left_rpy_correction_deg_xyz": [
        -0.1,
        0.2,
        0.0
      ],
      "normalized_global_rms": 2.9414386837539155,
      "normalized_global_rms_change": 0.08579729231126754,
      "improved_pairs": 30,
      "worsened_pairs": 36,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.04173782588453678,
      "global_consistency_signal": false
    },
    {
      "rank": 14,
      "label": "pitch_+0.200_roll_-0.200",
      "body_left_rpy_correction_deg_xyz": [
        -0.2,
        0.2,
        0.0
      ],
      "normalized_global_rms": 2.9741363007059745,
      "normalized_global_rms_change": 0.11849490926332651,
      "improved_pairs": 27,
      "worsened_pairs": 39,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.08349931538584737,
      "global_consistency_signal": false
    },
    {
      "rank": 15,
      "label": "pitch_+0.300",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.3,
        0.0
      ],
      "normalized_global_rms": 2.9872678674890754,
      "normalized_global_rms_change": 0.1316264760464274,
      "improved_pairs": 25,
      "worsened_pairs": 41,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.06946933674042727,
      "global_consistency_signal": false
    },
    {
      "rank": 16,
      "label": "pitch_+0.300_roll_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.1,
        0.3,
        0.0
      ],
      "normalized_global_rms": 2.989195517179804,
      "normalized_global_rms_change": 0.13355412573715597,
      "improved_pairs": 28,
      "worsened_pairs": 38,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.07166839723602836,
      "global_consistency_signal": false
    },
    {
      "rank": 17,
      "label": "pitch_+0.300_roll_-0.100",
      "body_left_rpy_correction_deg_xyz": [
        -0.1,
        0.3,
        0.0
      ],
      "normalized_global_rms": 3.0027098217989345,
      "normalized_global_rms_change": 0.14706843035628658,
      "improved_pairs": 25,
      "worsened_pairs": 41,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.11484993145673816,
      "global_consistency_signal": false
    },
    {
      "rank": 18,
      "label": "pitch_+0.300_roll_-0.200",
      "body_left_rpy_correction_deg_xyz": [
        -0.2,
        0.3,
        0.0
      ],
      "normalized_global_rms": 3.035256961724302,
      "normalized_global_rms_change": 0.17961557028165398,
      "improved_pairs": 25,
      "worsened_pairs": 41,
      "unchanged_pairs": 0,
      "median_per_pair_score_change": 0.12394013343025478,
      "global_consistency_signal": false
    }
  ],
  "candidates": [
    {
      "label": "baseline",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.0,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2977596922478565,
          -6.733076264476427e-05,
          0.7204978345266887
        ],
        "rotation_rpy_deg_xyz": [
          -0.7851511464150316,
          1.2026608220810453,
          -0.835510052785851
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10039155672864886,
          "median": 0.05450403433881216,
          "p90": 0.15869974404950557,
          "p95": 0.22041418619989872,
          "max": 0.33202503466347527
        },
        "rotation_deg": {
          "rms": 1.0152957563636194,
          "median": 0.824276911032484,
          "p90": 1.539611636411223,
          "p95": 1.7217363975309565,
          "max": 2.1823059901966912
        },
        "normalized_pair_score": {
          "rms": 2.855641391442648,
          "median": 2.414287031882419,
          "p90": 4.4146805323239775,
          "p95": 4.909732217219371,
          "max": 6.691784409843274
        },
        "normalized_global_rms": 2.855641391442648
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012534527869489276,
          0.014156729744957297,
          0.07744107981697244
        ],
        "translation_xyz_cm": [
          -1.2534527869489276,
          1.4156729744957297,
          7.744107981697244
        ],
        "translation_norm_m": 0.079716047501124,
        "rotation_rpy_deg_xyz": [
          -0.5355339443982136,
          -0.10930893417334092,
          0.024668300837138387
        ],
        "rotation_angle_deg": 0.5471090190705759,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.6662748432297785,
          "median": 0.7528933332101111,
          "p90": 2.3672634656614586,
          "p95": 3.9662750686570947,
          "max": 5.529555209905641
        },
        "height_residual_m": {
          "rms": 0.03471396517121729,
          "median": -0.005924101606088833,
          "p90": 0.053409267341990724,
          "p95": 0.08720196104337453,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012534527869489276,
            0.014156729744957297,
            0.07744107981697244
          ],
          "translation_xyz_cm": [
            -1.2534527869489276,
            1.4156729744957297,
            7.744107981697244
          ],
          "translation_norm_m": 0.079716047501124,
          "rotation_rpy_deg_xyz": [
            -0.5355339443982136,
            -0.10930893417334092,
            0.024668300837138387
          ],
          "rotation_angle_deg": 0.5471090190705759,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.02052857396800767,
            -0.01428529034535031,
            0.13304578508256934
          ],
          "translation_xyz_cm": [
            2.052857396800767,
            -1.428529034535031,
            13.304578508256935
          ],
          "translation_norm_m": 0.1353760421849012,
          "rotation_rpy_deg_xyz": [
            -0.3191465214425994,
            -0.21122341614483142,
            -0.346462756418374
          ],
          "rotation_angle_deg": 0.5166365681634405,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03273144680100759,
            0.009583887593645146,
            0.10969579762499791
          ],
          "translation_xyz_cm": [
            3.273144680100759,
            0.9583887593645146,
            10.96957976249979
          ],
          "translation_norm_m": 0.11487543918383647,
          "rotation_rpy_deg_xyz": [
            -0.2783386301425947,
            -0.2946203532968976,
            -0.4025139229771167
          ],
          "rotation_angle_deg": 0.5717221816616095,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03436110047699936,
            -0.018260324601735434,
            0.048397996035787025
          ],
          "translation_xyz_cm": [
            3.436110047699936,
            -1.8260324601735434,
            4.839799603578703
          ],
          "translation_norm_m": 0.06210064976174764,
          "rotation_rpy_deg_xyz": [
            0.2530123443114437,
            0.07856507161125245,
            -0.351501336427272
          ],
          "rotation_angle_deg": 0.4402983357286552,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04584216322665169,
            0.012536569398787334,
            0.026379085846845066
          ],
          "translation_xyz_cm": [
            4.584216322665169,
            1.2536569398787334,
            2.6379085846845065
          ],
          "translation_norm_m": 0.054355548674489614,
          "rotation_rpy_deg_xyz": [
            0.35993676811464986,
            0.24664765969644997,
            -0.3846128678940201
          ],
          "rotation_angle_deg": 0.5821611725015269,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.012111902334902142,
            0.010737896559687377,
            -0.029461775560652687
          ],
          "translation_xyz_cm": [
            1.211190233490214,
            1.0737896559687377,
            -2.9461775560652685
          ],
          "translation_norm_m": 0.03361542532652273,
          "rotation_rpy_deg_xyz": [
            0.4935004374697856,
            0.09079480892185002,
            0.12920228121145502
          ],
          "rotation_angle_deg": 0.5180525169080186,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.005190953532214183,
            0.021323398506183727,
            -0.009506283200473876
          ],
          "translation_xyz_cm": [
            0.5190953532214183,
            2.1323398506183726,
            -0.9506283200473876
          ],
          "translation_norm_m": 0.02391657882546618,
          "rotation_rpy_deg_xyz": [
            0.2526567759620954,
            0.20523572243396423,
            -0.03457860688667861
          ],
          "rotation_angle_deg": 0.32738975448002894,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.03364854084308805,
            0.0012226941252421741,
            -0.070083418794606
          ],
          "translation_xyz_cm": [
            -3.3648540843088046,
            0.12226941252421741,
            -7.0083418794606
          ],
          "translation_norm_m": 0.07775220171630512,
          "rotation_rpy_deg_xyz": [
            0.5232134708787115,
            0.45218792670014574,
            0.5310776539185706
          ],
          "rotation_angle_deg": 0.8706732532310371,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.032106401477432905,
            -0.015947690198082287,
            -0.12726937214731257
          ],
          "translation_xyz_cm": [
            -3.2106401477432907,
            -1.5947690198082287,
            -12.726937214731256
          ],
          "translation_norm_m": 0.13222194570212337,
          "rotation_rpy_deg_xyz": [
            0.6042176970972334,
            0.22227025318415516,
            0.39424218871599365
          ],
          "rotation_angle_deg": 0.7543101544010229,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.03198060915260165,
            -0.01947511276020042,
            -0.05023979367056203
          ],
          "translation_xyz_cm": [
            -3.1980609152601644,
            -1.947511276020042,
            -5.023979367056203
          ],
          "translation_norm_m": 0.06265840922697155,
          "rotation_rpy_deg_xyz": [
            0.44639004529749127,
            0.318991530825338,
            0.5838735792541095
          ],
          "rotation_angle_deg": 0.8002960897011372,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03925092882946142,
            -0.03685914526653261,
            -0.07561323920882028
          ],
          "translation_xyz_cm": [
            -3.9250928829461422,
            -3.685914526653261,
            -7.561323920882028
          ],
          "translation_norm_m": 0.09282561040685418,
          "rotation_rpy_deg_xyz": [
            0.5870852895990377,
            0.7143924390784686,
            0.4978279478250872
          ],
          "rotation_angle_deg": 1.0484294819479303,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.013516950439105994,
            -0.009882318425277786,
            -0.030135431261166214
          ],
          "translation_xyz_cm": [
            -1.3516950439105995,
            -0.9882318425277786,
            -3.0135431261166215
          ],
          "translation_norm_m": 0.034474807960716856,
          "rotation_rpy_deg_xyz": [
            0.3047418481958035,
            0.25845828464587195,
            -0.08851206912855099
          ],
          "rotation_angle_deg": 0.40941928556312257,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.010196308827790157,
            -0.0010884557567257258,
            -0.21034014743119353
          ],
          "translation_xyz_cm": [
            1.0196308827790157,
            -0.10884557567257258,
            -21.034014743119354
          ],
          "translation_norm_m": 0.21058995007127537,
          "rotation_rpy_deg_xyz": [
            -0.10886326738779815,
            -0.05166856778838729,
            0.29112607701138427
          ],
          "rotation_angle_deg": 0.31503433509617923,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.008768951212550946,
            0.018957570253404304,
            -0.1948915382022732
          ],
          "translation_xyz_cm": [
            0.8768951212550946,
            1.8957570253404303,
            -19.48915382022732
          ],
          "translation_norm_m": 0.19600764178503086,
          "rotation_rpy_deg_xyz": [
            0.008783200158708619,
            -0.22556277911163353,
            0.39543493496896054
          ],
          "rotation_angle_deg": 0.4553437938897119,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.009233694103114365,
            0.007512315370010292,
            -0.13212252727912907
          ],
          "translation_xyz_cm": [
            -0.9233694103114365,
            0.7512315370010292,
            -13.212252727912906
          ],
          "translation_norm_m": 0.1326576729919253,
          "rotation_rpy_deg_xyz": [
            0.41824380852496823,
            -0.5183159728890546,
            -0.1006787201382111
          ],
          "rotation_angle_deg": 0.6733003074377573,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.007613001510299977,
            0.016285228367701632,
            -0.13040538568372895
          ],
          "translation_xyz_cm": [
            0.7613001510299977,
            1.6285228367701632,
            -13.040538568372895
          ],
          "translation_norm_m": 0.13163863821198593,
          "rotation_rpy_deg_xyz": [
            -0.840037090330152,
            0.6570642011967021,
            0.2904144812930959
          ],
          "rotation_angle_deg": 1.1065820279922887,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.011488538550025573,
            -0.0008063144595218397,
            -0.05618117646468765
          ],
          "translation_xyz_cm": [
            -1.1488538550025573,
            -0.08063144595218397,
            -5.6181176464687645
          ],
          "translation_norm_m": 0.05734946599559085,
          "rotation_rpy_deg_xyz": [
            -0.8100617809077635,
            0.1347822057482451,
            -0.21350123200693158
          ],
          "rotation_angle_deg": 0.8482577323638308,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.008990335888938494,
            -0.018511803061524446,
            0.06810618384817382
          ],
          "translation_xyz_cm": [
            -0.8990335888938494,
            -1.8511803061524446,
            6.810618384817382
          ],
          "translation_norm_m": 0.0711474895575793,
          "rotation_rpy_deg_xyz": [
            0.2506843576111674,
            -0.39577345967054717,
            -0.48572894550815465
          ],
          "rotation_angle_deg": 0.6742174925689881,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.00046231776291572046,
            -0.0010242925377600964,
            0.0014833618698432294
          ],
          "translation_xyz_cm": [
            0.046231776291572046,
            -0.10242925377600964,
            0.14833618698432294
          ],
          "translation_norm_m": 0.0018609877360485794,
          "rotation_rpy_deg_xyz": [
            0.1196437156776497,
            -0.35285794691723626,
            -0.4810120163770678
          ],
          "rotation_angle_deg": 0.6081452332544832,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.0032926131192255736,
            0.016398189986607137,
            -0.06699966090360598
          ],
          "translation_xyz_cm": [
            0.32926131192255736,
            1.6398189986607137,
            -6.699966090360599
          ],
          "translation_norm_m": 0.06905574919720985,
          "rotation_rpy_deg_xyz": [
            -0.7824538874847704,
            -0.43842269799839084,
            -0.3093948954996394
          ],
          "rotation_angle_deg": 0.9497479873876231,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.009947953803371101,
            0.020779243974916817,
            -0.06065640872154629
          ],
          "translation_xyz_cm": [
            0.9947953803371101,
            2.0779243974916817,
            -6.065640872154629
          ],
          "translation_norm_m": 0.06488404028756532,
          "rotation_rpy_deg_xyz": [
            0.05141503904963397,
            0.00449354092149435,
            0.00566257803508252
          ],
          "rotation_angle_deg": 0.05192051717362457,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.011720839382669546,
            0.04078765655773409,
            -0.10661277348598798
          ],
          "translation_xyz_cm": [
            1.1720839382669546,
            4.078765655773409,
            -10.661277348598798
          ],
          "translation_norm_m": 0.1147488321233841,
          "rotation_rpy_deg_xyz": [
            -0.9539751542468863,
            -0.22424719955596317,
            0.16652151636587426
          ],
          "rotation_angle_deg": 0.9937108406424444,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.006342328407356823,
            0.017067540552920146,
            -0.05076258460687988
          ],
          "translation_xyz_cm": [
            0.6342328407356823,
            1.7067540552920146,
            -5.076258460687988
          ],
          "translation_norm_m": 0.05392926910429046,
          "rotation_rpy_deg_xyz": [
            -0.9518976051817746,
            -0.08906146713718438,
            0.16495442440099967
          ],
          "rotation_angle_deg": 0.9700546737541248,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0029615537252287716,
            -0.015602409668654449,
            -0.15553629906742833
          ],
          "translation_xyz_cm": [
            -0.29615537252287716,
            -1.560240966865445,
            -15.553629906742833
          ],
          "translation_norm_m": 0.15634495935439827,
          "rotation_rpy_deg_xyz": [
            -0.5624711770128455,
            1.5874171543552886,
            -0.3356941185799336
          ],
          "rotation_angle_deg": 1.7157208115256657,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.003791304528554862,
            0.012534187505847671,
            -0.03278414830878857
          ],
          "translation_xyz_cm": [
            -0.3791304528554862,
            1.2534187505847671,
            -3.278414830878857
          ],
          "translation_norm_m": 0.03530269432766617,
          "rotation_rpy_deg_xyz": [
            0.5054479062183199,
            0.37053727338806464,
            0.2012151551448648
          ],
          "rotation_angle_deg": 0.657726366657615,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.012897038438446362,
            0.021966162546112722,
            -0.02486499346186534
          ],
          "translation_xyz_cm": [
            1.2897038438446362,
            2.196616254611272,
            -2.486499346186534
          ],
          "translation_norm_m": 0.03559654192956971,
          "rotation_rpy_deg_xyz": [
            0.6631716668254954,
            0.8578341641824542,
            0.19039500522722122
          ],
          "rotation_angle_deg": 1.1000121074477258,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.009165448104967222,
            0.007156691537795634,
            -0.011490603970520298
          ],
          "translation_xyz_cm": [
            -0.9165448104967222,
            0.7156691537795634,
            -1.14906039705203
          ],
          "translation_norm_m": 0.016348016770830025,
          "rotation_rpy_deg_xyz": [
            -0.5552161207846,
            2.009421266253433,
            0.6357031086241718
          ],
          "rotation_angle_deg": 2.1823059901966912,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.015866384253375942,
            0.015300057010963153,
            -0.0011746508218896112
          ],
          "translation_xyz_cm": [
            1.5866384253375942,
            1.5300057010963153,
            -0.11746508218896112
          ],
          "translation_norm_m": 0.022072917758372244,
          "rotation_rpy_deg_xyz": [
            0.31124513246765945,
            0.2668531437532043,
            -0.014031036738193812
          ],
          "rotation_angle_deg": 0.410245251568496,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.003651031066738808,
            0.009502453304174097,
            0.020648953838683645
          ],
          "translation_xyz_cm": [
            -0.3651031066738808,
            0.9502453304174097,
            2.0648953838683646
          ],
          "translation_norm_m": 0.02302185790244543,
          "rotation_rpy_deg_xyz": [
            -0.0706997048049651,
            1.5418459142259642,
            0.47434907172896096
          ],
          "rotation_angle_deg": 1.6149869587730064,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.010538481346067052,
            0.009057359696676315,
            0.24603164555939755
          ],
          "translation_xyz_cm": [
            1.0538481346067052,
            0.9057359696676315,
            24.603164555939756
          ],
          "translation_norm_m": 0.24642375285353765,
          "rotation_rpy_deg_xyz": [
            -0.19311360273658207,
            -0.3257197603704734,
            -0.29329237395151503
          ],
          "rotation_angle_deg": 0.4792997116095301,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.0029179808849593147,
            -0.00604526747301759,
            0.029773048041171597
          ],
          "translation_xyz_cm": [
            0.2917980884959315,
            -0.604526747301759,
            2.9773048041171597
          ],
          "translation_norm_m": 0.030520390903905938,
          "rotation_rpy_deg_xyz": [
            0.1988255972381051,
            1.3268006810040451,
            0.5142543825749734
          ],
          "rotation_angle_deg": 1.4359692367424095,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.0311981451842821,
            -0.006193419626776775,
            0.2308292473188145
          ],
          "translation_xyz_cm": [
            3.11981451842821,
            -0.6193419626776775,
            23.082924731881448
          ],
          "translation_norm_m": 0.2330103519747209,
          "rotation_rpy_deg_xyz": [
            0.16034369761383055,
            -0.5134999386071942,
            -0.25259308482191567
          ],
          "rotation_angle_deg": 0.5939965715201481,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.029001881766678617,
            0.007519462479232075,
            0.3306704888273173
          ],
          "translation_xyz_cm": [
            2.9001881766678617,
            0.7519462479232075,
            33.06704888273173
          ],
          "translation_norm_m": 0.33202503466347527,
          "rotation_rpy_deg_xyz": [
            -0.2563013940830722,
            0.22672202245265619,
            -0.2325405141945881
          ],
          "rotation_angle_deg": 0.41343957554542377,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.00730364189944277,
            0.013670158850596081,
            0.16030703291232581
          ],
          "translation_xyz_cm": [
            0.730364189944277,
            1.3670158850596081,
            16.03070329123258
          ],
          "translation_norm_m": 0.16105452874461287,
          "rotation_rpy_deg_xyz": [
            0.8856777756756924,
            -1.4812056342085482,
            -0.7441413425210681
          ],
          "rotation_angle_deg": 1.874838081135504,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.01280809400838745,
            0.02652544478208263,
            0.22174104630547103
          ],
          "translation_xyz_cm": [
            -1.280809400838745,
            2.652544478208263,
            22.174104630547102
          ],
          "translation_norm_m": 0.2236889315761065,
          "rotation_rpy_deg_xyz": [
            0.7326830017201678,
            -0.4714411171372534,
            -0.699149025175759
          ],
          "rotation_angle_deg": 1.1151964340680336,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.002695148636261191,
            -0.01128426159720508,
            0.11210802984096663
          ],
          "translation_xyz_cm": [
            0.2695148636261191,
            -1.128426159720508,
            11.210802984096663
          ],
          "translation_norm_m": 0.11270673777901995,
          "rotation_rpy_deg_xyz": [
            -0.7185342597651662,
            0.6180768996940113,
            0.004530359058899453
          ],
          "rotation_angle_deg": 0.9478191646739258,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            -6.348802272287957e-05,
            -0.0034095380069181225,
            -0.04076756342947927
          ],
          "translation_xyz_cm": [
            -0.006348802272287957,
            -0.34095380069181225,
            -4.076756342947927
          ],
          "translation_norm_m": 0.04090994021171706,
          "rotation_rpy_deg_xyz": [
            -0.5190787323237711,
            0.5728926682292592,
            0.08970289125554098
          ],
          "rotation_angle_deg": 0.7785618518380144,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            -0.0007618573013186136,
            0.027582229992488383,
            0.04717560921479383
          ],
          "translation_xyz_cm": [
            -0.07618573013186136,
            2.7582229992488383,
            4.717560921479383
          ],
          "translation_norm_m": 0.054652520003134704,
          "rotation_rpy_deg_xyz": [
            -0.8380523330945311,
            -0.11317732429063847,
            -0.7401789685624974
          ],
          "rotation_angle_deg": 1.124375763416717,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.01339014355257051,
            -0.04001543383677619,
            -0.016954210012467465
          ],
          "translation_xyz_cm": [
            1.339014355257051,
            -4.001543383677619,
            -1.6954210012467466
          ],
          "translation_norm_m": 0.04547500551567543,
          "rotation_rpy_deg_xyz": [
            0.10326906176616622,
            0.025313967913603432,
            -0.6469944518488355
          ],
          "rotation_angle_deg": 0.6556954445211121,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.0022291303581982724,
            0.014081419404674111,
            0.0015919215957723165
          ],
          "translation_xyz_cm": [
            0.22291303581982724,
            1.4081419404674111,
            0.15919215957723165
          ],
          "translation_norm_m": 0.014345368903282344,
          "rotation_rpy_deg_xyz": [
            -0.11264639000956125,
            0.09867563901568227,
            0.14236359183674263
          ],
          "rotation_angle_deg": 0.20669080105969403,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.006825491191319699,
            -0.011833827708358113,
            -0.020754327235084163
          ],
          "translation_xyz_cm": [
            0.6825491191319699,
            -1.1833827708358113,
            -2.0754327235084165
          ],
          "translation_norm_m": 0.02484690940972022,
          "rotation_rpy_deg_xyz": [
            -1.3692173141255308,
            -1.0380162284583052,
            0.1511766857359274
          ],
          "rotation_angle_deg": 1.7237415928660533,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.003984245475547654,
            0.004381143887356165,
            0.056523486089229115
          ],
          "translation_xyz_cm": [
            0.3984245475547654,
            0.4381143887356165,
            5.652348608922911
          ],
          "translation_norm_m": 0.056832852413462566,
          "rotation_rpy_deg_xyz": [
            -0.355025584566797,
            -0.4408120377458715,
            -0.13900903227030575
          ],
          "rotation_angle_deg": 0.5831473606925555,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.01300263115987299,
            -0.029342601752106012,
            0.023854081683098563
          ],
          "translation_xyz_cm": [
            -1.300263115987299,
            -2.9342601752106012,
            2.3854081683098562
          ],
          "translation_norm_m": 0.03998842216950218,
          "rotation_rpy_deg_xyz": [
            1.0548655620257106,
            -0.3294414859193639,
            -0.21201038202913366
          ],
          "rotation_angle_deg": 1.124691549503354,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.012279637037453606,
            0.02195120021718555,
            0.04576807245005926
          ],
          "translation_xyz_cm": [
            -1.2279637037453606,
            2.195120021718555,
            4.576807245005926
          ],
          "translation_norm_m": 0.052224143195848054,
          "rotation_rpy_deg_xyz": [
            0.09546623284033692,
            1.0775827775049782,
            -0.28309517022880915
          ],
          "rotation_angle_deg": 1.1184574012171749,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.001743350970683899,
            -0.02928001457804441,
            -0.05581878949693109
          ],
          "translation_xyz_cm": [
            -0.1743350970683899,
            -2.928001457804441,
            -5.581878949693109
          ],
          "translation_norm_m": 0.06305629062353875,
          "rotation_rpy_deg_xyz": [
            0.49268288279378014,
            0.15825199914177118,
            -0.08908409912480704
          ],
          "rotation_angle_deg": 0.5252019728243343,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.012077454792722264,
            0.0096471919343597,
            -0.11944510558989167
          ],
          "translation_xyz_cm": [
            1.2077454792722264,
            0.96471919343597,
            -11.944510558989167
          ],
          "translation_norm_m": 0.12044113282375335,
          "rotation_rpy_deg_xyz": [
            0.12223918632624674,
            0.5394939332637073,
            -0.032189371067825975
          ],
          "rotation_angle_deg": 0.5541382586948841,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.0004428196504786541,
            0.022527315211353205,
            -0.11946808940704962
          ],
          "translation_xyz_cm": [
            -0.04428196504786541,
            2.2527315211353205,
            -11.946808940704962
          ],
          "translation_norm_m": 0.12157425881511807,
          "rotation_rpy_deg_xyz": [
            0.027649317399596487,
            0.9049016731683907,
            0.21555739065093388
          ],
          "rotation_angle_deg": 0.9305812158627094,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.02099922653299524,
            0.019606439549219146,
            -0.04714541806544017
          ],
          "translation_xyz_cm": [
            -2.099922653299524,
            1.9606439549219146,
            -4.714541806544017
          ],
          "translation_norm_m": 0.0552093328283033,
          "rotation_rpy_deg_xyz": [
            -0.02108664689711338,
            -0.04627392585907875,
            0.07066423048105945
          ],
          "rotation_angle_deg": 0.08705258513790126,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.03486321758831146,
            0.023776982101818334,
            -0.07381118183894142
          ],
          "translation_xyz_cm": [
            -3.4863217588311457,
            2.3776982101818334,
            -7.3811181838941415
          ],
          "translation_norm_m": 0.08502281683725502,
          "rotation_rpy_deg_xyz": [
            0.24098676691704204,
            0.5093600460816013,
            0.31694103112252414
          ],
          "rotation_angle_deg": 0.6459827373704314,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.009825755543722281,
            0.013969499096951665,
            -0.0331294671365258
          ],
          "translation_xyz_cm": [
            -0.9825755543722281,
            1.3969499096951665,
            -3.31294671365258
          ],
          "translation_norm_m": 0.03727269737723399,
          "rotation_rpy_deg_xyz": [
            0.3785440778586856,
            0.6159343431432545,
            0.24648916494074977
          ],
          "rotation_angle_deg": 0.7631660358041192,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.004985497717641341,
            0.0014594738069999558,
            0.04513930055527167
          ],
          "translation_xyz_cm": [
            0.49854977176413406,
            0.14594738069999558,
            4.513930055527167
          ],
          "translation_norm_m": 0.04543722819346571,
          "rotation_rpy_deg_xyz": [
            1.3442838020239756,
            -0.36852185435074547,
            -0.2850593933606419
          ],
          "rotation_angle_deg": 1.4218618784137362,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.014310358103192033,
            0.009631176068884084,
            0.01891573218756422
          ],
          "translation_xyz_cm": [
            -1.4310358103192033,
            0.9631176068884084,
            1.8915732187564218
          ],
          "translation_norm_m": 0.02559982081388642,
          "rotation_rpy_deg_xyz": [
            1.3308726929538792,
            0.03812900618091576,
            0.39605225228591057
          ],
          "rotation_angle_deg": 1.388947601285772,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.018381059682074596,
            0.020336843343690347,
            0.08005232267565662
          ],
          "translation_xyz_cm": [
            1.8381059682074596,
            2.0336843343690347,
            8.005232267565662
          ],
          "translation_norm_m": 0.08461574864048203,
          "rotation_rpy_deg_xyz": [
            1.9153211457929256,
            -0.5642927668743174,
            -0.512933641877203
          ],
          "rotation_angle_deg": 2.0591868076103896,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.0018274394122426152,
            0.011798997822643376,
            0.02652868110836
          ],
          "translation_xyz_cm": [
            0.18274394122426152,
            1.1798997822643376,
            2.652868110836
          ],
          "translation_norm_m": 0.029091696509025003,
          "rotation_rpy_deg_xyz": [
            1.6796519267758923,
            0.14604200808447562,
            0.18829326127872345
          ],
          "rotation_angle_deg": 1.6962319982758776,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.004926721987130733,
            0.01081300665837337,
            0.013881092504425818
          ],
          "translation_xyz_cm": [
            0.49267219871307333,
            1.081300665837337,
            1.3881092504425818
          ],
          "translation_norm_m": 0.01827234061769129,
          "rotation_rpy_deg_xyz": [
            0.8472824533054352,
            0.6924972699468647,
            -0.5039284014781172
          ],
          "rotation_angle_deg": 1.206866980510853,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0009736907280213369,
            -0.015151928607180787,
            0.008068360402694846
          ],
          "translation_xyz_cm": [
            -0.0973690728021337,
            -1.5151928607180787,
            0.8068360402694846
          ],
          "translation_norm_m": 0.017193820219448392,
          "rotation_rpy_deg_xyz": [
            -0.7428475785243822,
            -0.3000926755847766,
            -0.6995398700125933
          ],
          "rotation_angle_deg": 1.0648693173338315,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.004800114846089443,
            0.039402542738807944,
            0.05599536375195781
          ],
          "translation_xyz_cm": [
            -0.48001148460894427,
            3.9402542738807944,
            5.599536375195781
          ],
          "translation_norm_m": 0.06863732394647468,
          "rotation_rpy_deg_xyz": [
            -1.2295910627015743,
            -0.5146874739254865,
            0.6115327195592978
          ],
          "rotation_angle_deg": 1.4642363140494394,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.022455666341073766,
            0.022205356741625604,
            0.03575689440074663
          ],
          "translation_xyz_cm": [
            2.2455666341073766,
            2.2205356741625604,
            3.5756894400746626
          ],
          "translation_norm_m": 0.04770629220585725,
          "rotation_rpy_deg_xyz": [
            -0.31513998336533705,
            -0.2141940157510921,
            0.4953590423367671
          ],
          "rotation_angle_deg": 0.6244903967618446,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.008739514143986105,
            -0.026187277750069515,
            0.018829535871696022
          ],
          "translation_xyz_cm": [
            -0.8739514143986105,
            -2.6187277750069518,
            1.8829535871696021
          ],
          "translation_norm_m": 0.03341712202712415,
          "rotation_rpy_deg_xyz": [
            0.837061807032181,
            -0.6739925190910833,
            -0.12485818713744098
          ],
          "rotation_angle_deg": 1.0813371239331708,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.003821333082424605,
            -0.0008422271162171202,
            0.026790673598253614
          ],
          "translation_xyz_cm": [
            -0.3821333082424605,
            -0.08422271162171202,
            2.6790673598253614
          ],
          "translation_norm_m": 0.027074935362624366,
          "rotation_rpy_deg_xyz": [
            0.5172047347275824,
            -1.243920438445153,
            0.23715544796713608
          ],
          "rotation_angle_deg": 1.3688430767407767,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.015134357633463047,
            0.004972583641746908,
            0.028913453889094512
          ],
          "translation_xyz_cm": [
            -1.5134357633463047,
            0.4972583641746908,
            2.891345388909451
          ],
          "translation_norm_m": 0.03301156138156032,
          "rotation_rpy_deg_xyz": [
            -0.6182568414692501,
            -1.2732199342731065,
            0.17800383183508953
          ],
          "rotation_angle_deg": 1.4256763243679755,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.0061062182666129505,
            0.01602768262860832,
            -0.0514569961191151
          ],
          "translation_xyz_cm": [
            0.610621826661295,
            1.602768262860832,
            -5.1456996119115095
          ],
          "translation_norm_m": 0.054240160043693975,
          "rotation_rpy_deg_xyz": [
            -0.11937661233725202,
            -0.6309937842808361,
            0.09193837926716737
          ],
          "rotation_angle_deg": 0.6486412679040612,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.0053080710713586665,
            0.002196157177062119,
            -0.02122936871520257
          ],
          "translation_xyz_cm": [
            -0.5308071071358667,
            0.2196157177062119,
            -2.122936871520257
          ],
          "translation_norm_m": 0.021992835671895014,
          "rotation_rpy_deg_xyz": [
            0.11147341198359811,
            -0.20435563963405623,
            -0.04827864446295879
          ],
          "rotation_angle_deg": 0.23769553016909395,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.010102197262432444,
            0.020309199742545747,
            -0.022416274937106278
          ],
          "translation_xyz_cm": [
            1.0102197262432444,
            2.0309199742545747,
            -2.2416274937106277
          ],
          "translation_norm_m": 0.031890552923517286,
          "rotation_rpy_deg_xyz": [
            1.0522317952095894,
            0.21279800583519293,
            -0.14258070238539475
          ],
          "rotation_angle_deg": 1.0832171246083164,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.015027572179813209,
            0.011197336920040102,
            -0.023743342149443684
          ],
          "translation_xyz_cm": [
            1.502757217981321,
            1.1197336920040102,
            -2.3743342149443682
          ],
          "translation_norm_m": 0.030248216082042558,
          "rotation_rpy_deg_xyz": [
            0.9676191955684414,
            0.24244576185523073,
            -0.07892468324294744
          ],
          "rotation_angle_deg": 1.000808453258414,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.003715628797124282,
            0.0013204687437722296,
            0.02497676781930607
          ],
          "translation_xyz_cm": [
            0.3715628797124282,
            0.13204687437722296,
            2.497676781930607
          ],
          "translation_norm_m": 0.025286131886091672,
          "rotation_rpy_deg_xyz": [
            1.2132782648708806,
            -0.1403570137683193,
            0.021891548334271742
          ],
          "rotation_angle_deg": 1.2215923174512224,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.0,
        "improved_pairs": 0,
        "worsened_pairs": 0,
        "unchanged_pairs": 66,
        "median_per_pair_score_change": 0.0,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.1,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2990152209554813,
          -6.733076264476427e-05,
          0.7182317203430111
        ],
        "rotation_rpy_deg_xyz": [
          -0.7866097110824058,
          1.3026501895476275,
          -0.8355419388029673
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10031155812336309,
          "median": 0.053814157932401845,
          "p90": 0.1588433408203973,
          "p95": 0.21512888213768822,
          "max": 0.33160790555284764
        },
        "rotation_deg": {
          "rms": 1.0345690614552345,
          "median": 0.8395764537322474,
          "p90": 1.5978584404386378,
          "p95": 1.7822076684057468,
          "max": 2.298723808499413
        },
        "normalized_pair_score": {
          "rms": 2.8820645462820917,
          "median": 2.4145393767177072,
          "p90": 4.611329206308679,
          "p95": 4.867755654721635,
          "max": 6.706343277488829
        },
        "normalized_global_rms": 2.8820645462820917
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012609168802931114,
          0.013841271683855627,
          0.0765198007783251
        ],
        "translation_xyz_cm": [
          -1.2609168802931114,
          1.3841271683855627,
          7.65198007783251
        ],
        "translation_norm_m": 0.07877722926634115,
        "rotation_rpy_deg_xyz": [
          -0.512749062712626,
          -0.10633713822578715,
          0.025180128279355885
        ],
        "rotation_angle_deg": 0.5242415332114175,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.661255702204205,
          "median": 0.7319328700150243,
          "p90": 2.3218554814672183,
          "p95": 3.880978501442499,
          "max": 5.5539133452469
        },
        "height_residual_m": {
          "rms": 0.03471396517121729,
          "median": -0.0059241016060887774,
          "p90": 0.053409267341990724,
          "p95": 0.08720196104337445,
          "max": 0.12336745254185391
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012609168802931114,
            0.013841271683855627,
            0.0765198007783251
          ],
          "translation_xyz_cm": [
            -1.2609168802931114,
            1.3841271683855627,
            7.65198007783251
          ],
          "translation_norm_m": 0.07877722926634115,
          "rotation_rpy_deg_xyz": [
            -0.512749062712626,
            -0.10633713822578715,
            0.025180128279355885
          ],
          "rotation_angle_deg": 0.5242415332114175,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.02051966594073562,
            -0.014923276025446741,
            0.13078527843056897
          ],
          "translation_xyz_cm": [
            2.051966594073562,
            -1.4923276025446741,
            13.078527843056897
          ],
          "translation_norm_m": 0.13322368374959653,
          "rotation_rpy_deg_xyz": [
            -0.27499964252311604,
            -0.20023069659911333,
            -0.3454035114939882
          ],
          "rotation_angle_deg": 0.4851311566747633,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03295136881139227,
            0.008617322556370821,
            0.1071756913550131
          ],
          "translation_xyz_cm": [
            3.2951368811392268,
            0.8617322556370821,
            10.71756913550131
          ],
          "translation_norm_m": 0.11245745760957769,
          "rotation_rpy_deg_xyz": [
            -0.21216311907327182,
            -0.26828285027110155,
            -0.400818110870366
          ],
          "rotation_angle_deg": 0.5272965606703562,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.034337379664961976,
            -0.018542182852037237,
            0.0471252642060859
          ],
          "translation_xyz_cm": [
            3.4337379664961976,
            -1.8542182852037237,
            4.71252642060859
          ],
          "translation_norm_m": 0.06118544527636886,
          "rotation_rpy_deg_xyz": [
            0.27564597154663273,
            0.0814914904988837,
            -0.35095270635227116
          ],
          "rotation_angle_deg": 0.4537914571352452,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04594209861596066,
            0.011921598454077476,
            0.024908745166160175
          ],
          "translation_xyz_cm": [
            4.594209861596066,
            1.1921598454077476,
            2.4908745166160173
          ],
          "translation_norm_m": 0.053602672701010205,
          "rotation_rpy_deg_xyz": [
            0.4075306811169571,
            0.2594733494501883,
            -0.3833101993023162
          ],
          "rotation_angle_deg": 0.6172849060984689,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.012738151358421573,
            0.009707202404908744,
            -0.03132620936945348
          ],
          "translation_xyz_cm": [
            1.2738151358421574,
            0.9707202404908744,
            -3.132620936945348
          ],
          "translation_norm_m": 0.03518268994859203,
          "rotation_rpy_deg_xyz": [
            0.5773527078393991,
            0.1385783703347208,
            0.13213833670522987
          ],
          "rotation_angle_deg": 0.6081248354534395,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.00523573679978292,
            0.02098993006877678,
            -0.009625001957190535
          ],
          "translation_xyz_cm": [
            0.523573679978292,
            2.098993006877678,
            -0.9625001957190534
          ],
          "translation_norm_m": 0.02367764276283985,
          "rotation_rpy_deg_xyz": [
            0.2792119562023699,
            0.20921882814903586,
            -0.033924760434783256
          ],
          "rotation_angle_deg": 0.3505955247931428,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.03321621732171365,
            0.00040588091060411724,
            -0.07059760975127063
          ],
          "translation_xyz_cm": [
            -3.321621732171365,
            0.040588091060411724,
            -7.059760975127063
          ],
          "translation_norm_m": 0.07802246045254921,
          "rotation_rpy_deg_xyz": [
            0.5930310698175939,
            0.481990798394924,
            0.5333036360882121
          ],
          "rotation_angle_deg": 0.9304552261138788,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03134603786983453,
            -0.0169527610905027,
            -0.1281079006265316
          ],
          "translation_xyz_cm": [
            -3.134603786983453,
            -1.69527610905027,
            -12.81079006265316
          ],
          "translation_norm_m": 0.13297219409209604,
          "rotation_rpy_deg_xyz": [
            0.6924803660825333,
            0.2780464876427371,
            0.39756898189109063
          ],
          "rotation_angle_deg": 0.8447252815494993,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.03174089547398258,
            -0.02004014194491016,
            -0.050603077140599535
          ],
          "translation_xyz_cm": [
            -3.174089547398258,
            -2.004014194491016,
            -5.060307714059953
          ],
          "translation_norm_m": 0.0630060564609459,
          "rotation_rpy_deg_xyz": [
            0.49496347730467044,
            0.3323723766499313,
            0.5852293196132937
          ],
          "rotation_angle_deg": 0.8344276259149954,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.038754942189076574,
            -0.037690113430767724,
            -0.07623097682966877
          ],
          "translation_xyz_cm": [
            -3.8754942189076576,
            -3.769011343076772,
            -7.623097682966877
          ],
          "translation_norm_m": 0.0934540102023894,
          "rotation_rpy_deg_xyz": [
            0.6603821300742498,
            0.7478965916725878,
            0.5002551436195283
          ],
          "rotation_angle_deg": 1.114174265455696,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.013423979465021843,
            -0.010267484351008827,
            -0.030196651376784105
          ],
          "translation_xyz_cm": [
            -1.3423979465021842,
            -1.0267484351008827,
            -3.0196651376784107
          ],
          "translation_norm_m": 0.034604366977978036,
          "rotation_rpy_deg_xyz": [
            0.336131850082815,
            0.2639837018538619,
            -0.08771892131972028
          ],
          "rotation_angle_deg": 0.4364656210971346,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.011250593987533863,
            -0.0019109942727930235,
            -0.2106173559714391
          ],
          "translation_xyz_cm": [
            1.1250593987533863,
            -0.19109942727930235,
            -21.06173559714391
          ],
          "translation_norm_m": 0.21092628665148133,
          "rotation_rpy_deg_xyz": [
            -0.013305642112808764,
            0.024135510269224773,
            0.29417474379451547
          ],
          "rotation_angle_deg": 0.2954657171488672,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.009561571934055046,
            0.018228379804984197,
            -0.19541728745831702
          ],
          "translation_xyz_cm": [
            0.9561571934055046,
            1.8228379804984196,
            -19.5417287458317
          ],
          "translation_norm_m": 0.19649838097483494,
          "rotation_rpy_deg_xyz": [
            0.09180364768394243,
            -0.17906995381581534,
            0.39792926220929115
          ],
          "rotation_angle_deg": 0.4460444594815879,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.008029823406353387,
            0.0065225204070428755,
            -0.13252025582315163
          ],
          "translation_xyz_cm": [
            -0.8029823406353387,
            0.6522520407042876,
            -13.252025582315163
          ],
          "translation_norm_m": 0.1329234348782451,
          "rotation_rpy_deg_xyz": [
            0.5165422252836472,
            -0.42448116378973205,
            -0.09647502483751788
          ],
          "rotation_angle_deg": 0.6752310994879848,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.007969648944450514,
            0.01586724522081695,
            -0.133300045644409
          ],
          "translation_xyz_cm": [
            0.7969648944450514,
            1.586724522081695,
            -13.3300045644409
          ],
          "translation_norm_m": 0.13447745886949547,
          "rotation_rpy_deg_xyz": [
            -0.7990426814538194,
            0.6665122976755382,
            0.29130516749756297
          ],
          "rotation_angle_deg": 1.0817877508079645,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.010876383609927376,
            -0.0017151879517438573,
            -0.05793220094121644
          ],
          "translation_xyz_cm": [
            -1.0876383609927376,
            -0.17151879517438573,
            -5.7932200941216445
          ],
          "translation_norm_m": 0.05896929282290558,
          "rotation_rpy_deg_xyz": [
            -0.7306818258803741,
            0.17592477144513233,
            -0.21175443543652553
          ],
          "rotation_angle_deg": 0.7805185815376894,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.008980912710379041,
            -0.01920360690398721,
            0.06976846062768055
          ],
          "translation_xyz_cm": [
            -0.8980912710379041,
            -1.920360690398721,
            6.976846062768055
          ],
          "translation_norm_m": 0.07291826526728762,
          "rotation_rpy_deg_xyz": [
            0.2987019064790666,
            -0.38269733969455455,
            -0.48443649743174
          ],
          "rotation_angle_deg": 0.6851208317935833,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.0007753480461729634,
            -0.0018746231610113906,
            0.0021012096647769346
          ],
          "translation_xyz_cm": [
            0.07753480461729634,
            -0.18746231610113906,
            0.21012096647769346
          ],
          "translation_norm_m": 0.002920694890579392,
          "rotation_rpy_deg_xyz": [
            0.18635037892170195,
            -0.3260387051895817,
            -0.4791133906880013
          ],
          "rotation_angle_deg": 0.6083324473724265,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.003970167583140505,
            0.015421170959264097,
            -0.067727176624028
          ],
          "translation_xyz_cm": [
            0.3970167583140505,
            1.5421170959264097,
            -6.772717662402799
          ],
          "translation_norm_m": 0.06957402674745335,
          "rotation_rpy_deg_xyz": [
            -0.6981460464478615,
            -0.38980011390765934,
            -0.3075123549405965
          ],
          "rotation_angle_deg": 0.8575389520162001,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010117055046520385,
            0.020530943807697155,
            -0.06146207983047336
          ],
          "translation_xyz_cm": [
            1.0117055046520385,
            2.0530943807697155,
            -6.146207983047336
          ],
          "translation_norm_m": 0.0655855297572309,
          "rotation_rpy_deg_xyz": [
            0.07441835191959958,
            0.007514475391252907,
            0.006210389018937291
          ],
          "rotation_angle_deg": 0.0750537590458637,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.01212909412596097,
            0.04027826130641543,
            -0.10853949724003133
          ],
          "translation_xyz_cm": [
            1.212909412596097,
            4.027826130641543,
            -10.853949724003133
          ],
          "translation_norm_m": 0.11640565157801863,
          "rotation_rpy_deg_xyz": [
            -0.9050550997692758,
            -0.21062912431314335,
            0.16755718166353725
          ],
          "rotation_angle_deg": 0.9439310075445936,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.006513283956986249,
            0.016746887839297453,
            -0.051679826017548475
          ],
          "translation_xyz_cm": [
            0.6513283956986249,
            1.6746887839297453,
            -5.167982601754847
          ],
          "translation_norm_m": 0.05471458249324784,
          "rotation_rpy_deg_xyz": [
            -0.9242360847641867,
            -0.08473452237526666,
            0.16554781300183535
          ],
          "rotation_angle_deg": 0.9426406124065511,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.002517289967038927,
            -0.016172505331196962,
            -0.159918582817198
          ],
          "translation_xyz_cm": [
            -0.2517289967038927,
            -1.6172505331196962,
            -15.9918582817198
          ],
          "translation_norm_m": 0.16075397291428528,
          "rotation_rpy_deg_xyz": [
            -0.502675724876127,
            1.6083371465480425,
            -0.3342944122427632
          ],
          "rotation_angle_deg": 1.716520406845749,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.003648777943310977,
            0.01214323738835521,
            -0.03389703392487266
          ],
          "translation_xyz_cm": [
            -0.3648777943310977,
            1.214323738835521,
            -3.3897033924872657
          ],
          "translation_norm_m": 0.03619089255121388,
          "rotation_rpy_deg_xyz": [
            0.5398851760199954,
            0.37717311314485535,
            0.20211984111247944
          ],
          "rotation_angle_deg": 0.6883808183046061,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.013282352266933195,
            0.02128041577101114,
            -0.028883766458077387
          ],
          "translation_xyz_cm": [
            1.3282352266933195,
            2.128041577101114,
            -2.888376645807739
          ],
          "translation_norm_m": 0.03825635818964949,
          "rotation_rpy_deg_xyz": [
            0.7286253667397738,
            0.8834478731029967,
            0.1924888369877166
          ],
          "rotation_angle_deg": 1.1602813065616997,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.00737876383761682,
            0.006072468853074664,
            -0.016940253254376907
          ],
          "translation_xyz_cm": [
            -0.737876383761682,
            0.6072468853074664,
            -1.6940253254376907
          ],
          "translation_norm_m": 0.01944976128556109,
          "rotation_rpy_deg_xyz": [
            -0.46790975957555336,
            2.1555948607173834,
            0.638311705555451
          ],
          "rotation_angle_deg": 2.298723808499413,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.016008219006262037,
            0.014910060465881614,
            -0.0040908251799821466
          ],
          "translation_xyz_cm": [
            1.6008219006262037,
            1.4910060465881614,
            -0.40908251799821466
          ],
          "translation_norm_m": 0.02225551233968499,
          "rotation_rpy_deg_xyz": [
            0.3468947442821179,
            0.273967507351442,
            -0.013112983496972798
          ],
          "rotation_angle_deg": 0.4422529024425402,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.002237634641799824,
            0.008254025600278325,
            0.01694195478575204
          ],
          "translation_xyz_cm": [
            -0.22376346417998239,
            0.8254025600278325,
            1.6941954785752038
          ],
          "translation_norm_m": 0.018978034127978036,
          "rotation_rpy_deg_xyz": [
            0.027107288441695736,
            1.65452244628629,
            0.4779898666505666
          ],
          "rotation_angle_deg": 1.7222843995877888,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.012997038881888745,
            0.00785730061288259,
            0.2425978873914294
          ],
          "translation_xyz_cm": [
            1.2997038881888745,
            0.785730061288259,
            24.25978873914294
          ],
          "translation_norm_m": 0.24307281863549282,
          "rotation_rpy_deg_xyz": [
            -0.1202705986595927,
            -0.15886553919277463,
            -0.28986674736185397
          ],
          "rotation_angle_deg": 0.3518843244021867,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.003868188830824515,
            -0.007321599704367077,
            0.029744250367459223
          ],
          "translation_xyz_cm": [
            0.3868188830824515,
            -0.7321599704367077,
            2.9744250367459224
          ],
          "translation_norm_m": 0.030875380758526715,
          "rotation_rpy_deg_xyz": [
            0.29460764614638735,
            1.4031611071505918,
            0.5177246451530397
          ],
          "rotation_angle_deg": 1.52313489934156,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.033085430211094224,
            -0.00772591694151048,
            0.2295864749218431
          ],
          "translation_xyz_cm": [
            3.3085430211094224,
            -0.772591694151048,
            22.95864749218431
          ],
          "translation_norm_m": 0.23208680477760554,
          "rotation_rpy_deg_xyz": [
            0.252165863350938,
            -0.3776720919769801,
            -0.24823185418507174
          ],
          "rotation_angle_deg": 0.5171360805623124,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.0316080871535942,
            0.006256412044179704,
            0.33003876917715375
          ],
          "translation_xyz_cm": [
            3.16080871535942,
            0.6256412044179704,
            33.003876917715374
          ],
          "translation_norm_m": 0.33160790555284764,
          "rotation_rpy_deg_xyz": [
            -0.1889207162566587,
            0.39922394183375987,
            -0.22937149602151732
          ],
          "rotation_angle_deg": 0.49737283436600194,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.007447834058094571,
            0.012883577645579347,
            0.1562255365269482
          ],
          "translation_xyz_cm": [
            0.7447834058094571,
            1.2883577645579347,
            15.62255365269482
          ],
          "translation_norm_m": 0.15693270872650933,
          "rotation_rpy_deg_xyz": [
            0.9422424393989156,
            -1.4626641073905104,
            -0.7423520859628502
          ],
          "rotation_angle_deg": 1.886888108853824,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.012219975766302404,
            0.02518037496651271,
            0.21471318630795244
          ],
          "translation_xyz_cm": [
            -1.2219975766302404,
            2.518037496651271,
            21.471318630795245
          ],
          "translation_norm_m": 0.21652974729975716,
          "rotation_rpy_deg_xyz": [
            0.8186168933082603,
            -0.4200459673784277,
            -0.6958675384757913
          ],
          "rotation_angle_deg": 1.1517874172683882,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.002699720339027989,
            -0.011896602276093349,
            0.10889477737808648
          ],
          "translation_xyz_cm": [
            0.2699720339027989,
            -1.1896602276093349,
            10.889477737808647
          ],
          "translation_norm_m": 0.10957595619408267,
          "rotation_rpy_deg_xyz": [
            -0.6756869326612127,
            0.6284153173251659,
            0.005483126304856047
          ],
          "rotation_angle_deg": 0.9227809946255764,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.00039028101324112274,
            -0.004244709256594703,
            -0.04487265144198564
          ],
          "translation_xyz_cm": [
            0.039028101324112274,
            -0.4244709256594703,
            -4.487265144198564
          ],
          "translation_norm_m": 0.04507465721862179,
          "rotation_rpy_deg_xyz": [
            -0.4487972006148934,
            0.6032064639501636,
            0.09139918033367782
          ],
          "rotation_angle_deg": 0.7576679009812031,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            -0.00041424810922041644,
            0.026864782968873957,
            0.04098611416278038
          ],
          "translation_xyz_cm": [
            -0.041424810922041644,
            2.6864782968873957,
            4.098611416278038
          ],
          "translation_norm_m": 0.049007649603150315,
          "rotation_rpy_deg_xyz": [
            -0.7823419582087989,
            -0.09522388778360807,
            -0.7389683499726251
          ],
          "rotation_angle_deg": 1.0808111897380877,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.013863041074912097,
            -0.04097294278766839,
            -0.016259471775116358
          ],
          "translation_xyz_cm": [
            1.3863041074912097,
            -4.097294278766839,
            -1.6259471775116356
          ],
          "translation_norm_m": 0.04620969996583025,
          "rotation_rpy_deg_xyz": [
            0.18029387575019123,
            0.06332105940999891,
            -0.6446945932449862
          ],
          "rotation_angle_deg": 0.6725136623168326,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.0025186370511449674,
            0.013162731270232264,
            0.0034530882763703086
          ],
          "translation_xyz_cm": [
            0.25186370511449674,
            1.3162731270232264,
            0.34530882763703086
          ],
          "translation_norm_m": 0.013839250186775169,
          "rotation_rpy_deg_xyz": [
            -0.04403478488052194,
            0.1273110235892916,
            0.14421755524377414
          ],
          "rotation_angle_deg": 0.19738278257018982,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.006773453670679608,
            -0.012432659839920202,
            -0.014361138260317763
          ],
          "translation_xyz_cm": [
            0.6773453670679608,
            -1.2432659839920202,
            -1.4361138260317763
          ],
          "translation_norm_m": 0.020166630790887465,
          "rotation_rpy_deg_xyz": [
            -1.3165597183166375,
            -1.022088859606694,
            0.15217388298814216
          ],
          "rotation_angle_deg": 1.6725819815357155,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.004880349390126826,
            0.003049741772324935,
            0.05732746794052886
          ],
          "translation_xyz_cm": [
            0.4880349390126826,
            0.3049741772324935,
            5.732746794052886
          ],
          "translation_norm_m": 0.057615599584834136,
          "rotation_rpy_deg_xyz": [
            -0.25947399506936814,
            -0.36494574516350675,
            -0.13628532271320348
          ],
          "rotation_angle_deg": 0.4683062669355568,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.010314327084092856,
            -0.0294789375686772,
            0.01867830279389164
          ],
          "translation_xyz_cm": [
            -1.0314327084092856,
            -2.94789375686772,
            1.8678302793891641
          ],
          "translation_norm_m": 0.036390549578646375,
          "rotation_rpy_deg_xyz": [
            1.0767619755284152,
            -0.13234391573093487,
            -0.20515862979025176
          ],
          "rotation_angle_deg": 1.1038610850821526,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.012007348585915345,
            0.02108765803839452,
            0.0406260959681395
          ],
          "translation_xyz_cm": [
            -1.2007348585915345,
            2.108765803839452,
            4.06260959681395
          ],
          "translation_norm_m": 0.047321722445621404,
          "rotation_rpy_deg_xyz": [
            0.1636261283576874,
            1.1057380728049826,
            -0.28115514026609795
          ],
          "rotation_angle_deg": 1.1529800073040937,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.0004303917880057462,
            -0.030431288495687103,
            -0.0576385471772721
          ],
          "translation_xyz_cm": [
            -0.04303917880057462,
            -3.0431288495687103,
            -5.7638547177272095
          ],
          "translation_norm_m": 0.06518014020624337,
          "rotation_rpy_deg_xyz": [
            0.5911935925908259,
            0.26035862854617775,
            -0.08456304865131221
          ],
          "rotation_angle_deg": 0.6516700744745407,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.01440890545290685,
            0.00931052305084723,
            -0.12337531407999634
          ],
          "translation_xyz_cm": [
            1.440890545290685,
            0.931052305084723,
            -12.337531407999634
          ],
          "translation_norm_m": 0.12456231581087801,
          "rotation_rpy_deg_xyz": [
            0.1582048779792953,
            0.7321926634568835,
            -0.028288571199334922
          ],
          "rotation_angle_deg": 0.7496612320663737,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.0019033469090001809,
            0.022771112012406114,
            -0.12252147313126147
          ],
          "translation_xyz_cm": [
            0.1903346909000181,
            2.2771112012406114,
            -12.252147313126146
          ],
          "translation_norm_m": 0.12463409505425059,
          "rotation_rpy_deg_xyz": [
            0.01028268790533792,
            1.1035957977074127,
            0.21796833579600192
          ],
          "rotation_angle_deg": 1.1249422078458442,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.020244558201732987,
            0.01851393698804904,
            -0.04443072341892369
          ],
          "translation_xyz_cm": [
            -2.0244558201732987,
            1.851393698804904,
            -4.443072341892369
          ],
          "translation_norm_m": 0.05221778608012503,
          "rotation_rpy_deg_xyz": [
            0.06990196894477091,
            0.015609813596195071,
            0.07352927378554952
          ],
          "rotation_angle_deg": 0.10264065763694455,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.03344177297623341,
            0.022657094817768342,
            -0.07271034569665377
          ],
          "translation_xyz_cm": [
            -3.344177297623341,
            2.265709481776834,
            -7.271034569665377
          ],
          "translation_norm_m": 0.08317746387515178,
          "rotation_rpy_deg_xyz": [
            0.338381643721089,
            0.6245163780718037,
            0.3212323512722692
          ],
          "rotation_angle_deg": 0.7787976666017864,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.009598209236728883,
            0.013365669792407497,
            -0.03457396615463748
          ],
          "translation_xyz_cm": [
            -0.9598209236728883,
            1.3365669792407497,
            -3.457396615463748
          ],
          "translation_norm_m": 0.03829002331174167,
          "rotation_rpy_deg_xyz": [
            0.43003972350458614,
            0.6310663681198572,
            0.24792955123508
          ],
          "rotation_angle_deg": 0.8021663667768609,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.0067942052548271015,
            0.00019725215510701943,
            0.050179257447018455
          ],
          "translation_xyz_cm": [
            0.6794205254827101,
            0.019725215510701943,
            5.017925744701845
          ],
          "translation_norm_m": 0.050637515849334194,
          "rotation_rpy_deg_xyz": [
            1.4268409924314462,
            -0.214567689883574,
            -0.2774144397796576
          ],
          "rotation_angle_deg": 1.4688037653678097,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.011945132246371948,
            0.009100958460405595,
            0.01562431254980888
          ],
          "translation_xyz_cm": [
            -1.1945132246371948,
            0.9100958460405595,
            1.562431254980888
          ],
          "translation_norm_m": 0.02167101224990329,
          "rotation_rpy_deg_xyz": [
            1.384509151500671,
            0.22140376968280798,
            0.4040854758953925
          ],
          "rotation_angle_deg": 1.4584230793826463,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.019509886827240308,
            0.018804223501678763,
            0.08490711768358682
          ],
          "translation_xyz_cm": [
            1.9509886827240308,
            1.8804223501678763,
            8.49071176835868
          ],
          "translation_norm_m": 0.08912605196488439,
          "rotation_rpy_deg_xyz": [
            2.013734759024271,
            -0.46165425251799913,
            -0.5058467181486842
          ],
          "rotation_angle_deg": 2.125059053716131,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.003624177304839993,
            0.010656709762927985,
            0.02693673763954188
          ],
          "translation_xyz_cm": [
            0.3624177304839993,
            1.0656709762927985,
            2.693673763954188
          ],
          "translation_norm_m": 0.029193971274386672,
          "rotation_rpy_deg_xyz": [
            1.768510774934586,
            0.2887582444117546,
            0.1964935155239931
          ],
          "rotation_angle_deg": 1.8021820913450661,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.007262290145911621,
            0.010105120729610118,
            0.012114259065773028
          ],
          "translation_xyz_cm": [
            0.7262290145911621,
            1.0105120729610118,
            1.2114259065773028
          ],
          "translation_norm_m": 0.017366910946857106,
          "rotation_rpy_deg_xyz": [
            0.9035135934762457,
            0.8741098204206807,
            -0.4974323568110727
          ],
          "rotation_angle_deg": 1.354501617940593,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0008936507976333719,
            -0.01578941586048721,
            0.009812496459197434
          ],
          "translation_xyz_cm": [
            -0.08936507976333719,
            -1.578941586048721,
            0.9812496459197434
          ],
          "translation_norm_m": 0.018611538134320815,
          "rotation_rpy_deg_xyz": [
            -0.6939896225388991,
            -0.28651377174004,
            -0.6984553955759323
          ],
          "rotation_angle_deg": 1.0266292377274089,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.004910158924756658,
            0.04010014182667543,
            0.06254041177546328
          ],
          "translation_xyz_cm": [
            -0.4910158924756658,
            4.010014182667543,
            6.254041177546328
          ],
          "translation_norm_m": 0.07445424192234018,
          "rotation_rpy_deg_xyz": [
            -1.2786779623618896,
            -0.5026242861886394,
            0.6103604643866053
          ],
          "rotation_angle_deg": 1.5011041162059429,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.02314757907141196,
            0.02343298995790466,
            0.04282352956059339
          ],
          "translation_xyz_cm": [
            2.314757907141196,
            2.343298995790466,
            4.282352956059339
          ],
          "translation_norm_m": 0.054025643163793484,
          "rotation_rpy_deg_xyz": [
            -0.41234774915652744,
            -0.14294196684435448,
            0.49375825121481526
          ],
          "rotation_angle_deg": 0.6585978079878347,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.008452182388582141,
            -0.025359385798184197,
            0.020955090868092198
          ],
          "translation_xyz_cm": [
            -0.8452182388582141,
            -2.5359385798184197,
            2.0955090868092197
          ],
          "translation_norm_m": 0.03396547759830569,
          "rotation_rpy_deg_xyz": [
            0.7661662151354478,
            -0.645907480166912,
            -0.12563091140113153
          ],
          "rotation_angle_deg": 1.009405050223996,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.003674432424048746,
            -0.0001118141021488328,
            0.029407677492396075
          ],
          "translation_xyz_cm": [
            -0.3674432424048746,
            -0.01118141021488328,
            2.9407677492396074
          ],
          "translation_norm_m": 0.029636555999797257,
          "rotation_rpy_deg_xyz": [
            0.45451664837675126,
            -1.222941734881918,
            0.23624942935701784
          ],
          "rotation_angle_deg": 1.3267506740417352,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.01396027436975622,
            0.006222939178173126,
            0.029651784943137027
          ],
          "translation_xyz_cm": [
            -1.396027436975622,
            0.6222939178173126,
            2.9651784943137027
          ],
          "translation_norm_m": 0.03335929529843462,
          "rotation_rpy_deg_xyz": [
            -0.7195756743216479,
            -1.1770200306448997,
            0.17598332254564697
          ],
          "rotation_angle_deg": 1.3897893060956639,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.007893373743384391,
            0.0170801559921141,
            -0.0499133514293227
          ],
          "translation_xyz_cm": [
            0.7893373743384391,
            1.7080155992114099,
            -4.99133514293227
          ],
          "translation_norm_m": 0.053342100902333905,
          "rotation_rpy_deg_xyz": [
            -0.2082641615943626,
            -0.48249627837492387,
            0.09160682521358601
          ],
          "rotation_angle_deg": 0.5332986524627087,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.00484721201223981,
            0.003150703424940282,
            -0.02155231831609281
          ],
          "translation_xyz_cm": [
            -0.484721201223981,
            0.3150703424940282,
            -2.155231831609281
          ],
          "translation_norm_m": 0.022314229118697376,
          "rotation_rpy_deg_xyz": [
            0.0343272360026619,
            -0.1696745516127692,
            -0.04944597788558324
          ],
          "rotation_angle_deg": 0.1800213546372699,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.011210970051067193,
            0.021594279532552108,
            -0.025233683986500333
          ],
          "translation_xyz_cm": [
            1.1210970051067193,
            2.1594279532552108,
            -2.5233683986500335
          ],
          "translation_norm_m": 0.03505335312843106,
          "rotation_rpy_deg_xyz": [
            0.9522016451020995,
            0.2961266316996025,
            -0.14216772784271955
          ],
          "rotation_angle_deg": 1.0076148796229685,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.015316661565448975,
            0.011983946168473536,
            -0.028735720009444018
          ],
          "translation_xyz_cm": [
            1.5316661565448975,
            1.1983946168473536,
            -2.8735720009444017
          ],
          "translation_norm_m": 0.034698079078538835,
          "rotation_rpy_deg_xyz": [
            0.9156445983698082,
            0.2561662438043904,
            -0.07964782915709098
          ],
          "rotation_angle_deg": 0.9543031339490973,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.00386251604912613,
            0.001949884093898735,
            0.022715246811351883
          ],
          "translation_xyz_cm": [
            0.386251604912613,
            0.1949884093898735,
            2.271524681135188
          ],
          "translation_norm_m": 0.023123657061763135,
          "rotation_rpy_deg_xyz": [
            1.1702100166322438,
            -0.13126702440410526,
            0.021263078443348474
          ],
          "rotation_angle_deg": 1.1777652672084904,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.026423154839443797,
        "improved_pairs": 27,
        "worsened_pairs": 39,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.009421696072265062,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.200",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.2,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.3002667926374616,
          -6.733076264476427e-05,
          0.7159634183009542
        ],
        "rotation_rpy_deg_xyz": [
          -0.7880683915167217,
          1.4026395561702687,
          -0.8355763723005772
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10034501725742666,
          "median": 0.055697729327154805,
          "p90": 0.15898854863264478,
          "p95": 0.21079766080483558,
          "max": 0.331207470731766
        },
        "rotation_deg": {
          "rms": 1.0647782869175946,
          "median": 0.8967460716753088,
          "p90": 1.6183146917955624,
          "p95": 1.8843913234187912,
          "max": 2.4215601589816793
        },
        "normalized_pair_score": {
          "rms": 2.9262023505769332,
          "median": 2.4303877464949624,
          "p90": 4.746616499294305,
          "p95": 4.827948416637867,
          "max": 6.741578230650725
        },
        "normalized_global_rms": 2.9262023505769332
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012682365579619326,
          0.013527106101724917,
          0.0755982067955232
        ],
        "translation_xyz_cm": [
          -1.2682365579619326,
          1.3527106101724917,
          7.55982067955232
        ],
        "translation_norm_m": 0.07783902534642329,
        "rotation_rpy_deg_xyz": [
          -0.48996513547728743,
          -0.10336574439144892,
          0.02573297644700039
        ],
        "rotation_angle_deg": 0.5013877557627758,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.6622470214176333,
          "median": 0.7148339614213655,
          "p90": 2.277662858258894,
          "p95": 3.7960285397867324,
          "max": 5.579952273463167
        },
        "height_residual_m": {
          "rms": 0.03471396517121729,
          "median": -0.005924101606088833,
          "p90": 0.053409267341990765,
          "p95": 0.08720196104337444,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012682365579619326,
            0.013527106101724917,
            0.0755982067955232
          ],
          "translation_xyz_cm": [
            -1.2682365579619326,
            1.3527106101724917,
            7.55982067955232
          ],
          "translation_norm_m": 0.07783902534642329,
          "rotation_rpy_deg_xyz": [
            -0.48996513547728743,
            -0.10336574439144892,
            0.02573297644700039
          ],
          "rotation_angle_deg": 0.5013877557627758,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.02051386609078487,
            -0.015557731269103314,
            0.12852403755941622
          ],
          "translation_xyz_cm": [
            2.051386609078487,
            -1.5557731269103314,
            12.852403755941621
          ],
          "translation_norm_m": 0.13107741962217032,
          "rotation_rpy_deg_xyz": [
            -0.23085461037466334,
            -0.1892395167107833,
            -0.34425847295643264
          ],
          "rotation_angle_deg": 0.45594025406310634,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03317356173120256,
            0.007656347154861409,
            0.10465418458912298
          ],
          "translation_xyz_cm": [
            3.317356173120256,
            0.7656347154861409,
            10.465418458912298
          ],
          "translation_norm_m": 0.11005272918789379,
          "rotation_rpy_deg_xyz": [
            -0.14599012279428614,
            -0.24194855514443686,
            -0.39897572135183684
          ],
          "rotation_angle_deg": 0.48916199208322036,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.034315702266682124,
            -0.018822621239843296,
            0.04585233573735856
          ],
          "translation_xyz_cm": [
            3.4315702266682124,
            -1.8822621239843296,
            4.585233573735856
          ],
          "translation_norm_m": 0.06028511578296604,
          "rotation_rpy_deg_xyz": [
            0.29827878592034196,
            0.08441695101341982,
            -0.3503633556539259
          ],
          "rotation_angle_deg": 0.46797926816769986,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04604377855535169,
            0.01130976188872379,
            0.02343780378703015
          ],
          "translation_xyz_cm": [
            4.604377855535169,
            1.130976188872379,
            2.343780378703015
          ],
          "translation_norm_m": 0.05288923240124797,
          "rotation_rpy_deg_xyz": [
            0.4551234260787949,
            0.2722961805773567,
            -0.3819135203806907
          ],
          "rotation_angle_deg": 0.654190424558848,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.013364222315790236,
            0.00868263345837983,
            -0.03319258590825695
          ],
          "translation_xyz_cm": [
            1.3364222315790237,
            0.8682633458379829,
            -3.319258590825695
          ],
          "translation_norm_m": 0.036820351996626276,
          "rotation_rpy_deg_xyz": [
            0.6612046882037641,
            0.1863539638422574,
            0.13529182076589147
          ],
          "rotation_angle_deg": 0.6999512541629207,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.005280556020637331,
            0.020657570998644598,
            -0.009743870388128897
          ],
          "translation_xyz_cm": [
            0.528055602063733,
            2.06575709986446,
            -0.9743870388128897
          ],
          "translation_norm_m": 0.023442749872653306,
          "rotation_rpy_deg_xyz": [
            0.30576630385284326,
            0.21320075582506187,
            -0.033222636548297234
          ],
          "rotation_angle_deg": 0.37428468642621304,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.03278447612247977,
            -0.0004075247415502581,
            -0.07111288041521424
          ],
          "translation_xyz_cm": [
            -3.278447612247977,
            -0.04075247415502581,
            -7.111288041521425
          ],
          "translation_norm_m": 0.078307277516135,
          "rotation_rpy_deg_xyz": [
            0.6628484170307424,
            0.5117879098996975,
            0.5356884781929347
          ],
          "rotation_angle_deg": 0.9925106000585615,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.030587239744333194,
            -0.017952998311270618,
            -0.1289485689814081
          ],
          "translation_xyz_cm": [
            -3.0587239744333194,
            -1.7952998311270618,
            -12.89485689814081
          ],
          "translation_norm_m": 0.13373714078704826,
          "rotation_rpy_deg_xyz": [
            0.7807440275220056,
            0.33381339962222356,
            0.40113708113642316
          ],
          "rotation_angle_deg": 0.9381227254964095,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.031501191670756615,
            -0.02060293004202665,
            -0.05096674515342746
          ],
          "translation_xyz_cm": [
            -3.1501191670756614,
            -2.060293004202665,
            -5.0966745153427455
          ],
          "translation_norm_m": 0.0633594106232753,
          "rotation_rpy_deg_xyz": [
            0.5435358614810986,
            0.3457501290985925,
            0.5866814782604906
          ],
          "rotation_angle_deg": 0.8701957998948366,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03825960448656847,
            -0.03851737131448241,
            -0.07684988476774919
          ],
          "translation_xyz_cm": [
            -3.825960448656847,
            -3.8517371314482407,
            -7.684988476774919
          ],
          "translation_norm_m": 0.09409192323075712,
          "rotation_rpy_deg_xyz": [
            0.7336797523092549,
            0.7813942795317939,
            0.5028538998862719
          ],
          "rotation_angle_deg": 1.1818112556504974,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.013331130956475284,
            -0.01065137270259911,
            -0.030258028438431173
          ],
          "translation_xyz_cm": [
            -1.3331130956475286,
            -1.065137270259911,
            -3.0258028438431173
          ],
          "translation_norm_m": 0.034737862312026004,
          "rotation_rpy_deg_xyz": [
            0.3675209494419985,
            0.26950759267802527,
            -0.08686784275218122
          ],
          "rotation_angle_deg": 0.4641140983090535,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.012302037328588311,
            -0.0027292373647943985,
            -0.21089716408598155
          ],
          "translation_xyz_cm": [
            1.2302037328588311,
            -0.27292373647943985,
            -21.089716408598154
          ],
          "translation_norm_m": 0.21127328907965814,
          "rotation_rpy_deg_xyz": [
            0.08225250003520912,
            0.09993198100360763,
            0.2975185061727483
          ],
          "rotation_angle_deg": 0.3243862122980659,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.0103528582378134,
            0.01750327685205136,
            -0.1959443704241829
          ],
          "translation_xyz_cm": [
            1.03528582378134,
            1.7503276852051362,
            -19.59443704241829
          ],
          "translation_norm_m": 0.1969968087944097,
          "rotation_rpy_deg_xyz": [
            0.17482221691416916,
            -0.13258313678518835,
            0.4006370077454075
          ],
          "rotation_angle_deg": 0.4569605802146475,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.006829506489425596,
            0.005537426352794417,
            -0.1329216163200256
          ],
          "translation_xyz_cm": [
            -0.6829506489425596,
            0.5537426352794417,
            -13.29216163200256
          ],
          "translation_norm_m": 0.13321209154813923,
          "rotation_rpy_deg_xyz": [
            0.6148413626939241,
            -0.330657810725991,
            -0.09193645042424012
          ],
          "rotation_angle_deg": 0.7039101000425022,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.008330483302982028,
            0.015453053161794794,
            -0.13619464976703227
          ],
          "translation_xyz_cm": [
            0.8330483302982028,
            1.5453053161794794,
            -13.619464976703227
          ],
          "translation_norm_m": 0.13732143470429917,
          "rotation_rpy_deg_xyz": [
            -0.7580488375823727,
            0.6759597444083112,
            0.2922743826800189
          ],
          "rotation_angle_deg": 1.0581062857341232,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.010263994948455812,
            -0.002618431717090308,
            -0.05968477175212722
          ],
          "translation_xyz_cm": [
            -1.0263994948455812,
            -0.2618431717090308,
            -5.968477175212722
          ],
          "translation_norm_m": 0.06061747071647343,
          "rotation_rpy_deg_xyz": [
            -0.6513031160828601,
            0.21706464469076792,
            -0.2098110703003792
          ],
          "rotation_angle_deg": 0.7175059305402306,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.008974518521137176,
            -0.019894914609074735,
            0.07142991078392724
          ],
          "translation_xyz_cm": [
            -0.8974518521137176,
            -1.9894914609074734,
            7.142991078392724
          ],
          "translation_norm_m": 0.07468990403386802,
          "rotation_rpy_deg_xyz": [
            0.3467172126125137,
            -0.3696239364566564,
            -0.48304896266677344
          ],
          "rotation_angle_deg": 0.6993486925105833,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.0010865704909703844,
            -0.0027230188507425535,
            0.0027179065495190613
          ],
          "translation_xyz_cm": [
            0.10865704909703844,
            -0.27230188507425535,
            0.27179065495190613
          ],
          "translation_norm_m": 0.003997809788529906,
          "rotation_rpy_deg_xyz": [
            0.2530544584417354,
            -0.29922374883802605,
            -0.47706645034059303
          ],
          "rotation_angle_deg": 0.6168730042301562,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.004646548074314194,
            0.01444861703004141,
            -0.06845662240203496
          ],
          "translation_xyz_cm": [
            0.4646548074314194,
            1.444861703004141,
            -6.845662240203495
          ],
          "translation_norm_m": 0.07011891395181838,
          "rotation_rpy_deg_xyz": [
            -0.613841385056918,
            -0.34118069066432005,
            -0.3054098915767
          ],
          "rotation_angle_deg": 0.766547312406537,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010287397036085333,
            0.020283896309429283,
            -0.06226761744117501
          ],
          "translation_xyz_cm": [
            1.0287397036085333,
            2.0283896309429283,
            -6.226761744117501
          ],
          "translation_norm_m": 0.06629119978602181,
          "rotation_rpy_deg_xyz": [
            0.09742078560760371,
            0.010534577213690796,
            0.006799628393851377
          ],
          "rotation_angle_deg": 0.09822372370385068,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.012539725072939212,
            0.039772513627569506,
            -0.11046635370708617
          ],
          "translation_xyz_cm": [
            1.2539725072939212,
            3.9772513627569506,
            -11.046635370708618
          ],
          "translation_norm_m": 0.11807587749620654,
          "rotation_rpy_deg_xyz": [
            -0.8561370947705013,
            -0.197011797657047,
            0.16869019740490312
          ],
          "rotation_angle_deg": 0.8942834455537132,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.006685602606380736,
            0.01642780265446897,
            -0.052597037760116344
          ],
          "translation_xyz_cm": [
            0.6685602606380736,
            1.642780265446897,
            -5.2597037760116345
          ],
          "translation_norm_m": 0.05550692176119774,
          "rotation_rpy_deg_xyz": [
            -0.8965756924992224,
            -0.08040776004941842,
            0.16619167435301652
          ],
          "rotation_angle_deg": 0.9152722241962895,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0020677743987209674,
            -0.016735587357972648,
            -0.16430127043628787
          ],
          "translation_xyz_cm": [
            -0.20677743987209674,
            -1.6735587357972648,
            -16.430127043628787
          ],
          "translation_norm_m": 0.1651643516082043,
          "rotation_rpy_deg_xyz": [
            -0.44287856582421825,
            1.6292550930173253,
            -0.3327679964047989
          ],
          "rotation_angle_deg": 1.7196325575524312,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.0035047174526341984,
            0.011754351383962636,
            -0.035010040102369334
          ],
          "translation_xyz_cm": [
            -0.35047174526341984,
            1.1754351383962636,
            -3.5010040102369335
          ],
          "translation_norm_m": 0.03709650561508418,
          "rotation_rpy_deg_xyz": [
            0.574321606930612,
            0.38380699496220927,
            0.2030887566625491
          ],
          "rotation_angle_deg": 0.7194547264665011,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.013671828760827065,
            0.020601966796989002,
            -0.032903316488853085
          ],
          "translation_xyz_cm": [
            1.3671828760827065,
            2.0601966796989,
            -3.2903316488853083
          ],
          "translation_norm_m": 0.0411580875835509,
          "rotation_rpy_deg_xyz": [
            0.7940796450470556,
            0.9090560718678283,
            0.1947267395326293
          ],
          "rotation_angle_deg": 1.22163658987227,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.005602457199958,
            0.005000009075184941,
            -0.022396093001888755
          ],
          "translation_xyz_cm": [
            -0.5602457199958,
            0.5000009075184941,
            -2.2396093001888757
          ],
          "translation_norm_m": 0.023621443630281014,
          "rotation_rpy_deg_xyz": [
            -0.38058554701358294,
            2.301763326684716,
            0.6412995061505258
          ],
          "rotation_angle_deg": 2.4215601589816793,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.016154493425299066,
            0.014523361680525815,
            -0.007007139078745617
          ],
          "translation_xyz_cm": [
            1.6154493425299066,
            1.4523361680525815,
            -0.7007139078745617
          ],
          "translation_norm_m": 0.022825330017335572,
          "rotation_rpy_deg_xyz": [
            0.3825433750080434,
            0.2810800448344892,
            -0.01212812882938608
          ],
          "rotation_angle_deg": 0.4748841785598439,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.0008296286350282234,
            0.0070158673086409,
            0.0132301208348873
          ],
          "translation_xyz_cm": [
            -0.08296286350282234,
            0.70158673086409,
            1.32301208348873
          ],
          "translation_norm_m": 0.014998225730740083,
          "rotation_rpy_deg_xyz": [
            0.12492842538259899,
            1.7671899909217683,
            0.4819967397813876
          ],
          "rotation_angle_deg": 1.8354867077719332,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.015445168553994582,
            0.006664795073338059,
            0.23915596267493672
          ],
          "translation_xyz_cm": [
            1.5445168553994582,
            0.6664795073338059,
            23.915596267493672
          ],
          "translation_norm_m": 0.2397468398290301,
          "rotation_rpy_deg_xyz": [
            -0.04742105885934263,
            0.007982580276588502,
            -0.28609763093761614
          ],
          "rotation_angle_deg": 0.29010763147106794,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.004815336084856403,
            -0.00859409848940007,
            0.029712099218683376
          ],
          "translation_xyz_cm": [
            0.4815336084856403,
            -0.859409848940007,
            2.9712099218683377
          ],
          "translation_norm_m": 0.031302632963322974,
          "rotation_rpy_deg_xyz": [
            0.39039794149149243,
            1.4795122974746726,
            0.5214916853415011
          ],
          "rotation_angle_deg": 1.6149424078147105,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03496676207083993,
            -0.009252557031327546,
            0.22833700890754582
          ],
          "translation_xyz_cm": [
            3.496676207083993,
            -0.9252557031327546,
            22.83370089075458
          ],
          "translation_norm_m": 0.2311840693001604,
          "rotation_rpy_deg_xyz": [
            0.34399258199885535,
            -0.24185450898088387,
            -0.24348928201794912
          ],
          "rotation_angle_deg": 0.4855486904235825,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.034206775419699964,
            0.004996946508438516,
            0.32939841485579685
          ],
          "translation_xyz_cm": [
            3.4206775419699964,
            0.49969465084385156,
            32.939841485579684
          ],
          "translation_norm_m": 0.331207470731766,
          "rotation_rpy_deg_xyz": [
            -0.12153051791747407,
            0.5717206711162837,
            -0.2258775842610844
          ],
          "rotation_angle_deg": 0.626402740369628,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0075971953497935285,
            0.012103320434420306,
            0.15214311516639803
          ],
          "translation_xyz_cm": [
            0.7597195349793529,
            1.2103320434420306,
            15.214311516639803
          ],
          "translation_norm_m": 0.15281274565708527,
          "rotation_rpy_deg_xyz": [
            0.9988024432843634,
            -1.4441273991216572,
            -0.740445285093439
          ],
          "rotation_angle_deg": 1.900692861967744,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.011627702039361587,
            0.023849425576336625,
            0.2076827467065669
          ],
          "translation_xyz_cm": [
            -1.1627702039361587,
            2.3849425576336625,
            20.768274670656687
          ],
          "translation_norm_m": 0.20937077598036793,
          "rotation_rpy_deg_xyz": [
            0.9045487157526158,
            -0.36866014915602674,
            -0.6923577331820522
          ],
          "rotation_angle_deg": 1.1955893292198465,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.002708917095128882,
            -0.012504761856138469,
            0.10568084971072175
          ],
          "translation_xyz_cm": [
            0.2708917095128882,
            -1.2504761856138469,
            10.568084971072174
          ],
          "translation_norm_m": 0.10645256829446237,
          "rotation_rpy_deg_xyz": [
            -0.6328402244243664,
            0.6387528463251688,
            0.006518649598445436
          ],
          "rotation_angle_deg": 0.8992086977969045,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0008478451143869026,
            -0.005071945899447261,
            -0.04897886756205033
          ],
          "translation_xyz_cm": [
            0.08478451143869026,
            -0.5071945899447261,
            -4.897886756205033
          ],
          "translation_norm_m": 0.04924807553809363,
          "rotation_rpy_deg_xyz": [
            -0.3785158442391572,
            0.6335173530627393,
            0.09325605860399434
          ],
          "rotation_angle_deg": 0.7441128221767888,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            -5.835267488141227e-05,
            0.02615561952146961,
            0.03479603674555261
          ],
          "translation_xyz_cm": [
            -0.005835267488141227,
            2.615561952146961,
            3.479603674555261
          ],
          "translation_norm_m": 0.04353026545731596,
          "rotation_rpy_deg_xyz": [
            -0.7266335985293833,
            -0.07727169162304574,
            -0.7376425947964552
          ],
          "rotation_angle_deg": 1.0386526423879934,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.01433373545276373,
            -0.04192830953837956,
            -0.01556630273227179
          ],
          "translation_xyz_cm": [
            1.433373545276373,
            -4.192830953837956,
            -1.556630273227179
          ],
          "translation_norm_m": 0.046965401025954395,
          "rotation_rpy_deg_xyz": [
            0.2573174046262459,
            0.1013226492809947,
            -0.6422082803134666
          ],
          "rotation_angle_deg": 0.699429350358039,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.0028047128639587804,
            0.01224448533551814,
            0.005312893513304551
          ],
          "translation_xyz_cm": [
            0.28047128639587804,
            1.224448533551814,
            0.5312893513304551
          ],
          "translation_norm_m": 0.013638939579919261,
          "rotation_rpy_deg_xyz": [
            0.02457539011290846,
            0.15594253429507085,
            0.14622625674217873
          ],
          "rotation_angle_deg": 0.2151612126102672,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.006711463774185411,
            -0.013035474629375043,
            -0.007968978244607544
          ],
          "translation_xyz_cm": [
            0.6711463774185411,
            -1.3035474629375043,
            -0.7968978244607544
          ],
          "translation_norm_m": 0.016687479110647954,
          "rotation_rpy_deg_xyz": [
            -1.2639058382075403,
            -1.006161602217825,
            0.1532780551103129
          ],
          "rotation_angle_deg": 1.6216869757764145,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.005773227423529592,
            0.0017208279484272893,
            0.05812789768815708
          ],
          "translation_xyz_cm": [
            0.5773227423529592,
            0.17208279484272893,
            5.8127897688157075
          ],
          "translation_norm_m": 0.05843923248432289,
          "rotation_rpy_deg_xyz": [
            -0.16392432056566494,
            -0.2890857930613764,
            -0.1332664112772747
          ],
          "rotation_angle_deg": 0.35820640723283,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.00764248094436315,
            -0.02961191284776543,
            0.013493456578567473
          ],
          "translation_xyz_cm": [
            -0.764248094436315,
            -2.961191284776543,
            1.3493456578567473
          ],
          "translation_norm_m": 0.03342672984194378,
          "rotation_rpy_deg_xyz": [
            1.0986809047374615,
            0.06474960473127431,
            -0.19818831549834356
          ],
          "rotation_angle_deg": 1.1183986708695166,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.011729696331109096,
            0.020233035848181924,
            0.03548287409515656
          ],
          "translation_xyz_cm": [
            -1.1729696331109096,
            2.0233035848181924,
            3.5482874095156562
          ],
          "translation_norm_m": 0.0424970101266734,
          "rotation_rpy_deg_xyz": [
            0.23178724983308435,
            1.1338889861351882,
            -0.2790619883899568
          ],
          "rotation_angle_deg": 1.1910419124051095,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.0008785451085047136,
            -0.031575382693120324,
            -0.05946253553295919
          ],
          "translation_xyz_cm": [
            0.08785451085047136,
            -3.1575382693120324,
            -5.946253553295919
          ],
          "translation_norm_m": 0.06733178867171964,
          "rotation_rpy_deg_xyz": [
            0.6897102935200486,
            0.36245298825657307,
            -0.07969197330181722
          ],
          "rotation_angle_deg": 0.7834342911514396,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.016726418292004386,
            0.008978000583867551,
            -0.12731375877838064
          ],
          "translation_xyz_cm": [
            1.6726418292004386,
            0.8978000583867551,
            -12.731375877838063
          ],
          "translation_norm_m": 0.1287212909259487,
          "rotation_rpy_deg_xyz": [
            0.1941848801480679,
            0.9248877709535336,
            -0.024199017023091768
          ],
          "rotation_angle_deg": 0.9454024386776976,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.004236397675239978,
            0.02301343672745837,
            -0.12558334339780494
          ],
          "translation_xyz_cm": [
            0.4236397675239978,
            2.301343672745837,
            -12.558334339780494
          ],
          "translation_norm_m": 0.12774482954015207,
          "rotation_rpy_deg_xyz": [
            -0.007076799125807535,
            1.3022909920027583,
            0.2202938882837633
          ],
          "rotation_angle_deg": 1.320823473828822,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.019494084105463605,
            0.0174206923525968,
            -0.041718620390635695
          ],
          "translation_xyz_cm": [
            -1.9494084105463605,
            1.74206923525968,
            -4.171862039063569
          ],
          "translation_norm_m": 0.04923355689418222,
          "rotation_rpy_deg_xyz": [
            0.1608902426319585,
            0.0774864007301993,
            0.07665293067706427
          ],
          "rotation_angle_deg": 0.19429049612714216,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.032024548399142594,
            0.02153922873078018,
            -0.07161429467303898
          ],
          "translation_xyz_cm": [
            -3.2024548399142594,
            2.153922873078018,
            -7.161429467303898
          ],
          "translation_norm_m": 0.08135181175611735,
          "rotation_rpy_deg_xyz": [
            0.4357856033315988,
            0.7396617090725047,
            0.32589232997747175
          ],
          "rotation_angle_deg": 0.9172656763444422,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.009369146371038528,
            0.01276522110402889,
            -0.0360189669818308
          ],
          "translation_xyz_cm": [
            -0.9369146371038528,
            1.276522110402889,
            -3.60189669818308
          ],
          "translation_norm_m": 0.039345873430321844,
          "rotation_rpy_deg_xyz": [
            0.48153485495200554,
            0.6461951362403606,
            0.2494737503758602
          ],
          "rotation_angle_deg": 0.8428064910261277,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.008601729267732727,
            -0.0010688130452694011,
            0.055212285302563044
          ],
          "translation_xyz_cm": [
            0.8601729267732727,
            -0.10688130452694011,
            5.5212285302563044
          ],
          "translation_norm_m": 0.05588853689311187,
          "rotation_rpy_deg_xyz": [
            1.509414468898218,
            -0.06063052683615484,
            -0.26939977027597933
          ],
          "rotation_angle_deg": 1.5343238302231954,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.009591881833361349,
            0.008576276121390114,
            0.0123248942831823
          ],
          "translation_xyz_cm": [
            -0.9591881833361349,
            0.8576276121390114,
            1.23248942831823
          ],
          "translation_norm_m": 0.017817399594416507,
          "rotation_rpy_deg_xyz": [
            1.438170545926305,
            0.40466716336577563,
            0.412388573587803
          ],
          "rotation_angle_deg": 1.5485306931722174,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.020634992834133392,
            0.017267244892522182,
            0.0897570490893428
          ],
          "translation_xyz_cm": [
            2.063499283413339,
            1.7267244892522182,
            8.975704908934281
          ],
          "translation_norm_m": 0.0937031938445524,
          "rotation_rpy_deg_xyz": [
            2.1121545886830053,
            -0.3590367358023902,
            -0.49840934190745567
          ],
          "rotation_angle_deg": 2.198152858971854,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.005415677796178908,
            0.009517531303008475,
            0.027338610583958575
          ],
          "translation_xyz_cm": [
            0.5415677796178908,
            0.9517531303008475,
            2.7338610583958576
          ],
          "translation_norm_m": 0.029450171421523223,
          "rotation_rpy_deg_xyz": [
            1.8573888274957828,
            0.43145439454353096,
            0.205073717451929
          ],
          "rotation_angle_deg": 1.9170844772437752,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.009588245546250374,
            0.009401558653886033,
            0.010339461517525475
          ],
          "translation_xyz_cm": [
            0.9588245546250374,
            0.9401558653886033,
            1.0339461517525474
          ],
          "translation_norm_m": 0.01694780877429409,
          "rotation_rpy_deg_xyz": [
            0.9597677235038649,
            1.0557128309952022,
            -0.4906551349587616
          ],
          "rotation_angle_deg": 1.5116429954571908,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0008167510039265302,
            -0.016426459747164668,
            0.011555910670546725
          ],
          "translation_xyz_cm": [
            -0.08167510039265302,
            -1.6426459747164668,
            1.1555910670546725
          ],
          "translation_norm_m": 0.02010061525061588,
          "rotation_rpy_deg_xyz": [
            -0.6451338309701459,
            -0.2729359724714745,
            -0.697273725225632
          ],
          "rotation_angle_deg": 0.9894535649768502,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.005030742236358243,
            0.04080112546672965,
            0.0690844339531199
          ],
          "translation_xyz_cm": [
            -0.5030742236358243,
            4.080112546672964,
            6.90844339531199
          ],
          "translation_norm_m": 0.0803909150428298,
          "rotation_rpy_deg_xyz": [
            -1.3277623379841577,
            -0.49056287687666456,
            0.6090925040783209
          ],
          "rotation_angle_deg": 1.5387152126776173,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.02383315810861486,
            0.024668506538032986,
            0.049886782221625306
          ],
          "translation_xyz_cm": [
            2.383315810861486,
            2.4668506538032986,
            4.98867822216253
          ],
          "translation_norm_m": 0.06054127253927754,
          "rotation_rpy_deg_xyz": [
            -0.509553148412112,
            -0.07169178239193863,
            0.49186875093964405
          ],
          "rotation_angle_deg": 0.7116204915763964,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.008168540995544538,
            -0.024531720732874962,
            0.023079248759939767
          ],
          "translation_xyz_cm": [
            -0.8168540995544538,
            -2.4531720732874964,
            2.3079248759939768
          ],
          "translation_norm_m": 0.03465807420262759,
          "rotation_rpy_deg_xyz": [
            0.6952747814100542,
            -0.6178201612424107,
            -0.12656136988806582
          ],
          "rotation_angle_deg": 0.938175180325416,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.0035318898994751713,
            0.0006188922453423951,
            0.03202353765995061
          ],
          "translation_xyz_cm": [
            -0.35318898994751713,
            0.061889224534239506,
            3.202353765995061
          ],
          "translation_norm_m": 0.032223659601783826,
          "rotation_rpy_deg_xyz": [
            0.39183349651499577,
            -1.2019617357018844,
            0.23521156248811265
          ],
          "rotation_angle_deg": 1.2866606141461896,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.012789847460703552,
            0.007470468025288557,
            0.030385719771138922
          ],
          "translation_xyz_cm": [
            -1.2789847460703552,
            0.7470468025288557,
            3.038571977113892
          ],
          "translation_norm_m": 0.03380355094653676,
          "rotation_rpy_deg_xyz": [
            -0.8208871439383635,
            -1.0808237995614542,
            0.17361827053285486
          ],
          "rotation_angle_deg": 1.3672853373204137,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.009676105927339473,
            0.018131418999687954,
            -0.048376313421369825
          ],
          "translation_xyz_cm": [
            0.9676105927339473,
            1.8131418999687954,
            -4.837631342136983
          ],
          "translation_norm_m": 0.052560851221245895,
          "rotation_rpy_deg_xyz": [
            -0.29714640884567634,
            -0.3339980552026732,
            0.09089356066947293
          ],
          "rotation_angle_deg": 0.4560203866374267,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.00438728986495085,
            0.004101758127807553,
            -0.021876864738350463
          ],
          "translation_xyz_cm": [
            -0.43872898649508496,
            0.4101758127807553,
            -2.1876864738350466
          ],
          "translation_norm_m": 0.02268633824305319,
          "rotation_rpy_deg_xyz": [
            -0.042816125363480284,
            -0.13499324042712507,
            -0.050793745248947766
          ],
          "rotation_angle_deg": 0.15047100026863872,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.012317324836827792,
            0.022870572177132287,
            -0.028055012236119052
          ],
          "translation_xyz_cm": [
            1.2317324836827792,
            2.2870572177132287,
            -2.805501223611905
          ],
          "translation_norm_m": 0.03823432063492357,
          "rotation_rpy_deg_xyz": [
            0.8521741430460135,
            0.379460933710213,
            -0.1420726063514701
          ],
          "rotation_angle_deg": 0.9440205119827517,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.015612766954708146,
            0.012764078549765467,
            -0.033728737310033896
          ],
          "translation_xyz_cm": [
            1.5612766954708146,
            1.2764078549765467,
            -3.3728737310033896
          ],
          "translation_norm_m": 0.039297683312580683,
          "rotation_rpy_deg_xyz": [
            0.8636714107205539,
            0.2698887070020635,
            -0.08047373150498384
          ],
          "rotation_angle_deg": 0.9086088911040517,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.00401268287828116,
            0.0025759514787869753,
            0.020453226910591947
          ],
          "translation_xyz_cm": [
            0.40126828782811597,
            0.25759514787869753,
            2.045322691059195
          ],
          "translation_norm_m": 0.021001705667847034,
          "rotation_rpy_deg_xyz": [
            1.1271435533022043,
            -0.12217497954075623,
            0.020552888042921692
          ],
          "rotation_angle_deg": 1.1339535438793684,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.07056095913428528,
        "improved_pairs": 26,
        "worsened_pairs": 40,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.032875044386196706,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.300",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.3,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.3015144034812935,
          -6.733076264476427e-05,
          0.7136929353101595
        ],
        "rotation_rpy_deg_xyz": [
          -0.789527196617764,
          1.5026289218840854,
          -0.8356133538033519
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.1004916878666913,
          "median": 0.057803787672271845,
          "p90": 0.15913538848684716,
          "p95": 0.20927612968709802,
          "max": 0.3308236577464216
        },
        "rotation_deg": {
          "rms": 1.1050268752403856,
          "median": 0.881040458031074,
          "p90": 1.6931314756229288,
          "p95": 1.9442292316366117,
          "max": 2.549887511222474
        },
        "normalized_pair_score": {
          "rms": 2.9872678674890754,
          "median": 2.4970994146564136,
          "p90": 4.733430700188965,
          "p95": 4.847682400714602,
          "max": 6.797165127383953
        },
        "normalized_global_rms": 2.9872678674890754
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012754117697540701,
          0.01321423402618549,
          0.07467630123107978
        ],
        "translation_xyz_cm": [
          -1.2754117697540701,
          1.321423402618549,
          7.467630123107978
        ],
        "translation_norm_m": 0.0769014529426882,
        "rotation_rpy_deg_xyz": [
          -0.4671822279622452,
          -0.10039478582033169,
          0.026326843390341092
        ],
        "rotation_angle_deg": 0.4785497243321324,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.669238092496052,
          "median": 0.7629681084794777,
          "p90": 2.2411288080915024,
          "p95": 3.711431307771875,
          "max": 5.607648580302171
        },
        "height_residual_m": {
          "rms": 0.034713965171217276,
          "median": -0.0059241016060887774,
          "p90": 0.05340926734199069,
          "p95": 0.08720196104337445,
          "max": 0.12336745254185391
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012754117697540701,
            0.01321423402618549,
            0.07467630123107978
          ],
          "translation_xyz_cm": [
            -1.2754117697540701,
            1.321423402618549,
            7.467630123107978
          ],
          "translation_norm_m": 0.0769014529426882,
          "rotation_rpy_deg_xyz": [
            -0.4671822279622452,
            -0.10039478582033169,
            0.026326843390341092
          ],
          "rotation_angle_deg": 0.4785497243321324,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.020511175434618445,
            -0.016188653629575667,
            0.12626207153659968
          ],
          "translation_xyz_cm": [
            2.0511175434618445,
            -1.6188653629575667,
            12.62620715365997
          ],
          "translation_norm_m": 0.1289375489636804,
          "rotation_rpy_deg_xyz": [
            -0.18671152704122398,
            -0.1782500040559989,
            -0.34302764623514037
          ],
          "rotation_angle_deg": 0.4295360884271374,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03339802688621629,
            0.006700966210313908,
            0.10213129034860603
          ],
          "translation_xyz_cm": [
            3.339802688621629,
            0.6700966210313908,
            10.213129034860604
          ],
          "translation_norm_m": 0.10766211783313323,
          "rotation_rpy_deg_xyz": [
            -0.07981970935455779,
            -0.21561777418196643,
            -0.3969867659274467
          ],
          "rotation_angle_deg": 0.4588896719700004,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03429606862575585,
            -0.019101638851041713,
            0.044579215054795014
          ],
          "translation_xyz_cm": [
            3.429606862575585,
            -1.9101638851041713,
            4.457921505479502
          ],
          "translation_norm_m": 0.059400331184934006,
          "rotation_rpy_deg_xyz": [
            0.32091072252069974,
            0.08734142047373276,
            -0.3497332866951523
          ],
          "rotation_angle_deg": 0.4828004885149152,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.046147203902671574,
            0.010701062186338262,
            0.0219662687460669
          ],
          "translation_xyz_cm": [
            4.614720390267157,
            1.0701062186338262,
            2.19662687460669
          ],
          "translation_norm_m": 0.052216799237171374,
          "rotation_rpy_deg_xyz": [
            0.5027148994751668,
            0.2851160037371347,
            -0.3804228385266284
          ],
          "rotation_angle_deg": 0.6925928567772764,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.013990115869045278,
            0.0076641971557565025,
            -0.03506088966551338
          ],
          "translation_xyz_cm": [
            1.3990115869045279,
            0.7664197155756503,
            -3.5060889665513377
          ],
          "translation_norm_m": 0.03851920617314071,
          "rotation_rpy_deg_xyz": [
            0.7450564831572104,
            0.23412105182200718,
            0.13866271289001536
          ],
          "rotation_angle_deg": 0.7929224160890787,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.005325411439341403,
            0.020326322409281783,
            -0.00986288737377779
          ],
          "translation_xyz_cm": [
            0.5325411439341403,
            2.0326322409281783,
            -0.9862887373777791
          ],
          "translation_norm_m": 0.02321197830931617,
          "rotation_rpy_deg_xyz": [
            0.33231974455663577,
            0.21718146043454795,
            -0.03247223815714744
          ],
          "rotation_angle_deg": 0.3983709495374952,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.032353316357629336,
            -0.0012175181325369544,
            -0.07162922315152437
          ],
          "translation_xyz_cm": [
            -3.2353316357629334,
            -0.12175181325369544,
            -7.162922315152437
          ],
          "translation_norm_m": 0.07860639311805864,
          "rotation_rpy_deg_xyz": [
            0.7326654634690407,
            0.5415789153781889,
            0.5382321661196461
          ],
          "rotation_angle_deg": 1.0564386842724607,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.029830006901198386,
            -0.018948393502075667,
            -0.1297913631504376
          ],
          "translation_xyz_cm": [
            -2.9830006901198387,
            -1.8948393502075667,
            -12.97913631504376
          ],
          "translation_norm_m": 0.13451642604709588,
          "rotation_rpy_deg_xyz": [
            0.8690088791623053,
            0.3895703742503918,
            0.4049464656891813
          ],
          "rotation_angle_deg": 1.0336942397533981,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.03126149726922191,
            -0.021163474659060433,
            -0.0513307939314741
          ],
          "translation_xyz_cm": [
            -3.1261497269221907,
            -2.1163474659060433,
            -5.13307939314741
          ],
          "translation_norm_m": 0.06371831978947437,
          "rotation_rpy_deg_xyz": [
            0.5921070942240404,
            0.35912463226373714,
            0.5882300473956759
          ],
          "rotation_angle_deg": 0.9074069975875975,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03776491485383672,
            -0.03934091377689963,
            -0.07746995431007916
          ],
          "translation_xyz_cm": [
            -3.776491485383672,
            -3.9340913776899633,
            -7.7469954310079165
          ],
          "translation_norm_m": 0.09473906328186248,
          "rotation_rpy_deg_xyz": [
            0.8069781317644149,
            0.81488511546382,
            0.5056242024651121
          ],
          "rotation_angle_deg": 1.251033426269492,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.013238404667166435,
            -0.011033982141765653,
            -0.030319561192041548
          ],
          "translation_xyz_cm": [
            -1.3238404667166435,
            -1.1033982141765653,
            -3.0319561192041546
          ],
          "translation_norm_m": 0.03487520481537577,
          "rotation_rpy_deg_xyz": [
            0.39890906157208783,
            0.27502989396684585,
            -0.08595883719900999
          ],
          "rotation_angle_deg": 0.492263192822224,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.013350637314862357,
            -0.003543174492869325,
            -0.21117955533367264
          ],
          "translation_xyz_cm": [
            1.3350637314862357,
            -0.3543174492869325,
            -21.117955533367265
          ],
          "translation_norm_m": 0.21163080634238393,
          "rotation_rpy_deg_xyz": [
            0.17781164492225826,
            0.17572006673016077,
            0.3011573474645493
          ],
          "rotation_angle_deg": 0.39118521473828716,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.011142810206158038,
            0.016782267847672873,
            -0.19647277596354606
          ],
          "translation_xyz_cm": [
            1.1142810206158038,
            1.6782267847672874,
            -19.647277596354606
          ],
          "translation_norm_m": 0.1975028061274656,
          "rotation_rpy_deg_xyz": [
            0.2578389989819103,
            -0.0861028524092402,
            0.4035581523669184
          ],
          "rotation_angle_deg": 0.486733893991857,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.005632746929182031,
            0.004557046307704871,
            -0.1333265881265962
          ],
          "translation_xyz_cm": [
            -0.5632746929182031,
            0.45570463077048706,
            -13.33265881265962
          ],
          "translation_norm_m": 0.13352330736803145,
          "rotation_rpy_deg_xyz": [
            0.7131420131192636,
            -0.2368467910440698,
            -0.08706302484889217
          ],
          "rotation_angle_deg": 0.7563004778769722,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.008695504379009344,
            0.015042653886250812,
            -0.13908918738904175
          ],
          "translation_xyz_cm": [
            0.8695504379009344,
            1.5042653886250812,
            -13.908918738904175
          ],
          "translation_norm_m": 0.1401702367868831,
          "rotation_rpy_deg_xyz": [
            -0.7170556581039831,
            0.6854064320564691,
            0.29332212359925375
          ],
          "rotation_angle_deg": 1.0356140470582071,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.009651371894333682,
            -0.0035160393302418047,
            -0.061438875212363755
          ],
          "translation_xyz_cm": [
            -0.9651371894333682,
            -0.35160393302418047,
            -6.143887521236375
          ],
          "translation_norm_m": 0.06229162784335426,
          "rotation_rpy_deg_xyz": [
            -0.5719256129316125,
            0.2582013563155895,
            -0.2076711456464235
          ],
          "rotation_angle_deg": 0.6605739349061962,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.008971152181465714,
            -0.020585723429421863,
            0.07309053187448877
          ],
          "translation_xyz_cm": [
            -0.8971152181465714,
            -2.0585723429421865,
            7.309053187448877
          ],
          "translation_norm_m": 0.07646227455596206,
          "rotation_rpy_deg_xyz": [
            0.39473017254510406,
            -0.35655340215797143,
            -0.4815663491638006
          ],
          "rotation_angle_deg": 0.7167030693504132,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.0013959861725622025,
            -0.0035694751170609607,
            0.00333345610348847
          ],
          "translation_xyz_cm": [
            0.13959861725622025,
            -0.35694751170609607,
            0.33334561034884697
          ],
          "translation_norm_m": 0.005079553090497899,
          "rotation_rpy_deg_xyz": [
            0.3197558885989856,
            -0.2724133896493295,
            -0.4748712093121267
          ],
          "rotation_angle_deg": 0.6334290863223099,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.005321755045305188,
            0.013480535775909464,
            -0.06918798610269358
          ],
          "translation_xyz_cm": [
            0.5321755045305188,
            1.3480535775909464,
            -6.918798610269358
          ],
          "translation_norm_m": 0.07068962683813182,
          "rotation_rpy_deg_xyz": [
            -0.5295397890654403,
            -0.2925649738406982,
            -0.3030875205999282
          ],
          "rotation_angle_deg": 0.6772641783834975,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010458979538632007,
            0.02003810229943148,
            -0.06307301853370757
          ],
          "translation_xyz_cm": [
            1.0458979538632007,
            2.003810229943148,
            -6.307301853370757
          ],
          "translation_norm_m": 0.06700090643943128,
          "rotation_rpy_deg_xyz": [
            0.12042227428314684,
            0.013553812623009016,
            0.007430293854184903
          ],
          "rotation_angle_deg": 0.12140933857173933,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.012952732171880865,
            0.03927041581326507,
            -0.11239333431108585
          ],
          "translation_xyz_cm": [
            1.2952732171880865,
            3.927041581326507,
            -11.239333431108586
          ],
          "translation_norm_m": 0.11975892629122359,
          "rotation_rpy_deg_xyz": [
            -0.8072212425753459,
            -0.1833953780362801,
            0.1699205588735543
          ],
          "rotation_angle_deg": 0.8447916291782677,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.006859284238813879,
            0.016110286104011773,
            -0.05351421621752127
          ],
          "translation_xyz_cm": [
            0.6859284238813879,
            1.6110286104011773,
            -5.351421621752126
          ],
          "translation_norm_m": 0.056305971583816686,
          "rotation_rpy_deg_xyz": [
            -0.8689165051986111,
            -0.07608122910608621,
            0.16688600631834588
          ],
          "rotation_angle_deg": 0.8879538178155421,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0016130065487740541,
            -0.017291652663236512,
            -0.1686843444185022
          ],
          "translation_xyz_cm": [
            -0.1613006548774054,
            -1.7291652663236512,
            -16.86843444185022
          ],
          "translation_norm_m": 0.1695759744004211,
          "rotation_rpy_deg_xyz": [
            -0.3830797904574831,
            1.650170749518356,
            -0.331114874842211
          ],
          "rotation_angle_deg": 1.7250447389541173,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.003359122861121999,
            0.011367530901767231,
            -0.03612316215912643
          ],
          "translation_xyz_cm": [
            -0.3359122861121999,
            1.136753090176723,
            -3.6123162159126427
          ],
          "translation_norm_m": 0.038018249691079795,
          "rotation_rpy_deg_xyz": [
            0.608757108605623,
            0.39043884257379646,
            0.20412189723651325
          ],
          "rotation_angle_deg": 0.7508959325680399,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.014065468787775703,
            0.019930819447314896,
            -0.036923626123670394
          ],
          "translation_xyz_cm": [
            1.4065468787775703,
            1.9930819447314896,
            -3.6923626123670394
          ],
          "translation_norm_m": 0.04425414265559726,
          "rotation_rpy_deg_xyz": [
            0.8595344297168985,
            0.9346584620008738,
            0.19710870074185416
          ],
          "rotation_angle_deg": 1.2839221115838206,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.003836540956490442,
            0.003939329898687838,
            -0.027858076352091383
          ],
          "translation_xyz_cm": [
            -0.3836540956490442,
            0.3939329898687838,
            -2.7858076352091383
          ],
          "translation_norm_m": 0.02839559445759989,
          "rotation_rpy_deg_xyz": [
            -0.2932418176842062,
            2.447925844485932,
            0.6446666364454465
          ],
          "rotation_angle_deg": 2.549887511222474,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.01630520774120714,
            0.014139962085349067,
            -0.009923582246065016
          ],
          "translation_xyz_cm": [
            1.630520774120714,
            1.4139962085349067,
            -0.9923582246065016
          ],
          "translation_norm_m": 0.023754490351372455,
          "rotation_rpy_deg_xyz": [
            0.418190932304449,
            0.2881906743159378,
            -0.011076477311861756
          ],
          "rotation_angle_deg": 0.5080188365235904,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            0.0005729810919530287,
            0.005787994463778645,
            0.009513486556872877
          ],
          "translation_xyz_cm": [
            0.05729810919530287,
            0.5787994463778645,
            0.9513486556872878
          ],
          "translation_norm_m": 0.011150588043339637,
          "rotation_rpy_deg_xyz": [
            0.222764843315744,
            1.8798476224582814,
            0.4863697507286901
          ],
          "rotation_angle_deg": 1.9535675159034995,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.017882849435879034,
            0.005479860455417818,
            0.23570591610710123
          ],
          "translation_xyz_cm": [
            1.7882849435879034,
            0.5479860455417818,
            23.570591610710125
          ],
          "translation_norm_m": 0.23644683136478065,
          "rotation_rpy_deg_xyz": [
            0.025436787564901572,
            0.17482399045261662,
            -0.2819849893897571
          ],
          "rotation_angle_deg": 0.33278794231995495,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.005759421739913728,
            -0.009862751905657663,
            0.029676610398982867
          ],
          "translation_xyz_cm": [
            0.5759421739913728,
            -0.9862751905657663,
            2.9676610398982866
          ],
          "translation_norm_m": 0.031798522272328364,
          "rotation_rpy_deg_xyz": [
            0.48619697858670613,
            1.5558534690460741,
            0.5255555123189408
          ],
          "rotation_angle_deg": 1.7106444046316411,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.036842128761104154,
            -0.010773321385600498,
            0.22708088106345486
          ],
          "translation_xyz_cm": [
            3.6842128761104154,
            -1.0773321385600498,
            22.708088106345485
          ],
          "translation_norm_m": 0.23030226540327853,
          "rotation_rpy_deg_xyz": [
            0.4358253749247479,
            -0.10604806775315798,
            -0.2383653677960376
          ],
          "rotation_angle_deg": 0.5077552299258097,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.036797923935912635,
            0.0037410828824486764,
            0.32874946329628424
          ],
          "translation_xyz_cm": [
            3.6797923935912635,
            0.37410828824486764,
            32.87494632962842
          ],
          "translation_norm_m": 0.3308236577464216,
          "rotation_rpy_deg_xyz": [
            -0.05412905551222446,
            0.7442116811435467,
            -0.22205871243860761
          ],
          "rotation_angle_deg": 0.7784177475873618,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.007751726803569614,
            0.011329390639903014,
            0.14805978505859044
          ],
          "translation_xyz_cm": [
            0.7751726803569614,
            1.1329390639903014,
            14.805978505859043
          ],
          "translation_norm_m": 0.14869480257327322,
          "rotation_rpy_deg_xyz": [
            1.0553576903612276,
            -1.425595725592852,
            -0.7384209552014623
          ],
          "rotation_angle_deg": 1.916214378835948,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.011031272107893564,
            0.02253260535326662,
            0.20064975954470615
          ],
          "translation_xyz_cm": [
            -1.1031272107893564,
            2.253260535326662,
            20.064975954470615
          ],
          "translation_norm_m": 0.20221209972124032,
          "rotation_rpy_deg_xyz": [
            0.9904786141162382,
            -0.3172842352995258,
            -0.688619638376147
          ],
          "rotation_angle_deg": 1.2458417314562336,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.002722739847200062,
            -0.013108737997161057,
            0.1024662586561336
          ],
          "translation_xyz_cm": [
            0.2722739847200062,
            -1.3108737997161057,
            10.24662586561336
          ],
          "translation_norm_m": 0.10333724636905812,
          "rotation_rpy_deg_xyz": [
            -0.5899942361682126,
            0.6490893668253772,
            0.007636925247081254
          ],
          "rotation_angle_deg": 0.8772205240689238,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0013092051394535398,
            -0.005891243048300243,
            -0.05308619316409124
          ],
          "translation_xyz_cm": [
            0.13092051394535398,
            -0.5891243048300243,
            -5.308619316409124
          ],
          "translation_norm_m": 0.053428126182812403,
          "rotation_rpy_deg_xyz": [
            -0.30823470881648185,
            0.6638249841602342,
            0.09527351844061997
          ],
          "rotation_angle_deg": 0.7383009832708094,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            0.000305829450234274,
            0.02545474290972005,
            0.028605399411666205
          ],
          "translation_xyz_cm": [
            0.0305829450234274,
            2.545474290972005,
            2.8605399411666204
          ],
          "translation_norm_m": 0.03829237970867738,
          "rotation_rpy_deg_xyz": [
            -0.670927352394488,
            -0.059320945162793126,
            -0.7362017090479659
          ],
          "rotation_angle_deg": 0.9980784326541213,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.014802227733057727,
            -0.04288152802817491,
            -0.014874697230913477
          ],
          "translation_xyz_cm": [
            1.4802227733057727,
            -4.288152802817491,
            -1.4874697230913476
          ],
          "translation_norm_m": 0.04774084215432106,
          "rotation_rpy_deg_xyz": [
            0.33433965918758896,
            0.13931830163164804,
            -0.6395355289771951
          ],
          "rotation_angle_deg": 0.7353344779155774,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.0030873590542883633,
            0.01132668654090141,
            0.007171337449266527
          ],
          "translation_xyz_cm": [
            0.30873590542883633,
            1.132668654090141,
            0.7171337449266526
          ],
          "translation_norm_m": 0.01375695077904933,
          "rotation_rpy_deg_xyz": [
            0.09318407923060984,
            0.18456983867256527,
            0.1483896846865894
          ],
          "rotation_angle_deg": 0.25440955498933,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.006639523013829418,
            -0.01364226927104989,
            -0.0015778634706750672
          ],
          "translation_xyz_cm": [
            0.6639523013829418,
            -1.364226927104989,
            -0.15778634706750672
          ],
          "translation_norm_m": 0.015253997176054981,
          "rotation_rpy_deg_xyz": [
            -1.2112557753694466,
            -0.9902346417424631,
            0.15448919686066662
          ],
          "rotation_angle_deg": 1.571082441547839,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.006662878474425149,
            0.00039441457198924335,
            0.05892478846949487
          ],
          "translation_xyz_cm": [
            0.6662878474425149,
            0.039441457198924335,
            5.892478846949487
          ],
          "translation_norm_m": 0.05930160376072701,
          "rotation_rpy_deg_xyz": [
            -0.06837607401948174,
            -0.21323295921751284,
            -0.12995232038699242
          ],
          "rotation_angle_deg": 0.2589676234364985,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.004987123739785382,
            -0.02974152315837536,
            0.008299599250221626
          ],
          "translation_xyz_cm": [
            -0.4987123739785382,
            -2.974152315837536,
            0.8299599250221625
          ],
          "translation_norm_m": 0.031277994671819805,
          "rotation_rpy_deg_xyz": [
            1.1206230898171896,
            0.2618390097009116,
            -0.1910992823496523
          ],
          "rotation_angle_deg": 1.166983271299156,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.011446678898185958,
            0.019387338305032475,
            0.030338428179015223
          ],
          "translation_xyz_cm": [
            -1.1446678898185958,
            1.9387338305032475,
            3.0338428179015224
          ],
          "translation_norm_m": 0.03777983018391189,
          "rotation_rpy_deg_xyz": [
            0.2999495386373908,
            1.162035190141584,
            -0.27681572340514565
          ],
          "rotation_angle_deg": 1.2323151150773601,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.0021834551166075578,
            -0.032712282688967975,
            -0.061290727853742386
          ],
          "translation_xyz_cm": [
            0.21834551166075578,
            -3.2712282688967975,
            -6.129072785374238
          ],
          "translation_norm_m": 0.06950837529255526,
          "rotation_rpy_deg_xyz": [
            0.7882339272882655,
            0.46453417179279993,
            -0.07447087597231694
          ],
          "rotation_angle_deg": 0.918217312987476,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.019029965504610225,
            0.008649633111896371,
            -0.13126038790407218
          ],
          "translation_xyz_cm": [
            1.9029965504610225,
            0.8649633111896371,
            -13.126038790407218
          ],
          "translation_norm_m": 0.13291442800841663,
          "rotation_rpy_deg_xyz": [
            0.23018034537261586,
            1.1175790921492832,
            -0.019920599702315384
          ],
          "rotation_angle_deg": 1.1412495760359145,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.006556302986341578,
            0.023254284341683196,
            -0.12865364975404792
          ],
          "translation_xyz_cm": [
            0.6556302986341578,
            2.3254284341683196,
            -12.865364975404791
          ],
          "translation_norm_m": 0.1309026678266329,
          "rotation_rpy_deg_xyz": [
            -0.024429691199242886,
            1.5009872228222239,
            0.22253408810213987
          ],
          "rotation_angle_deg": 1.517636460248039,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.018747804187171146,
            0.016326715184082796,
            -0.039009104527387775
          ],
          "translation_xyz_cm": [
            -1.8747804187171146,
            1.6326715184082796,
            -3.9009104527387777
          ],
          "translation_norm_m": 0.04625745374068202,
          "rotation_rpy_deg_xyz": [
            0.25187845244707896,
            0.1393551662803256,
            0.08003518245965324
          ],
          "rotation_angle_deg": 0.29869578449052353,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.030611550498516382,
            0.020423399610432713,
            -0.07052300828674504
          ],
          "translation_xyz_cm": [
            -3.061155049851638,
            2.0423399610432713,
            -7.052300828674504
          ],
          "translation_norm_m": 0.07954669681000558,
          "rotation_rpy_deg_xyz": [
            0.533199824973564,
            0.8547951137973345,
            0.33092099040580664
          ],
          "rotation_angle_deg": 1.059171816094831,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.009138566287286931,
            0.012168155673566217,
            -0.03746446219473293
          ],
          "translation_xyz_cm": [
            -0.9138566287286931,
            1.2168155673566217,
            -3.7464462194732926
          ],
          "translation_norm_m": 0.040437152889686134,
          "rotation_rpy_deg_xyz": [
            0.5330293693876373,
            0.6613204709461823,
            0.2511217543985133
          ],
          "rotation_angle_deg": 0.8848603919932242,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.010408054022772006,
            -0.0023387044342224605,
            0.060238400784749235
          ],
          "translation_xyz_cm": [
            1.0408054022772006,
            -0.23387044342224605,
            6.023840078474923
          ],
          "translation_norm_m": 0.06117566555482392,
          "rotation_rpy_deg_xyz": [
            1.5920059573974432,
            0.09328888270996957,
            -0.2610153253741009
          ],
          "rotation_angle_deg": 1.616164101807619,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.007250632219955477,
            0.008057140584174283,
            0.009017525390051587
          ],
          "translation_xyz_cm": [
            -0.7250632219955477,
            0.8057140584174283,
            0.9017525390051586
          ],
          "translation_norm_m": 0.014099820784053597,
          "rotation_rpy_deg_xyz": [
            1.4918584304124831,
            0.587918836533132,
            0.42096170349774287
          ],
          "rotation_angle_deg": 1.655905690513936,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.021756373384319794,
            0.015725922741676168,
            0.09460212367134765
          ],
          "translation_xyz_cm": [
            2.1756373384319794,
            1.5725922741676168,
            9.460212367134766
          ],
          "translation_norm_m": 0.0983372067533142,
          "rotation_rpy_deg_xyz": [
            2.2105815831546027,
            -0.2564411231056031,
            -0.490621545436372
          ],
          "rotation_angle_deg": 2.2777730046531284,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.007201927921822282,
            0.008381479176190476,
            0.027734328583969542
          ],
          "translation_xyz_cm": [
            0.7201927921822282,
            0.8381479176190476,
            2.773432858396954
          ],
          "translation_norm_m": 0.029854814368467073,
          "rotation_rpy_deg_xyz": [
            1.9462876972556118,
            0.5741296166895596,
            0.21403393230623677
          ],
          "rotation_angle_deg": 2.0394264929950316,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.011904564038967447,
            0.008702333523734396,
            0.0085567429872931
          ],
          "translation_xyz_cm": [
            1.1904564038967447,
            0.8702333523734396,
            0.85567429872931
          ],
          "translation_norm_m": 0.017048961970359898,
          "rotation_rpy_deg_xyz": [
            1.0160464473471853,
            1.2373059199385135,
            -0.48359657928779864
          ],
          "rotation_angle_deg": 1.6756185466142162,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0007429903772278035,
            -0.017063057606139298,
            0.013298600429642315
          ],
          "translation_xyz_cm": [
            -0.07429903772278035,
            -1.7063057606139298,
            1.3298600429642315
          ],
          "translation_norm_m": 0.021646079159015473,
          "rotation_rpy_deg_xyz": [
            -0.5962803071636105,
            -0.25935943578604703,
            -0.6959948643371069
          ],
          "rotation_angle_deg": 0.953466923085724,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.005161863206924799,
            0.04150549086370525,
            0.07562741304762562
          ],
          "translation_xyz_cm": [
            -0.5161863206924799,
            4.150549086370525,
            7.562741304762562
          ],
          "translation_norm_m": 0.08642254455800465,
          "rotation_rpy_deg_xyz": [
            -1.3768440808907498,
            -0.47850339884573495,
            0.6077288452158585
          ],
          "rotation_angle_deg": 1.577016319194004,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.024512403438020414,
            0.025911894691640125,
            0.05694664593761874
          ],
          "translation_xyz_cm": [
            2.4512403438020414,
            2.5911894691640125,
            5.694664593761874
          ],
          "translation_norm_m": 0.06719527284239146,
          "rotation_rpy_deg_xyz": [
            -0.6067566062264121,
            -0.0004442326279066463,
            0.48969055174729736
          ],
          "rotation_angle_deg": 0.7797089638392719,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.007888588650885486,
            -0.023704287551194025,
            0.025202009121396744
          ],
          "translation_xyz_cm": [
            -0.7888588650885486,
            -2.3704287551194025,
            2.5202009121396745
          ],
          "translation_norm_m": 0.03548611479110578,
          "rotation_rpy_deg_xyz": [
            0.6243875658470935,
            -0.589730906566391,
            -0.12764956055273244
          ],
          "rotation_angle_deg": 0.8678206480836086,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.003393704163737965,
            0.001349888079171413,
            0.034638250715639904
          ],
          "translation_xyz_cm": [
            -0.3393704163737965,
            0.1349888079171413,
            3.46382507156399
          ],
          "translation_norm_m": 0.03483027186825836,
          "rotation_rpy_deg_xyz": [
            0.32915537252877486,
            -1.1809807014663454,
            0.23404185184291187
          ],
          "rotation_angle_deg": 1.2487658739696963,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.011623080890649007,
            0.008715155213274095,
            0.0311152763780687
          ],
          "translation_xyz_cm": [
            -1.1623080890649007,
            0.8715155213274095,
            3.1115276378068697
          ],
          "translation_norm_m": 0.034339632552862716,
          "rotation_rpy_deg_xyz": [
            -0.9221921033299263,
            -0.984632153950116,
            0.170908717973468
          ],
          "rotation_angle_deg": 1.3588295381249569,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.011454400156202915,
            0.01918145316678499,
            -0.04684585614356356
          ],
          "translation_xyz_cm": [
            1.1454400156202915,
            1.918145316678499,
            -4.684585614356356
          ],
          "translation_norm_m": 0.05190053628192525,
          "rotation_rpy_deg_xyz": [
            -0.38602506869271896,
            -0.18549993781062057,
            0.08979861006881007
          ],
          "rotation_angle_deg": 0.43746654037161986,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.0039283035552926115,
            0.005049315186078207,
            -0.02220299955166502
          ],
          "translation_xyz_cm": [
            -0.39283035552926115,
            0.5049315186078207,
            -2.220299955166502
          ],
          "translation_norm_m": 0.02310628359910182,
          "rotation_rpy_deg_xyz": [
            -0.11995665714557782,
            -0.10031212568290666,
            -0.05232194167956691
          ],
          "rotation_angle_deg": 0.16492631953056403,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.013421259529148521,
            0.02413806371300886,
            -0.030880233787270346
          ],
          "translation_xyz_cm": [
            1.3421259529148521,
            2.413806371300886,
            -3.088023378727035
          ],
          "translation_norm_m": 0.041429037714126406,
          "rotation_rpy_deg_xyz": [
            0.7521486653054597,
            0.46280006020498643,
            -0.14229535057390852
          ],
          "rotation_angle_deg": 0.8949974865044467,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.01591588881312811,
            0.013537730762341993,
            -0.038722375845645376
          ],
          "translation_xyz_cm": [
            1.591588881312811,
            1.3537730762341993,
            -3.872237584564538
          ],
          "translation_norm_m": 0.044000091613960735,
          "rotation_rpy_deg_xyz": [
            0.8116997410383687,
            0.2836129785328784,
            -0.08140239053800945
          ],
          "rotation_angle_deg": 0.8638545810528749,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.004166129782936734,
            0.003198668461998233,
            0.018190717024790904
          ],
          "translation_xyz_cm": [
            0.4166129782936734,
            0.3198668461998233,
            1.8190717024790903
          ],
          "translation_norm_m": 0.018933840159198353,
          "rotation_rpy_deg_xyz": [
            1.0840789796824881,
            -0.11308099506713808,
            0.01976097721021556
          ],
          "rotation_angle_deg": 1.090159130001415,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.1316264760464274,
        "improved_pairs": 25,
        "worsened_pairs": 41,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.06946933674042727,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.000_roll_-0.200",
      "body_left_rpy_correction_deg_xyz": [
        -0.2,
        0.0,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2977596922478565,
          0.0024476764333135033,
          0.7204936800355414
        ],
        "rotation_rpy_deg_xyz": [
          -0.9851737312819089,
          1.1997371245619126,
          -0.8397031987625543
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10257010426899679,
          "median": 0.05602816670800314,
          "p90": 0.15999146706115064,
          "p95": 0.2218332086949717,
          "max": 0.3422529107160327
        },
        "rotation_deg": {
          "rms": 1.0267538544989139,
          "median": 0.9059669105305697,
          "p90": 1.6460900636188316,
          "p95": 1.8065285086137317,
          "max": 2.4300870518313142
        },
        "normalized_pair_score": {
          "rms": 2.9026099336312234,
          "median": 2.3996486974974713,
          "p90": 4.524332615234902,
          "p95": 4.875329338975845,
          "max": 7.003441863944355
        },
        "normalized_global_rms": 2.9026099336312234
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.011862708697826074,
          0.013972426143507688,
          0.07604268003645409
        ],
        "translation_xyz_cm": [
          -1.1862708697826074,
          1.3972426143507688,
          7.604268003645409
        ],
        "translation_norm_m": 0.07822046878606513,
        "rotation_rpy_deg_xyz": [
          -0.541482719819371,
          -0.0637266630892246,
          0.024819357496703668
        ],
        "rotation_angle_deg": 0.5457706857344996,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.7107124278398285,
          "median": 0.7334463903250042,
          "p90": 2.3653698912452787,
          "p95": 4.0266291870908315,
          "max": 5.724141872865437
        },
        "height_residual_m": {
          "rms": 0.034713965171217304,
          "median": -0.005924101606088833,
          "p90": 0.0534092673419908,
          "p95": 0.08720196104337465,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.011862708697826074,
            0.013972426143507688,
            0.07604268003645409
          ],
          "translation_xyz_cm": [
            -1.1862708697826074,
            1.3972426143507688,
            7.604268003645409
          ],
          "translation_norm_m": 0.07822046878606513,
          "rotation_rpy_deg_xyz": [
            -0.541482719819371,
            -0.0637266630892246,
            0.024819357496703668
          ],
          "rotation_angle_deg": 0.5457706857344996,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.021884758090912948,
            -0.014401607085913204,
            0.13136342147234598
          ],
          "translation_xyz_cm": [
            2.188475809091295,
            -1.4401607085913204,
            13.136342147234597
          ],
          "translation_norm_m": 0.1339503543268028,
          "rotation_rpy_deg_xyz": [
            -0.3411487315866048,
            -0.12290144584962129,
            -0.3460685068801038
          ],
          "rotation_angle_deg": 0.501501180601739,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03476968230027355,
            0.009911850173705883,
            0.10748792968374292
          ],
          "translation_xyz_cm": [
            3.4769682300273552,
            0.9911850173705883,
            10.748792968374293
          ],
          "translation_norm_m": 0.11340560219330088,
          "rotation_rpy_deg_xyz": [
            -0.33103742238834116,
            -0.16221857588085575,
            -0.40227751130058514
          ],
          "rotation_angle_deg": 0.5459892308924431,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.034989288786325345,
            -0.01834221554805099,
            0.04750500446603653
          ],
          "translation_xyz_cm": [
            3.4989288786325345,
            -1.8342215548050989,
            4.750500446603653
          ],
          "translation_norm_m": 0.06178521384847824,
          "rotation_rpy_deg_xyz": [
            0.24714139852928368,
            0.12383493666369755,
            -0.35072741062734897
          ],
          "rotation_angle_deg": 0.44677819871751584,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04715810104964524,
            0.0127184893171165,
            0.02484727408455813
          ],
          "translation_xyz_cm": [
            4.715810104964524,
            1.27184893171165,
            2.484727408455813
          ],
          "translation_norm_m": 0.0547999406436842,
          "rotation_rpy_deg_xyz": [
            0.33424751739044706,
            0.34183533894451984,
            -0.3831042791961537
          ],
          "rotation_angle_deg": 0.6132735794423378,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.014288975471018706,
            0.011953259765026258,
            -0.03091365441074326
          ],
          "translation_xyz_cm": [
            1.4288975471018706,
            1.1953259765026258,
            -3.091365441074326
          ],
          "translation_norm_m": 0.03609306398809106,
          "rotation_rpy_deg_xyz": [
            0.39784404592517136,
            0.2585255143837464,
            0.13109256455760793
          ],
          "rotation_angle_deg": 0.4920009077588037,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.00587532542847782,
            0.021423066916313543,
            -0.010215949718934657
          ],
          "translation_xyz_cm": [
            0.587532542847782,
            2.1423066916313545,
            -1.0215949718934656
          ],
          "translation_norm_m": 0.02445062113017105,
          "rotation_rpy_deg_xyz": [
            0.2446713128621526,
            0.2583466530988345,
            -0.033694996720690165
          ],
          "rotation_angle_deg": 0.3574625369550116,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.031978442893913835,
            0.0020952833851497488,
            -0.07090716107262503
          ],
          "translation_xyz_cm": [
            -3.1978442893913837,
            0.20952833851497488,
            -7.0907161072625025
          ],
          "translation_norm_m": 0.0778128300074132,
          "rotation_rpy_deg_xyz": [
            0.4635470008843789,
            0.5918076958326788,
            0.53318580640598
          ],
          "rotation_angle_deg": 0.9202393204535686,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03003048503498773,
            -0.014420072237022796,
            -0.1285661688277236
          ],
          "translation_xyz_cm": [
            -3.003048503498773,
            -1.4420072237022796,
            -12.856616882772359
          ],
          "translation_norm_m": 0.1328120035305405,
          "rotation_rpy_deg_xyz": [
            0.49256304321568595,
            0.3988079612942599,
            0.39631801274248823
          ],
          "rotation_angle_deg": 0.7465740117312964,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.030828101413242825,
            -0.01899897628782729,
            -0.05055372428651778
          ],
          "translation_xyz_cm": [
            -3.0828101413242823,
            -1.8998976287827292,
            -5.055372428651778
          ],
          "translation_norm_m": 0.06218530353683148,
          "rotation_rpy_deg_xyz": [
            0.4195884533171335,
            0.4161324209897413,
            0.5855464907316213
          ],
          "rotation_angle_deg": 0.8308412211602583,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.037549183715323814,
            -0.035851952746542404,
            -0.07657494530905
          ],
          "translation_xyz_cm": [
            -3.7549183715323813,
            -3.5851952746542404,
            -7.657494530905
          ],
          "translation_norm_m": 0.09251500398590191,
          "rotation_rpy_deg_xyz": [
            0.5200185744125289,
            0.8609458529605756,
            0.5001015846243679
          ],
          "rotation_angle_deg": 1.1215299291061964,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.012730290269494023,
            -0.00968152838721223,
            -0.030932971931169492
          ],
          "translation_xyz_cm": [
            -1.2730290269494022,
            -0.9681528387212229,
            -3.0932971931169493
          ],
          "translation_norm_m": 0.034822995775097954,
          "rotation_rpy_deg_xyz": [
            0.2936680043662151,
            0.3212370253283076,
            -0.08744652315413347
          ],
          "rotation_angle_deg": 0.44409991550278916,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.011828238417734505,
            0.0009958720554986145,
            -0.2091125049866387
          ],
          "translation_xyz_cm": [
            1.1828238417734505,
            0.09958720554986145,
            -20.91125049866387
          ],
          "translation_norm_m": 0.209449131597638,
          "rotation_rpy_deg_xyz": [
            -0.2605106996801804,
            0.1395128624614032,
            0.2902835413474647
          ],
          "rotation_angle_deg": 0.41446123324378165,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.010205037168989017,
            0.020491490559482562,
            -0.1930986369979152
          ],
          "translation_xyz_cm": [
            1.0205037168989017,
            2.049149055948256,
            -19.30986369979152
          ],
          "translation_norm_m": 0.1944508358928355,
          "rotation_rpy_deg_xyz": [
            -0.08425216167557584,
            -0.05945730286791173,
            0.39594093432022526
          ],
          "rotation_angle_deg": 0.40910653962144095,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.007174476908647698,
            0.009942542939002319,
            -0.13411827454217476
          ],
          "translation_xyz_cm": [
            -0.7174476908647698,
            0.9942542939002319,
            -13.411827454217477
          ],
          "translation_norm_m": 0.13467753652772532,
          "rotation_rpy_deg_xyz": [
            0.2304676906093252,
            -0.32157056657033944,
            -0.10046291170733894
          ],
          "rotation_angle_deg": 0.4080265369290913,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.008455517119271283,
            0.01693976089265392,
            -0.1313167666506156
          ],
          "translation_xyz_cm": [
            0.8455517119271283,
            1.6939760892653921,
            -13.131676665061558
          ],
          "translation_norm_m": 0.13267458110891778,
          "rotation_rpy_deg_xyz": [
            -0.8589352425955696,
            0.7390515558348104,
            0.29006933878870467
          ],
          "rotation_angle_deg": 1.1710285946725474,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.009597928510114206,
            0.000354440673477896,
            -0.06017105884344634
          ],
          "translation_xyz_cm": [
            -0.9597928510114206,
            0.0354440673477896,
            -6.017105884344634
          ],
          "translation_norm_m": 0.0609327677216271,
          "rotation_rpy_deg_xyz": [
            -0.8923415998490479,
            0.29356856409564036,
            -0.2151322386779515
          ],
          "rotation_angle_deg": 0.9631985893768465,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.00761480483573429,
            -0.01836000718203095,
            0.06625233262178318
          ],
          "translation_xyz_cm": [
            -0.761480483573429,
            -1.836000718203095,
            6.625233262178318
          ],
          "translation_norm_m": 0.0691696949121358,
          "rotation_rpy_deg_xyz": [
            0.22448295598602463,
            -0.2997065050503686,
            -0.48439551500534817
          ],
          "rotation_angle_deg": 0.6117890608253307,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.002206761277007918,
            -0.0003230168700503744,
            -0.0008326113697621623
          ],
          "translation_xyz_cm": [
            0.2206761277007918,
            -0.03230168700503744,
            -0.08326113697621623
          ],
          "translation_norm_m": 0.0023806253222831983,
          "rotation_rpy_deg_xyz": [
            0.06595145035821497,
            -0.21939243755063725,
            -0.47985956969274
          ],
          "rotation_angle_deg": 0.5316261357000228,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.005322118167739309,
            0.017714413705690712,
            -0.06959397062120509
          ],
          "translation_xyz_cm": [
            0.5322118167739309,
            1.7714413705690712,
            -6.959397062120509
          ],
          "translation_norm_m": 0.07201004194938995,
          "rotation_rpy_deg_xyz": [
            -0.8796751315539549,
            -0.26974120747481045,
            -0.3112744395859724
          ],
          "rotation_angle_deg": 0.9719907575067247,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010498512271429783,
            0.021105741161081215,
            -0.062073216285429625
          ],
          "translation_xyz_cm": [
            1.0498512271429783,
            2.1105741161081215,
            -6.207321628542963
          ],
          "translation_norm_m": 0.06639845818909988,
          "rotation_rpy_deg_xyz": [
            0.04535756883865925,
            0.05050677400062785,
            0.006285325021587809
          ],
          "rotation_angle_deg": 0.06817255413092452,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.012803844285578792,
            0.04150144791112176,
            -0.10958401117735066
          ],
          "translation_xyz_cm": [
            1.2803844285578792,
            4.150144791112176,
            -10.958401117735066
          ],
          "translation_norm_m": 0.11787690237246064,
          "rotation_rpy_deg_xyz": [
            -0.9812013910240344,
            -0.12637778099477365,
            0.16580979262889156
          ],
          "rotation_angle_deg": 1.0029259565636819,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.007024816096084352,
            0.017364227581084246,
            -0.052790548078376395
          ],
          "translation_xyz_cm": [
            0.7024816096084352,
            1.7364227581084246,
            -5.27905480783764
          ],
          "translation_norm_m": 0.05601523370554534,
          "rotation_rpy_deg_xyz": [
            -0.9605481423764163,
            -0.03372400271012844,
            0.16470440258387845
          ],
          "rotation_angle_deg": 0.9751019434315028,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.001803682951671659,
            -0.014644278210358408,
            -0.15859654933809655
          ],
          "translation_xyz_cm": [
            -0.1803682951671659,
            -1.4644278210358408,
            -15.859654933809656
          ],
          "translation_norm_m": 0.15928142898167327,
          "rotation_rpy_deg_xyz": [
            -0.604325359187065,
            1.7069599784467653,
            -0.3359420695890839
          ],
          "rotation_angle_deg": 1.840025499694327,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.002920662503063054,
            0.012849793579804092,
            -0.035424476333908474
          ],
          "translation_xyz_cm": [
            -0.2920662503063054,
            1.2849793579804092,
            -3.5424476333908475
          ],
          "translation_norm_m": 0.03779604460829221,
          "rotation_rpy_deg_xyz": [
            0.4921485944775216,
            0.439402608723218,
            0.20259978647740304
          ],
          "rotation_angle_deg": 0.6896123928297053,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.014485991915168084,
            0.022725822239365367,
            -0.026386143827412778
          ],
          "translation_xyz_cm": [
            1.4485991915168084,
            2.2725822239365367,
            -2.638614382741278
          ],
          "translation_norm_m": 0.037716515537658854,
          "rotation_rpy_deg_xyz": [
            0.6118983782856572,
            0.9886896894560481,
            0.19279747455130533
          ],
          "rotation_angle_deg": 1.177731508981917,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.007018485086774273,
            0.010908407621013083,
            -0.016295321405351334
          ],
          "translation_xyz_cm": [
            -0.7018485086774273,
            1.0908407621013083,
            -1.6295321405351333
          ],
          "translation_norm_m": 0.020827625631433616,
          "rotation_rpy_deg_xyz": [
            -0.8477310560778221,
            2.1838940726501863,
            0.6301295448881703
          ],
          "rotation_angle_deg": 2.4300870518313142,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.016776002454337302,
            0.0155037858310062,
            -0.002114031766567201
          ],
          "translation_xyz_cm": [
            1.6776002454337302,
            1.55037858310062,
            -0.2114031766567201
          ],
          "translation_norm_m": 0.022940592053207674,
          "rotation_rpy_deg_xyz": [
            0.29699016857760974,
            0.33815104708946925,
            -0.012849980541250472
          ],
          "rotation_angle_deg": 0.45026290024770477,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.0010907088369185303,
            0.012439554331656,
            0.01569560254970474
          ],
          "translation_xyz_cm": [
            -0.10907088369185303,
            1.2439554331656,
            1.569560254970474
          ],
          "translation_norm_m": 0.02005702114311723,
          "rotation_rpy_deg_xyz": [
            -0.2961542013792496,
            1.7373384628845212,
            0.4720162782717484
          ],
          "rotation_angle_deg": 1.8256686622280407,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.012935122665748255,
            0.013771143443305878,
            0.24929020324509518
          ],
          "translation_xyz_cm": [
            1.2935122665748255,
            1.3771143443305878,
            24.92902032450952
          ],
          "translation_norm_m": 0.25000513439546584,
          "rotation_rpy_deg_xyz": [
            -0.5267842472129214,
            -0.1799242373979309,
            -0.29895312921785816
          ],
          "rotation_angle_deg": 0.6322507085237045,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.005457743908056756,
            -0.0040665189434838656,
            0.025501089736010764
          ],
          "translation_xyz_cm": [
            0.5457743908056756,
            -0.40665189434838656,
            2.5501089736010765
          ],
          "translation_norm_m": 0.026393732638786,
          "rotation_rpy_deg_xyz": [
            0.04603516591774468,
            1.5182663365528828,
            0.5144175758293887
          ],
          "rotation_angle_deg": 1.6035068443034852,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.034210551568836234,
            -0.0025434504069030694,
            0.2344054731347398
          ],
          "translation_xyz_cm": [
            3.4210551568836234,
            -0.25434504069030694,
            23.44054731347398
          ],
          "translation_norm_m": 0.2369024204480351,
          "rotation_rpy_deg_xyz": [
            -0.11134892780675792,
            -0.3296865791435226,
            -0.25537257238229577
          ],
          "rotation_angle_deg": 0.43182214069998553,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.03138685034156752,
            0.01263944056672539,
            0.3405762250383795
          ],
          "translation_xyz_cm": [
            3.138685034156752,
            1.263944056672539,
            34.05762250383795
          ],
          "translation_norm_m": 0.3422529107160327,
          "rotation_rpy_deg_xyz": [
            -0.6013116663704227,
            0.3615215875026331,
            -0.2387006252676891
          ],
          "rotation_angle_deg": 0.7405025294031278,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.009137920646322684,
            0.013583520920428915,
            0.15986544379611584
          ],
          "translation_xyz_cm": [
            0.9137920646322684,
            1.3583520920428915,
            15.986544379611583
          ],
          "translation_norm_m": 0.160701505140628,
          "rotation_rpy_deg_xyz": [
            0.8484422715755146,
            -1.3679878241237988,
            -0.741456718559852
          ],
          "rotation_angle_deg": 1.7680251016339168,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.009801906762904267,
            0.027220818930151047,
            0.22410138127526333
          ],
          "translation_xyz_cm": [
            -0.9801906762904267,
            2.7220818930151047,
            22.410138127526334
          ],
          "translation_norm_m": 0.22596123439408292,
          "rotation_rpy_deg_xyz": [
            0.6297513245059657,
            -0.29949022299709843,
            -0.6966056360314147
          ],
          "rotation_angle_deg": 0.9845001675553328,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.003941458997618108,
            -0.011342399143650983,
            0.11105571137876899
          ],
          "translation_xyz_cm": [
            0.3941458997618108,
            -1.1342399143650983,
            11.105571137876899
          ],
          "translation_norm_m": 0.1117029818187869,
          "rotation_rpy_deg_xyz": [
            -0.739214872435925,
            0.7037713918011522,
            0.004330514671302538
          ],
          "rotation_angle_deg": 1.0206782071492313,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0017067558207800038,
            -0.0025635273686299698,
            -0.04627768032865373
          ],
          "translation_xyz_cm": [
            0.17067558207800038,
            -0.256352736862997,
            -4.627768032865373
          ],
          "translation_norm_m": 0.046380042956023076,
          "rotation_rpy_deg_xyz": [
            -0.5797201231143607,
            0.7134573071811255,
            0.089255162120271
          ],
          "rotation_angle_deg": 0.9239605154272846,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            0.0006491512351978201,
            0.027984727154258815,
            0.04796715829717854
          ],
          "translation_xyz_cm": [
            0.06491512351978201,
            2.7984727154258815,
            4.796715829717854
          ],
          "translation_norm_m": 0.05553750648283603,
          "rotation_rpy_deg_xyz": [
            -0.8739536008449633,
            -0.0017265021665758822,
            -0.7408750397469878
          ],
          "rotation_angle_deg": 1.145732329167195,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.015479254399599185,
            -0.038875101141406354,
            -0.026907080797172814
          ],
          "translation_xyz_cm": [
            1.5479254399599185,
            -3.8875101141406354,
            -2.6907080797172815
          ],
          "translation_norm_m": 0.04974808340577223,
          "rotation_rpy_deg_xyz": [
            0.027203249509821417,
            0.17939932428271854,
            -0.6460335130032695
          ],
          "rotation_angle_deg": 0.6710723594408088,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.004220500723695508,
            0.014878454571362498,
            -0.00935036543379502
          ],
          "translation_xyz_cm": [
            0.42205007236955083,
            1.4878454571362498,
            -0.935036543379502
          ],
          "translation_norm_m": 0.018072364829659696,
          "rotation_rpy_deg_xyz": [
            -0.1699492353694372,
            0.23592625592481645,
            0.14294394250570153
          ],
          "rotation_angle_deg": 0.3241556089243036,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.008383774783964348,
            -0.011481034137462376,
            -0.026899124591413887
          ],
          "translation_xyz_cm": [
            0.8383774783964348,
            -1.1481034137462376,
            -2.6899124591413885
          ],
          "translation_norm_m": 0.030424738754477747,
          "rotation_rpy_deg_xyz": [
            -1.4010206685584425,
            -0.932651022498358,
            0.14958957343314738
          ],
          "rotation_angle_deg": 1.6886732829341777,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.006765024920033946,
            0.0062594799762789866,
            0.0518512750837777
          ],
          "translation_xyz_cm": [
            0.6765024920033946,
            0.6259479976278987,
            5.185127508377771
          ],
          "translation_norm_m": 0.05266404256754037,
          "rotation_rpy_deg_xyz": [
            -0.5067619523444589,
            -0.2496112080194829,
            -0.14067500895733773
          ],
          "rotation_angle_deg": 0.582419861657302,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.01228483265921021,
            -0.02410472025382232,
            0.019838107310334988
          ],
          "translation_xyz_cm": [
            -1.228483265921021,
            -2.410472025382232,
            1.9838107310334987
          ],
          "translation_norm_m": 0.03354854920315029,
          "rotation_rpy_deg_xyz": [
            0.6605557338745041,
            -0.2853661621079659,
            -0.21894181722667275
          ],
          "rotation_angle_deg": 0.751652448737909,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.010381008299317873,
            0.022545229310150017,
            0.04107819016614633
          ],
          "translation_xyz_cm": [
            -1.0381008299317873,
            2.2545229310150017,
            4.107819016614633
          ],
          "translation_norm_m": 0.04799448307132639,
          "rotation_rpy_deg_xyz": [
            0.039130002020063115,
            1.2138599492193627,
            -0.28201120565151955
          ],
          "rotation_angle_deg": 1.246895427205954,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.0008365007658843737,
            -0.02646163009271585,
            -0.0672252669008099
          ],
          "translation_xyz_cm": [
            0.08365007658843737,
            -2.646163009271585,
            -6.722526690080991
          ],
          "translation_norm_m": 0.0722506339804723,
          "rotation_rpy_deg_xyz": [
            0.2883530701373031,
            0.3553265212262298,
            -0.08898099231574966
          ],
          "rotation_angle_deg": 0.4663484308021419,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.013063956636419682,
            0.014472468709150643,
            -0.1362750222436117
          ],
          "translation_xyz_cm": [
            1.3063956636419682,
            1.4472468709150643,
            -13.627502224361171
          ],
          "translation_norm_m": 0.1376626347308247,
          "rotation_rpy_deg_xyz": [
            -0.2632228524914937,
            0.6114494184072145,
            -0.03924822008306795
          ],
          "rotation_angle_deg": 0.6667729437351414,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.0007707594110548666,
            0.027371968201510555,
            -0.1331160868371599
          ],
          "translation_xyz_cm": [
            -0.07707594110548666,
            2.7371968201510555,
            -13.311608683715988
          ],
          "translation_norm_m": 0.1359033159570896,
          "rotation_rpy_deg_xyz": [
            -0.36981463699914235,
            0.8701677436854842,
            0.20679162645861507
          ],
          "rotation_angle_deg": 0.9684396662419882,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.018802976405497773,
            0.021297077310893586,
            -0.05130521615992469
          ],
          "translation_xyz_cm": [
            -1.8802976405497773,
            2.1297077310893586,
            -5.130521615992469
          ],
          "translation_norm_m": 0.058645908884665456,
          "rotation_rpy_deg_xyz": [
            -0.14490220819361774,
            0.1357623103923054,
            0.07061657725235224
          ],
          "rotation_angle_deg": 0.21080556664220482,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.03263600186863436,
            0.026693993916131142,
            -0.07622428955633086
          ],
          "translation_xyz_cm": [
            -3.2636001868634357,
            2.6693993916131142,
            -7.622428955633086
          ],
          "translation_norm_m": 0.08710809518943301,
          "rotation_rpy_deg_xyz": [
            0.010582282226487728,
            0.7041578648041859,
            0.3155468405565625
          ],
          "rotation_angle_deg": 0.7716720796274404,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.008535328780574392,
            0.014443141564858819,
            -0.03537609465982737
          ],
          "translation_xyz_cm": [
            -0.8535328780574392,
            1.444314156485882,
            -3.537609465982737
          ],
          "translation_norm_m": 0.03915257653125935,
          "rotation_rpy_deg_xyz": [
            0.34824841459641154,
            0.7189071662439137,
            0.24809777480623468
          ],
          "rotation_angle_deg": 0.8358051851448747,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.007123883710499657,
            0.0053440557194659455,
            0.045578909976909665
          ],
          "translation_xyz_cm": [
            0.7123883710499657,
            0.5344055719465945,
            4.557890997690967
          ],
          "translation_norm_m": 0.046440776106097904,
          "rotation_rpy_deg_xyz": [
            1.0360812278738656,
            -0.20317589668802832,
            -0.28553434760711205
          ],
          "rotation_angle_deg": 1.093262147919508,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.01280759761649719,
            0.014598842277689483,
            0.008966860768096177
          ],
          "translation_xyz_cm": [
            -1.280759761649719,
            1.4598842277689483,
            0.8966860768096176
          ],
          "translation_norm_m": 0.02139077709176038,
          "rotation_rpy_deg_xyz": [
            0.964049152287267,
            0.1455829965047165,
            0.3921696368483664
          ],
          "rotation_angle_deg": 1.0504367418527434,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.020721540849391484,
            0.022484706239763508,
            0.08907560210795681
          ],
          "translation_xyz_cm": [
            2.0721540849391484,
            2.248470623976351,
            8.907560210795681
          ],
          "translation_norm_m": 0.09417753002046986,
          "rotation_rpy_deg_xyz": [
            1.7095980990705746,
            -0.3673144399479668,
            -0.5079699401591495
          ],
          "rotation_angle_deg": 1.8193629776070035,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.004222595874015855,
            0.01577650607567538,
            0.018042575910081446
          ],
          "translation_xyz_cm": [
            0.42225958740158553,
            1.5776506075675378,
            1.8042575910081446
          ],
          "translation_norm_m": 0.024336454247530167,
          "rotation_rpy_deg_xyz": [
            1.3938375374812237,
            0.3238239385255256,
            0.18981421146592253
          ],
          "rotation_angle_deg": 1.4429733602918131,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.0065319607452565265,
            0.015743286195249118,
            0.0035094992870426805
          ],
          "translation_xyz_cm": [
            0.6531960745256526,
            1.5743286195249118,
            0.35094992870426805
          ],
          "translation_norm_m": 0.017402130807715667,
          "rotation_rpy_deg_xyz": [
            0.48384929762611883,
            0.8049604680038971,
            -0.5085061776875379
          ],
          "rotation_angle_deg": 1.069624729901989,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            0.00038163018121561976,
            -0.014890997248942994,
            0.004878772510311005
          ],
          "translation_xyz_cm": [
            0.038163018121561976,
            -1.4890997248942994,
            0.4878772510311005
          ],
          "translation_norm_m": 0.015674497180790486,
          "rotation_rpy_deg_xyz": [
            -0.7700039406685949,
            -0.20234228267361537,
            -0.6998896871165098
          ],
          "rotation_angle_deg": 1.060937676562648,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.00642013471774483,
            0.0396487459315924,
            0.06651887220962917
          ],
          "translation_xyz_cm": [
            -0.642013471774483,
            3.96487459315924,
            6.651887220962917
          ],
          "translation_norm_m": 0.07770457865391803,
          "rotation_rpy_deg_xyz": [
            -1.2537279219394992,
            -0.6129076551931512,
            0.6116377738454287
          ],
          "rotation_angle_deg": 1.5209713443977422,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.019432872008785296,
            0.023788408978217657,
            0.05307540151333297
          ],
          "translation_xyz_cm": [
            1.9432872008785296,
            2.3788408978217657,
            5.3075401513332965
          ],
          "translation_norm_m": 0.06132310463460151,
          "rotation_rpy_deg_xyz": [
            -0.4575528269524971,
            -0.4086377636786511,
            0.4906793560271351
          ],
          "rotation_angle_deg": 0.7845388581324091,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.010699745307287678,
            -0.02563092545478618,
            0.024245459891891287
          ],
          "translation_xyz_cm": [
            -1.0699745307287678,
            -2.563092545478618,
            2.4245459891891286
          ],
          "translation_norm_m": 0.036868295521747946,
          "rotation_rpy_deg_xyz": [
            0.7810434318791329,
            -0.8157406307694492,
            -0.1302278706641813
          ],
          "rotation_angle_deg": 1.1362050564660704,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.005644661489842218,
            -0.0004575503985776441,
            0.0323325844901744
          ],
          "translation_xyz_cm": [
            -0.5644661489842218,
            -0.04575503985776441,
            3.23325844901744
          ],
          "translation_norm_m": 0.032824801225847695,
          "rotation_rpy_deg_xyz": [
            0.4754006888735035,
            -1.3693094476530787,
            0.2332519109305661
          ],
          "rotation_angle_deg": 1.469032703512236,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.018055864453315085,
            0.007357305848301243,
            0.03805759736340708
          ],
          "translation_xyz_cm": [
            -1.8055864453315085,
            0.7357305848301243,
            3.805759736340708
          ],
          "translation_norm_m": 0.0427612547474597,
          "rotation_rpy_deg_xyz": [
            -0.8104871463006269,
            -1.475986456177483,
            0.17336505308787728
          ],
          "rotation_angle_deg": 1.6916922671910237,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.0039928586759065965,
            0.01971220067077417,
            -0.052307657958153626
          ],
          "translation_xyz_cm": [
            0.39928586759065965,
            1.9712200670774171,
            -5.230765795815363
          ],
          "translation_norm_m": 0.05604109971046094,
          "rotation_rpy_deg_xyz": [
            -0.41617305849848346,
            -0.8087510438140599,
            0.08379653518431802
          ],
          "rotation_angle_deg": 0.9131291497846249,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.007345260352235039,
            0.003014863969969639,
            -0.016030954449801786
          ],
          "translation_xyz_cm": [
            -0.7345260352235039,
            0.3014863969969639,
            -1.6030954449801786
          ],
          "translation_norm_m": 0.01788948727524511,
          "rotation_rpy_deg_xyz": [
            0.042194771309552036,
            -0.3586488338075367,
            -0.05232277315442333
          ],
          "rotation_angle_deg": 0.36487425616113806,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.007774507576636003,
            0.022547222647278264,
            -0.026018343121312203
          ],
          "translation_xyz_cm": [
            0.7774507576636003,
            2.2547222647278264,
            -2.60183431213122
          ],
          "translation_norm_m": 0.03529552940449318,
          "rotation_rpy_deg_xyz": [
            0.8856541371412744,
            0.012897979988288805,
            -0.15254599964197754
          ],
          "rotation_angle_deg": 0.8988046712765143,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.013786092784828341,
            0.011658706509600658,
            -0.025569940325557924
          ],
          "translation_xyz_cm": [
            1.378609278482834,
            1.1658706509600658,
            -2.5569940325557923
          ],
          "translation_norm_m": 0.03130181528284732,
          "rotation_rpy_deg_xyz": [
            0.9402311297443766,
            0.13854902428668187,
            -0.08283503707756197
          ],
          "rotation_angle_deg": 0.9540858447151216,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.0025843191916425923,
            0.0014625542423660765,
            0.026114262209797425
          ],
          "translation_xyz_cm": [
            0.2584319191642592,
            0.14625542423660765,
            2.6114262209797423
          ],
          "translation_norm_m": 0.02628255051090379,
          "rotation_rpy_deg_xyz": [
            1.19517089849679,
            -0.2264465782480122,
            0.01837057344178999
          ],
          "rotation_angle_deg": 1.2166075417205533,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.04696854218857549,
        "improved_pairs": 22,
        "worsened_pairs": 44,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.058852162807430775,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.000_roll_-0.100",
      "body_left_rpy_correction_deg_xyz": [
        -0.1,
        0.0,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2977596922478565,
          0.0011901746480735614,
          0.7204968546603007
        ],
        "rotation_rpy_deg_xyz": [
          -0.8851624923523462,
          1.2012008027315206,
          -0.837607902463532
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10143505999644054,
          "median": 0.05503112563476724,
          "p90": 0.15934336010911088,
          "p95": 0.22111937238887025,
          "max": 0.337133380692983
        },
        "rotation_deg": {
          "rms": 1.0151691591975842,
          "median": 0.8717289020286703,
          "p90": 1.5618900400692686,
          "p95": 1.7626459866526927,
          "max": 2.30321856589359
        },
        "normalized_pair_score": {
          "rms": 2.870174601960012,
          "median": 2.3829548210861398,
          "p90": 4.4446377227974345,
          "p95": 4.84535992519406,
          "max": 6.838494896460945
        },
        "normalized_global_rms": 2.870174601960012
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012198472231590096,
          0.01406397926648073,
          0.07674205808328792
        ],
        "translation_xyz_cm": [
          -1.2198472231590096,
          1.406397926648073,
          7.674205808328792
        ],
        "translation_norm_m": 0.07896797905766369,
        "rotation_rpy_deg_xyz": [
          -0.538507900251355,
          -0.08651768006822559,
          0.024724500603810116
        ],
        "rotation_angle_deg": 0.545955313109902,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.685676496509504,
          "median": 0.7553149459813134,
          "p90": 2.3646467024572515,
          "p95": 3.99536236407491,
          "max": 5.626801242035707
        },
        "height_residual_m": {
          "rms": 0.034713965171217304,
          "median": -0.005924101606088833,
          "p90": 0.053409267341990724,
          "p95": 0.08720196104337455,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012198472231590096,
            0.01406397926648073,
            0.07674205808328792
          ],
          "translation_xyz_cm": [
            -1.2198472231590096,
            1.406397926648073,
            7.674205808328792
          ],
          "translation_norm_m": 0.07896797905766369,
          "rotation_rpy_deg_xyz": [
            -0.538507900251355,
            -0.08651768006822559,
            0.024724500603810116
          ],
          "rotation_angle_deg": 0.545955313109902,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.021206993608963498,
            -0.014344119831277258,
            0.13220502886113733
          ],
          "translation_xyz_cm": [
            2.12069936089635,
            -1.4344119831277258,
            13.220502886113733
          ],
          "translation_norm_m": 0.13466127879921094,
          "rotation_rpy_deg_xyz": [
            -0.3301467913749382,
            -0.16706207538237808,
            -0.3463000555288329
          ],
          "rotation_angle_deg": 0.5071126466746416,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03375120903065354,
            0.009747130464839548,
            0.10859263309211162
          ],
          "translation_xyz_cm": [
            3.375120903065354,
            0.9747130464839548,
            10.859263309211162
          ],
          "translation_norm_m": 0.11413374008244648,
          "rotation_rpy_deg_xyz": [
            -0.30468670572341167,
            -0.22841890329282416,
            -0.4024385784033479
          ],
          "rotation_angle_deg": 0.5544854457502064,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03467528506293793,
            -0.01830165565934405,
            0.04795162786943227
          ],
          "translation_xyz_cm": [
            3.4675285062937933,
            -1.8301655659344052,
            4.795162786943227
          ],
          "translation_norm_m": 0.06194097681985424,
          "rotation_rpy_deg_xyz": [
            0.2500771759506376,
            0.10120038624273704,
            -0.3511335765010256
          ],
          "rotation_angle_deg": 0.442978277706443,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04650045646911394,
            0.012626928199015452,
            0.025613521943092445
          ],
          "translation_xyz_cm": [
            4.650045646911394,
            1.2626928199015452,
            2.5613521943092445
          ],
          "translation_norm_m": 0.05456907800126671,
          "rotation_rpy_deg_xyz": [
            0.34709251693925564,
            0.29424231129078426,
            -0.3838949195377323
          ],
          "rotation_angle_deg": 0.5959113296525195,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.01320098773320813,
            0.01134521032317215,
            -0.030186667961096016
          ],
          "translation_xyz_cm": [
            1.320098773320813,
            1.134521032317215,
            -3.0186667961096014
          ],
          "translation_norm_m": 0.034845585043198575,
          "rotation_rpy_deg_xyz": [
            0.44567297870881334,
            0.17466148055404976,
            0.13010867216277497
          ],
          "rotation_angle_deg": 0.49586518905744487,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.0055332266881600424,
            0.0213729282346789,
            -0.009861035264755213
          ],
          "translation_xyz_cm": [
            0.5533226688160042,
            2.13729282346789,
            -0.9861035264755214
          ],
          "translation_norm_m": 0.024179716197673767,
          "rotation_rpy_deg_xyz": [
            0.24866433873639016,
            0.2317916318533378,
            -0.0341590930790452
          ],
          "rotation_angle_deg": 0.34170518454995,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.03281322627871578,
            0.0016587133623240935,
            -0.07049471452915668
          ],
          "translation_xyz_cm": [
            -3.281322627871578,
            0.16587133623240935,
            -7.049471452915668
          ],
          "translation_norm_m": 0.07777508550547436,
          "rotation_rpy_deg_xyz": [
            0.49338048612825613,
            0.5219990112593001,
            0.5320886289188058
          ],
          "rotation_angle_deg": 0.8925404499167059,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.031067922192100333,
            -0.015184168092016614,
            -0.1279166472132429
          ],
          "translation_xyz_cm": [
            -3.1067922192100332,
            -1.5184168092016614,
            -12.791664721324288
          ],
          "translation_norm_m": 0.13250827666322681,
          "rotation_rpy_deg_xyz": [
            0.5483910121677101,
            0.3105405458292672,
            0.39524540872920194
          ],
          "rotation_angle_deg": 0.743108326408813,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.031404281718908134,
            -0.019237177506948006,
            -0.05039654268608686
          ],
          "translation_xyz_cm": [
            -3.1404281718908136,
            -1.9237177506948004,
            -5.039654268608686
          ],
          "translation_norm_m": 0.062418822669327474,
          "rotation_rpy_deg_xyz": [
            0.4329895504693059,
            0.3675628568786115,
            0.5846731747698455
          ],
          "rotation_angle_deg": 0.814123843782237,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.038399731279221985,
            -0.03635585097705207,
            -0.0760934662644942
          ],
          "translation_xyz_cm": [
            -3.8399731279221987,
            -3.6355850977052073,
            -7.609346626449421
          ],
          "translation_norm_m": 0.09266338473597753,
          "rotation_rpy_deg_xyz": [
            0.5535519647174143,
            0.7876704292547586,
            0.49892185785439724
          ],
          "rotation_angle_deg": 1.0825710430572544,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.01312350509996326,
            -0.009782260763087497,
            -0.03053411651414376
          ],
          "translation_xyz_cm": [
            -1.312350509996326,
            -0.9782260763087497,
            -3.053411651414376
          ],
          "translation_norm_m": 0.034644642919867276,
          "rotation_rpy_deg_xyz": [
            0.29920522487343987,
            0.28984819678897566,
            -0.08800523252935184
          ],
          "rotation_angle_deg": 0.42592680856608056,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.011011753742565022,
            -4.618575750360565e-05,
            -0.20972503290816683
          ],
          "translation_xyz_cm": [
            1.1011753742565022,
            -0.004618575750360565,
            -20.972503290816682
          ],
          "translation_norm_m": 0.21001392878079003,
          "rotation_rpy_deg_xyz": [
            -0.18468487967984368,
            0.043923457264721404,
            0.29068371890102007
          ],
          "rotation_angle_deg": 0.3472403715879457,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.009486337051113125,
            0.019724921661124314,
            -0.19399441264550918
          ],
          "translation_xyz_cm": [
            0.9486337051113125,
            1.9724921661124315,
            -19.39944126455092
          ],
          "translation_norm_m": 0.19522524238136038,
          "rotation_rpy_deg_xyz": [
            -0.03773303477861644,
            -0.1425090634061527,
            0.395648615388523
          ],
          "rotation_angle_deg": 0.4221767669887697,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.008203219409898543,
            0.008727334686987331,
            -0.1331185564535311
          ],
          "translation_xyz_cm": [
            -0.8203219409898543,
            0.8727334686987331,
            -13.31185564535311
          ],
          "translation_norm_m": 0.1336563101828626,
          "rotation_rpy_deg_xyz": [
            0.32435752788695116,
            -0.41994152171651905,
            -0.10057719546545216
          ],
          "rotation_angle_deg": 0.539847025518986,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.008034432197865593,
            0.016612132545862246,
            -0.13086107925755863
          ],
          "translation_xyz_cm": [
            0.8034432197865593,
            1.6612132545862246,
            -13.086107925755863
          ],
          "translation_norm_m": 0.1321557305337776,
          "rotation_rpy_deg_xyz": [
            -0.8494857483470171,
            0.6980579150878031,
            0.29020940620293917
          ],
          "rotation_angle_deg": 1.1384746104914347,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.010541830516368422,
            -0.00022697466472343386,
            -0.05817531329476353
          ],
          "translation_xyz_cm": [
            -1.0541830516368422,
            -0.022697466472343386,
            -5.8175313294763535
          ],
          "translation_norm_m": 0.05912316623015172,
          "rotation_rpy_deg_xyz": [
            -0.8511998164223709,
            0.21417571906166674,
            -0.21435801564155296
          ],
          "rotation_angle_deg": 0.9031488961069318,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.00830217692273516,
            -0.018436633345940732,
            0.06717962881048428
          ],
          "translation_xyz_cm": [
            -0.830217692273516,
            -1.8436633345940732,
            6.717962881048428
          ],
          "translation_norm_m": 0.07015652583974993,
          "rotation_rpy_deg_xyz": [
            0.23758448150937006,
            -0.34773923417066127,
            -0.4850988035827928
          ],
          "rotation_angle_deg": 0.6418637634154216,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.0013352252405872678,
            -0.0006744268660137109,
            0.0003259477141177355
          ],
          "translation_xyz_cm": [
            0.13352252405872678,
            -0.0674426866013711,
            0.03259477141177355
          ],
          "translation_norm_m": 0.0015309865946640357,
          "rotation_rpy_deg_xyz": [
            0.09279868962745053,
            -0.28612432775716423,
            -0.4804787082809953
          ],
          "rotation_angle_deg": 0.5666703677321191,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.004308329615535289,
            0.01705570279963764,
            -0.06829583608263107
          ],
          "translation_xyz_cm": [
            0.4308329615535289,
            1.705570279963764,
            -6.829583608263107
          ],
          "translation_norm_m": 0.07052503050897091,
          "rotation_rpy_deg_xyz": [
            -0.83106202464551,
            -0.35408148402839684,
            -0.3103730910765064
          ],
          "rotation_angle_deg": 0.9560120731749809,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010223387359974523,
            0.0209418871491317,
            -0.06136486232941757
          ],
          "translation_xyz_cm": [
            1.0223387359974523,
            2.09418871491317,
            -6.136486232941757
          ],
          "translation_norm_m": 0.0656408913344984,
          "rotation_rpy_deg_xyz": [
            0.048386653755154566,
            0.027500476893906618,
            0.005954451336816827
          ],
          "rotation_angle_deg": 0.055971971966886226,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.012263002202483109,
            0.04114342566625595,
            -0.10809827991284617
          ],
          "translation_xyz_cm": [
            1.2263002202483109,
            4.114342566625595,
            -10.809827991284617
          ],
          "translation_norm_m": 0.1163116538386798,
          "rotation_rpy_deg_xyz": [
            -0.9675871085365938,
            -0.17531250966360992,
            0.16612860346133385
          ],
          "rotation_angle_deg": 0.9970279598010798,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.00668383470953815,
            0.017215032488996473,
            -0.05177655943492826
          ],
          "translation_xyz_cm": [
            0.668383470953815,
            1.7215032488996473,
            -5.177655943492826
          ],
          "translation_norm_m": 0.0549712933897347,
          "rotation_rpy_deg_xyz": [
            -0.9562223115136043,
            -0.06139276020998848,
            0.16480626488402633
          ],
          "rotation_angle_deg": 0.9721737007040958,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0023818054829005675,
            -0.015124403813261189,
            -0.15706622926213487
          ],
          "translation_xyz_cm": [
            -0.23818054829005675,
            -1.512440381326119,
            -15.706622926213488
          ],
          "translation_norm_m": 0.15781071244592515,
          "rotation_rpy_deg_xyz": [
            -0.5833982976907289,
            1.647188865057987,
            -0.33585960199926124
          ],
          "rotation_angle_deg": 1.777841715753,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.0033555641205761932,
            0.01269090705169651,
            -0.03410423576257162
          ],
          "translation_xyz_cm": [
            -0.3355564120576193,
            1.269090705169651,
            -3.410423576257162
          ],
          "translation_norm_m": 0.03654336915654011,
          "rotation_rpy_deg_xyz": [
            0.49879847528774107,
            0.4049706285694429,
            0.20187934644574493
          ],
          "rotation_angle_deg": 0.6729362542696209,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.013691967393155258,
            0.022345478804360885,
            -0.02562507828159473
          ],
          "translation_xyz_cm": [
            1.3691967393155258,
            2.2345478804360885,
            -2.562507828159473
          ],
          "translation_norm_m": 0.03665289935365586,
          "rotation_rpy_deg_xyz": [
            0.6375348514233531,
            0.9232631837403339,
            0.19155346834360854
          ],
          "rotation_angle_deg": 1.137356797577235,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.008090075100802618,
            0.009033526669866898,
            -0.013889774821725043
          ],
          "translation_xyz_cm": [
            -0.8090075100802618,
            0.9033526669866898,
            -1.3889774821725043
          ],
          "translation_norm_m": 0.01843854017621921,
          "rotation_rpy_deg_xyz": [
            -0.7014686086482326,
            2.0966614738838056,
            0.632949810672328
          ],
          "rotation_angle_deg": 2.30321856589359,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.01632134668262397,
            0.015401530598008861,
            -0.0016442042812163937
          ],
          "translation_xyz_cm": [
            1.6321346682623972,
            1.5401530598008861,
            -0.16442042812163937
          ],
          "translation_norm_m": 0.022501042420611853,
          "rotation_rpy_deg_xyz": [
            0.30411796793750545,
            0.30250270614242664,
            -0.013469480348835767
          ],
          "rotation_angle_deg": 0.429183485262026,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.0023687006259740517,
            0.010971268401535506,
            0.01817477920270082
          ],
          "translation_xyz_cm": [
            -0.23687006259740517,
            1.0971268401535506,
            1.817477920270082
          ],
          "translation_norm_m": 0.021361228243266996,
          "rotation_rpy_deg_xyz": [
            -0.18342386889989107,
            1.6395943972343312,
            0.4731921792404563
          ],
          "rotation_angle_deg": 1.7170587993517705,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.01173567430945155,
            0.011413303390501284,
            0.24766489185847557
          ],
          "translation_xyz_cm": [
            1.173567430945155,
            1.1413303390501284,
            24.766489185847558
          ],
          "translation_norm_m": 0.24820533476348075,
          "rotation_rpy_deg_xyz": [
            -0.3599459252915823,
            -0.25281727591322406,
            -0.29608232127829553
          ],
          "rotation_angle_deg": 0.5306712728297631,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.00418969627958421,
            -0.005056348127250809,
            0.02763877449419072
          ],
          "translation_xyz_cm": [
            0.41896962795842096,
            -0.5056348127250809,
            2.763877449419072
          ],
          "translation_norm_m": 0.028408133814804556,
          "rotation_rpy_deg_xyz": [
            0.1224315721089144,
            1.4225349399417122,
            0.5143153284836152
          ],
          "rotation_angle_deg": 1.5170819253724177,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03270285666162531,
            -0.004369015554693156,
            0.2326206297579615
          ],
          "translation_xyz_cm": [
            3.2702856661625312,
            -0.43690155546931564,
            23.262062975796148
          ],
          "translation_norm_m": 0.23494876573359258,
          "rotation_rpy_deg_xyz": [
            0.024500017160899952,
            -0.42159031146048764,
            -0.2539557532533365
          ],
          "rotation_angle_deg": 0.49273328458463955,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.03019133555022324,
            0.010076323570388457,
            0.3356275723752124
          ],
          "translation_xyz_cm": [
            3.019133555022324,
            1.0076323570388457,
            33.56275723752124
          ],
          "translation_norm_m": 0.337133380692983,
          "rotation_rpy_deg_xyz": [
            -0.4288032322117365,
            0.2941269272689741,
            -0.2355800702902815
          ],
          "rotation_angle_deg": 0.5704046585386735,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.008220880945538411,
            0.013626632286904083,
            0.16008691978343773
          ],
          "translation_xyz_cm": [
            0.8220880945538411,
            1.3626632286904083,
            16.008691978343773
          ],
          "translation_norm_m": 0.1608760077722966,
          "rotation_rpy_deg_xyz": [
            0.8670614060910731,
            -1.4245954295039638,
            -0.742839440307638
          ],
          "rotation_angle_deg": 1.8212594138570661,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.011305896689445927,
            0.026873579207242315,
            0.22292275238512355
          ],
          "translation_xyz_cm": [
            -1.1305896689445927,
            2.6873579207242315,
            22.292275238512353
          ],
          "translation_norm_m": 0.22482118692489697,
          "rotation_rpy_deg_xyz": [
            0.681218044507589,
            -0.38546417297660784,
            -0.6979143450767922
          ],
          "rotation_angle_deg": 1.047147189411602,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0033185067986751804,
            -0.011313747328124624,
            0.11158224091324118
          ],
          "translation_xyz_cm": [
            0.33185067986751804,
            -1.1313747328124624,
            11.158224091324117
          ],
          "translation_norm_m": 0.11220343066590296,
          "rotation_rpy_deg_xyz": [
            -0.7288741303263682,
            0.6609242570827203,
            0.004396790976407384
          ],
          "rotation_angle_deg": 0.9839353531077534,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0008233633212458291,
            -0.0029882147541471227,
            -0.043522002260380735
          ],
          "translation_xyz_cm": [
            0.08233633212458291,
            -0.29882147541471227,
            -4.352200226038073
          ],
          "translation_norm_m": 0.04363223619444987,
          "rotation_rpy_deg_xyz": [
            -0.5493984805754152,
            0.6431754084917372,
            0.089435925685316
          ],
          "rotation_angle_deg": 0.8509173541406347,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            -5.6546766625587e-05,
            0.027783753359931884,
            0.047571772006217414
          ],
          "translation_xyz_cm": [
            -0.0056546766625587,
            2.7783753359931884,
            4.757177200621741
          ],
          "translation_norm_m": 0.05509095787979978,
          "rotation_rpy_deg_xyz": [
            -0.8560017333688674,
            -0.05745183385124318,
            -0.7405671175817861
          ],
          "rotation_angle_deg": 1.1336245767915163,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.01443808210121178,
            -0.039448024246860225,
            -0.021929844131010432
          ],
          "translation_xyz_cm": [
            1.443808210121178,
            -3.9448024246860225,
            -2.192984413101043
          ],
          "translation_norm_m": 0.047386948576085976,
          "rotation_rpy_deg_xyz": [
            0.06523717676486462,
            0.10235760944953026,
            -0.6465560966924323
          ],
          "rotation_angle_deg": 0.657908010932712,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.00322817241234441,
            0.014476517566775593,
            -0.0038785556533487003
          ],
          "translation_xyz_cm": [
            0.322817241234441,
            1.4476517566775593,
            -0.38785556533487003
          ],
          "translation_norm_m": 0.015330813805571674,
          "rotation_rpy_deg_xyz": [
            -0.14129684929874753,
            0.16730165686979753,
            0.14261069890810382
          ],
          "rotation_angle_deg": 0.2614407296023921,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.007606089908610336,
            -0.011659696628856797,
            -0.023826319134542584
          ],
          "translation_xyz_cm": [
            0.7606089908610336,
            -1.1659696628856797,
            -2.3826319134542584
          ],
          "translation_norm_m": 0.02759519183980986,
          "rotation_rpy_deg_xyz": [
            -1.385116990184271,
            -0.9853339182123925,
            0.15034426343513776
          ],
          "rotation_angle_deg": 1.7054047074838854,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.005376603699022819,
            0.005319793796464037,
            0.05418917513271009
          ],
          "translation_xyz_cm": [
            0.5376603699022819,
            0.5319793796464036,
            5.418917513271009
          ],
          "translation_norm_m": 0.054714484142106,
          "rotation_rpy_deg_xyz": [
            -0.4308911777566878,
            -0.34521040255469665,
            -0.1398630873000363
          ],
          "rotation_angle_deg": 0.5698784993516836,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.012643413789746205,
            -0.026722015486996264,
            0.021850547260248668
          ],
          "translation_xyz_cm": [
            -1.2643413789746205,
            -2.6722015486996264,
            2.185054726024867
          ],
          "translation_norm_m": 0.03676096352815542,
          "rotation_rpy_deg_xyz": [
            0.8577116808307673,
            -0.30739720316708374,
            -0.2154598168400179
          ],
          "rotation_angle_deg": 0.9357302365302121,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.011328902283608056,
            0.02224672331629307,
            0.04342381591302455
          ],
          "translation_xyz_cm": [
            -1.1328902283608056,
            2.224672331629307,
            4.342381591302455
          ],
          "translation_norm_m": 0.0500888062715761,
          "rotation_rpy_deg_xyz": [
            0.06729818816186765,
            1.1457222242371556,
            -0.2825962472174885
          ],
          "rotation_angle_deg": 1.182136446890146,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.0004484398538715517,
            -0.027870768543897473,
            -0.06151977292289944
          ],
          "translation_xyz_cm": [
            -0.04484398538715517,
            -2.7870768543897473,
            -6.151977292289944
          ],
          "translation_norm_m": 0.0675400866005897,
          "rotation_rpy_deg_xyz": [
            0.3905197642995209,
            0.2567911565563081,
            -0.08903191762278209
          ],
          "rotation_angle_deg": 0.4759512535508281,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.012573424581342252,
            0.012066614344569349,
            -0.1278558418142467
          ],
          "translation_xyz_cm": [
            1.2573424581342252,
            1.2066614344569349,
            -12.78558418142467
          ],
          "translation_norm_m": 0.12903801948833896,
          "rotation_rpy_deg_xyz": [
            -0.07048974789612959,
            0.5754780922057401,
            -0.03569206639921093
          ],
          "rotation_angle_deg": 0.5808549218282146,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.0006077877190222569,
            0.02495549230853289,
            -0.12628779625838185
          ],
          "translation_xyz_cm": [
            -0.06077877190222569,
            2.495549230853289,
            -12.628779625838185
          ],
          "translation_norm_m": 0.12873132286305147,
          "rotation_rpy_deg_xyz": [
            -0.17108386008126952,
            0.8875421507838345,
            0.21115703897639815
          ],
          "rotation_angle_deg": 0.9285182528600985,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.019899419133884377,
            0.02045104170115486,
            -0.049224045955585036
          ],
          "translation_xyz_cm": [
            -1.9899419133884377,
            2.045104170115486,
            -4.922404595558503
          ],
          "translation_norm_m": 0.05689673706607371,
          "rotation_rpy_deg_xyz": [
            -0.08299275153517802,
            0.04474532771825442,
            0.07060939997673661
          ],
          "rotation_angle_deg": 0.11781427540665272,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.033748560996567756,
            0.025235618505753177,
            -0.0750153271637038
          ],
          "translation_xyz_cm": [
            -3.3748560996567756,
            2.5235618505753177,
            -7.501532716370379
          ],
          "translation_norm_m": 0.08604127567734268,
          "rotation_rpy_deg_xyz": [
            0.12578705101663182,
            0.6067611808641802,
            0.3162554597696284
          ],
          "rotation_angle_deg": 0.6953967411037035,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.009180016499000021,
            0.014205476809026618,
            -0.03425249776827852
          ],
          "translation_xyz_cm": [
            -0.9180016499000021,
            1.4205476809026618,
            -3.425249776827852
          ],
          "translation_norm_m": 0.038200809908425115,
          "rotation_rpy_deg_xyz": [
            0.36339638463845925,
            0.6674216313953211,
            0.24725516606214024
          ],
          "rotation_angle_deg": 0.7984952341151029,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.006054514429228552,
            0.0034015886546279184,
            0.0453624791916232
          ],
          "translation_xyz_cm": [
            0.6054514429228552,
            0.34015886546279184,
            4.53624791916232
          ],
          "translation_norm_m": 0.0458909846130967,
          "rotation_rpy_deg_xyz": [
            1.1901840530526848,
            -0.28584587514441945,
            -0.2852596780269641
          ],
          "rotation_angle_deg": 1.2561525340780257,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.013556640361261252,
            0.012118577492022053,
            0.013945473701008695
          ],
          "translation_xyz_cm": [
            -1.3556640361261252,
            1.2118577492022053,
            1.3945473701008695
          ],
          "translation_norm_m": 0.022915467594187257,
          "rotation_rpy_deg_xyz": [
            1.147462921939667,
            0.09186085077562536,
            0.3941478502599244
          ],
          "rotation_angle_deg": 1.2164421401329297,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.019547380404213666,
            0.02141059776251053,
            0.08456611259126544
          ],
          "translation_xyz_cm": [
            1.9547380404213666,
            2.141059776251053,
            8.456611259126543
          ],
          "translation_norm_m": 0.08939765755328066,
          "rotation_rpy_deg_xyz": [
            1.8124593081868325,
            -0.46580172525214736,
            -0.5104505081014582
          ],
          "rotation_angle_deg": 1.9377763098142609,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.003028383876874763,
            0.013789257114170228,
            0.02228887330084775
          ],
          "translation_xyz_cm": [
            0.3028383876874763,
            1.3789257114170228,
            2.228887330084775
          ],
          "translation_norm_m": 0.026383869952826346,
          "rotation_rpy_deg_xyz": [
            1.5367459351316461,
            0.2349353771667976,
            0.18908533251375984
          ],
          "rotation_angle_deg": 1.565675248614791,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.005731986791654542,
            0.01328176450613805,
            0.008699435797877117
          ],
          "translation_xyz_cm": [
            0.5731986791654542,
            1.328176450613805,
            0.8699435797877118
          ],
          "translation_norm_m": 0.0168801991747016,
          "rotation_rpy_deg_xyz": [
            0.665568569576474,
            0.7487338866459836,
            -0.5061793832200092
          ],
          "rotation_angle_deg": 1.1243625831862627,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.00029534459282931635,
            -0.01502268720780403,
            0.006473899975337739
          ],
          "translation_xyz_cm": [
            -0.029534459282931635,
            -1.502268720780403,
            0.6473899975337739
          ],
          "translation_norm_m": 0.016360921131241674,
          "rotation_rpy_deg_xyz": [
            -0.7564246250305294,
            -0.2512173622136916,
            -0.6997517983321957
          ],
          "rotation_angle_deg": 1.0617216853586537,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.005607982683432766,
            0.039529724683462386,
            0.06125749333411372
          ],
          "translation_xyz_cm": [
            -0.5607982683432766,
            3.9529724683462386,
            6.125749333411372
          ],
          "translation_norm_m": 0.07311996370969424,
          "rotation_rpy_deg_xyz": [
            -1.241660734058652,
            -0.5637973044846311,
            0.6116227635043595
          ],
          "rotation_angle_deg": 1.4920349270168083,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.020951464549602505,
            0.022999110685020252,
            0.04441800053181093
          ],
          "translation_xyz_cm": [
            2.0951464549602505,
            2.299911068502025,
            4.441800053181093
          ],
          "translation_norm_m": 0.05422989701556715,
          "rotation_rpy_deg_xyz": [
            -0.3863502777535908,
            -0.31141516637077304,
            0.49304271452082143
          ],
          "rotation_angle_deg": 0.6987845408478884,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.009717995355081221,
            -0.025907411159384386,
            0.02153823806292162
          ],
          "translation_xyz_cm": [
            -0.9717995355081221,
            -2.590741115938439,
            2.153823806292162
          ],
          "translation_norm_m": 0.0350646415290084,
          "rotation_rpy_deg_xyz": [
            0.8090490947743006,
            -0.744867737405382,
            -0.12749884040411866
          ],
          "rotation_angle_deg": 1.1064780128218634,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.004731531518500365,
            -0.000647962159230242,
            0.029562220615702947
          ],
          "translation_xyz_cm": [
            -0.4731531518500365,
            -0.0647962159230242,
            2.9562220615702945
          ],
          "translation_norm_m": 0.02994548602380414,
          "rotation_rpy_deg_xyz": [
            0.49629952118216786,
            -1.3066158998839483,
            0.23524671474336992
          ],
          "rotation_angle_deg": 1.4182906758604152,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.016591175846238038,
            0.006165105389012604,
            0.033487827139727255
          ],
          "translation_xyz_cm": [
            -1.6591175846238038,
            0.6165105389012604,
            3.3487827139727253
          ],
          "translation_norm_m": 0.03787756865162649,
          "rotation_rpy_deg_xyz": [
            -0.7143759278915505,
            -1.37460151036425,
            0.17568667889663378
          ],
          "rotation_angle_deg": 1.5581048315237462,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.005049115681996619,
            0.017870082218921057,
            -0.05187910077581297
          ],
          "translation_xyz_cm": [
            0.5049115681996619,
            1.7870082218921057,
            -5.1879100775812965
          ],
          "translation_norm_m": 0.05510240017447643,
          "rotation_rpy_deg_xyz": [
            -0.2677790844912152,
            -0.7198679579644974,
            0.0878280657811058
          ],
          "rotation_angle_deg": 0.7728730407574438,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.006324956966257345,
            0.002606988379937336,
            -0.018629328651677983
          ],
          "translation_xyz_cm": [
            -0.6324956966257345,
            0.2606988379937336,
            -1.8629328651677983
          ],
          "translation_norm_m": 0.019845738964582946,
          "rotation_rpy_deg_xyz": [
            0.07683111402387942,
            -0.2815027483362668,
            -0.05025715204936589
          ],
          "rotation_angle_deg": 0.29606352391378077,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.008936755123347462,
            0.02142789527811284,
            -0.02421553863783999
          ],
          "translation_xyz_cm": [
            0.8936755123347462,
            2.142789527811284,
            -2.4215538637839993
          ],
          "translation_norm_m": 0.033547169771907276,
          "rotation_rpy_deg_xyz": [
            0.9689368388115391,
            0.11284882462038442,
            -0.1475498246220297
          ],
          "rotation_angle_deg": 0.9867244603067713,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.014406424642980031,
            0.011427329253826835,
            -0.024656381826506115
          ],
          "translation_xyz_cm": [
            1.4406424642980031,
            1.1427329253826835,
            -2.4656381826506113
          ],
          "translation_norm_m": 0.030758187359525756,
          "rotation_rpy_deg_xyz": [
            0.9539234585445359,
            0.19049617692008725,
            -0.08084091865599398
          ],
          "rotation_angle_deg": 0.9762424962060376,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.0031501776785451963,
            0.0013919623940481518,
            0.02554577035837033
          ],
          "translation_xyz_cm": [
            0.3150177678545196,
            0.13919623940481518,
            2.554577035837033
          ],
          "translation_norm_m": 0.02577688037593845,
          "rotation_rpy_deg_xyz": [
            1.2042230258076034,
            -0.18340302290430344,
            0.020165104232538138
          ],
          "rotation_angle_deg": 1.2183073803580622,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.014533210517364115,
        "improved_pairs": 25,
        "worsened_pairs": 41,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.026002343812685902,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.000_roll_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.1,
        0.0,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2977596922478565,
          -0.00132483596826191,
          0.7204966196317207
        ],
        "rotation_rpy_deg_xyz": [
          -0.6851396936080634,
          1.2041171781580922,
          -0.833409656117373
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.09944242267101946,
          "median": 0.05419097262145875,
          "p90": 0.1580606772626095,
          "p95": 0.2197177341851549,
          "max": 0.32692858463011104
        },
        "rotation_deg": {
          "rms": 1.0271293323765827,
          "median": 0.8035827496102723,
          "p90": 1.5776574478796102,
          "p95": 1.8106326881075614,
          "max": 2.183094307956349
        },
        "normalized_pair_score": {
          "rms": 2.859282573021794,
          "median": 2.466981098762025,
          "p90": 4.40287163715159,
          "p95": 4.954027145137866,
          "max": 6.564536977615282
        },
        "normalized_global_rms": 2.859282573021794
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012870874514109953,
          0.014250677001946932,
          0.07813974310806714
        ],
        "translation_xyz_cm": [
          -1.2870874514109953,
          1.4250677001946932,
          7.813974310806714
        ],
        "translation_norm_m": 0.08046465471725153,
        "rotation_rpy_deg_xyz": [
          -0.5325608840306802,
          -0.132100359937178,
          0.024650758909434137
        ],
        "rotation_angle_deg": 0.5492256932471735,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.652705907802981,
          "median": 0.7642140295928858,
          "p90": 2.3730818708821753,
          "p95": 3.9393965271141544,
          "max": 5.432408856778532
        },
        "height_residual_m": {
          "rms": 0.034713965171217304,
          "median": -0.005924101606088833,
          "p90": 0.0534092673419908,
          "p95": 0.08720196104337465,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012870874514109953,
            0.014250677001946932,
            0.07813974310806714
          ],
          "translation_xyz_cm": [
            -1.2870874514109953,
            1.4250677001946932,
            7.813974310806714
          ],
          "translation_norm_m": 0.08046465471725153,
          "rotation_rpy_deg_xyz": [
            -0.5325608840306802,
            -0.132100359937178,
            0.024650758909434137
          ],
          "rotation_angle_deg": 0.5492256932471735,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.019849501771051492,
            -0.014225119869694547,
            0.13388568757836983
          ],
          "translation_xyz_cm": [
            1.9849501771051492,
            -1.4225119869694547,
            13.388568757836982
          ],
          "translation_norm_m": 0.13609457775458583,
          "rotation_rpy_deg_xyz": [
            -0.30814802989837486,
            -0.2553853612285898,
            -0.3465566070631916
          ],
          "rotation_angle_deg": 0.5298619890141043,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03171040067575015,
            0.009422119895287961,
            0.11079741994972288
          ],
          "translation_xyz_cm": [
            3.171040067575015,
            0.9422119895287961,
            11.079741994972288
          ],
          "translation_norm_m": 0.11563042039988027,
          "rotation_rpy_deg_xyz": [
            -0.25199339672410914,
            -0.3608228159641627,
            -0.4025035401863851
          ],
          "rotation_angle_deg": 0.5969427266670555,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.034046736055924454,
            -0.018218222792134975,
            0.048844107601041756
          ],
          "translation_xyz_cm": [
            3.4046736055924454,
            -1.8218222792134975,
            4.884410760104176
          ],
          "translation_norm_m": 0.06226420099148304,
          "rotation_rpy_deg_xyz": [
            0.2559468722643658,
            0.0559290578346524,
            -0.3518306890513121
          ],
          "rotation_angle_deg": 0.4387589038931823,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.045183224004385236,
            0.0124474119700132,
            0.027143963448575968
          ],
          "translation_xyz_cm": [
            4.518322400438524,
            1.24474119700132,
            2.714396344857597
          ],
          "translation_norm_m": 0.05415954715356573,
          "rotation_rpy_deg_xyz": [
            0.37278014805454507,
            0.19905149467537275,
            -0.38525812242251006
          ],
          "rotation_angle_deg": 0.5722835691407653,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.011021727169430146,
            0.010131317540239992,
            -0.0287389794000784
          ],
          "translation_xyz_cm": [
            1.1021727169430147,
            1.0131317540239992,
            -2.87389794000784
          ],
          "translation_norm_m": 0.03240449045821674,
          "rotation_rpy_deg_xyz": [
            0.5413261916098648,
            0.00692556911784763,
            0.12837339237070147
          ],
          "rotation_angle_deg": 0.5563750662778144,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.004848507119116668,
            0.021274477483793436,
            -0.009151694612596507
          ],
          "translation_xyz_cm": [
            0.4848507119116668,
            2.1274477483793435,
            -0.9151694612596507
          ],
          "translation_norm_m": 0.02366146503864008,
          "rotation_rpy_deg_xyz": [
            0.2566485820405728,
            0.17867899954417002,
            -0.03495353671788429
          ],
          "rotation_angle_deg": 0.31471312103176363,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.034484381660623405,
            0.0007872247001593502,
            -0.06967327514946207
          ],
          "translation_xyz_cm": [
            -3.4484381660623407,
            0.07872247001593502,
            -6.9673275149462075
          ],
          "translation_norm_m": 0.07774418030500245,
          "rotation_rpy_deg_xyz": [
            0.5530457420079644,
            0.38237454735918597,
            0.530152881090796
          ],
          "rotation_angle_deg": 0.8550853084401805,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.0331459140849214,
            -0.01671063895985936,
            -0.12662434558289104
          ],
          "translation_xyz_cm": [
            -3.31459140849214,
            -1.6710638959859359,
            -12.662434558289103
          ],
          "translation_norm_m": 0.13195310518993927,
          "rotation_rpy_deg_xyz": [
            0.6600428803164113,
            0.13399713556597315,
            0.3933083515652571
          ],
          "rotation_angle_deg": 0.7795474268257585,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.03255708121599314,
            -0.019712782578652582,
            -0.050083477735733926
          ],
          "translation_xyz_cm": [
            -3.255708121599314,
            -1.9712782578652583,
            -5.008347773573393
          ],
          "translation_norm_m": 0.06290399094178173,
          "rotation_rpy_deg_xyz": [
            0.4597898106813386,
            0.27041855418523675,
            0.5831477058430078
          ],
          "rotation_angle_deg": 0.7895098434536542,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.04010277096262335,
            -0.037361836537912085,
            -0.07513426564667143
          ],
          "translation_xyz_cm": [
            -4.010277096262335,
            -3.7361836537912083,
            -7.513426564667143
          ],
          "translation_norm_m": 0.09300159645205495,
          "rotation_rpy_deg_xyz": [
            0.6206183263311692,
            0.6411119815189987,
            0.4968198522178069
          ],
          "rotation_angle_deg": 1.0195893846213122,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.013910624897495366,
            -0.00998170162076506,
            -0.029736917394995493
          ],
          "translation_xyz_cm": [
            -1.3910624897495367,
            -0.998170162076506,
            -2.9736917394995492
          ],
          "translation_norm_m": 0.034313614039351605,
          "rotation_rpy_deg_xyz": [
            0.3102778161135205,
            0.227067374414036,
            -0.08896703136558141
          ],
          "rotation_angle_deg": 0.39478638692398543,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.009381914466719599,
            -0.002130936792771168,
            -0.21095784653879324
          ],
          "translation_xyz_cm": [
            0.9381914466719599,
            -0.2130936792771168,
            -21.095784653879324
          ],
          "translation_norm_m": 0.2111771157747938,
          "rotation_rpy_deg_xyz": [
            -0.0330460078804258,
            -0.1472631972697264,
            0.2916106213693062
          ],
          "rotation_angle_deg": 0.3283145206350488,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.008052886256739167,
            0.018189435919574205,
            -0.19579001087291684
          ],
          "translation_xyz_cm": [
            0.8052886256739167,
            1.8189435919574206,
            -19.579001087291683
          ],
          "translation_norm_m": 0.19679794946531623,
          "rotation_rpy_deg_xyz": [
            0.05529631141507743,
            -0.3086183774601124,
            0.3952998980225105
          ],
          "rotation_angle_deg": 0.5046606151295715,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.010265887249026773,
            0.006297488019886999,
            -0.1311301897657054
          ],
          "translation_xyz_cm": [
            -1.0265887249026773,
            0.6297488019886999,
            -13.11301897657054
          ],
          "translation_norm_m": 0.13168209242095244,
          "rotation_rpy_deg_xyz": [
            0.5121264842734488,
            -0.6166939224051967,
            -0.10076748495008415
          ],
          "rotation_angle_deg": 0.807577159501199,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.007191226776678716,
            0.015959048435487122,
            -0.12994968731393539
          ],
          "translation_xyz_cm": [
            0.7191226776678716,
            1.5959048435487122,
            -12.994968731393538
          ],
          "translation_norm_m": 0.13112332440305738,
          "rotation_rpy_deg_xyz": [
            -0.8305893633959313,
            0.6160705168776986,
            0.2906845636353352
          ],
          "rotation_angle_deg": 1.0754097896643824,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.01243804602309323,
            -0.001383579663629897,
            -0.054188654364886284
          ],
          "translation_xyz_cm": [
            -1.243804602309323,
            -0.1383579663629897,
            -5.418865436488629
          ],
          "translation_norm_m": 0.05561501185323352,
          "rotation_rpy_deg_xyz": [
            -0.7689277256702551,
            0.05538810834444157,
            -0.2125618819842679
          ],
          "rotation_angle_deg": 0.7995883397193455,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.009679278943592662,
            -0.018585517343530603,
            0.06903199490734244
          ],
          "translation_xyz_cm": [
            -0.9679278943592662,
            -1.8585517343530602,
            6.903199490734243
          ],
          "translation_norm_m": 0.07214240234897855,
          "rotation_rpy_deg_xyz": [
            0.26378245948903,
            -0.443809070672506,
            -0.48628593696357475
          ],
          "rotation_angle_deg": 0.7085380318985388,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.00041195648836467313,
            -0.0013726150113285707,
            0.0026396275875124574
          ],
          "translation_xyz_cm": [
            -0.04119564883646731,
            -0.13726150113285707,
            0.26396275875124575
          ],
          "translation_norm_m": 0.0030035668659757057,
          "rotation_rpy_deg_xyz": [
            0.146486325570272,
            -0.41959318572956505,
            -0.4814594892834861
          ],
          "rotation_angle_deg": 0.6548298831900574,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.002274976428522202,
            0.01574187444705455,
            -0.06570544890781521
          ],
          "translation_xyz_cm": [
            0.22749764285222018,
            1.574187444705455,
            -6.570544890781521
          ],
          "translation_norm_m": 0.06760316667904452,
          "rotation_rpy_deg_xyz": [
            -0.7338509501782113,
            -0.5227647813553995,
            -0.3083398424654438
          ],
          "rotation_angle_deg": 0.9533900182703924,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.009672212516376455,
            0.020617811833847255,
            -0.059947857623197015
          ],
          "translation_xyz_cm": [
            0.9672212516376455,
            2.0617811833847255,
            -5.994785762319702
          ],
          "translation_norm_m": 0.06412793068070247,
          "rotation_rpy_deg_xyz": [
            0.05444269237917539,
            -0.01851396790708448,
            0.005409706346117727
          ],
          "rotation_angle_deg": 0.05775927478328968,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.011177358228270151,
            0.04043414039103732,
            -0.10512749640195788
          ],
          "translation_xyz_cm": [
            1.1177358228270151,
            4.043414039103732,
            -10.51274964019579
          ],
          "translation_norm_m": 0.11318853098202512,
          "rotation_rpy_deg_xyz": [
            -0.9403656569245651,
            -0.27318173898733006,
            0.16698853380712517
          ],
          "rotation_angle_deg": 0.9930004731694305,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.006000298362307921,
            0.01692175179142985,
            -0.049748626679505414
          ],
          "translation_xyz_cm": [
            0.6000298362307921,
            1.692175179142985,
            -4.974862667950541
          ],
          "translation_norm_m": 0.05288927226408274,
          "rotation_rpy_deg_xyz": [
            -0.9475740693291651,
            -0.11673004617688458,
            0.16514888159537355
          ],
          "rotation_angle_deg": 0.9687501791312266,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0035429245126745723,
            -0.01607829615065892,
            -0.15400676343476893
          ],
          "translation_xyz_cm": [
            -0.35429245126745723,
            -1.6078296150658922,
            -15.400676343476894
          ],
          "translation_norm_m": 0.15488430231906553,
          "rotation_rpy_deg_xyz": [
            -0.5415441730844602,
            1.5276449607055649,
            -0.3354456236023479
          ],
          "rotation_angle_deg": 1.6536700533705546,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.004227882143667316,
            0.012379634760789293,
            -0.031464218006119184
          ],
          "translation_xyz_cm": [
            -0.42278821436673164,
            1.2379634760789293,
            -3.1464218006119182
          ],
          "translation_norm_m": 0.034075318912196235,
          "rotation_rpy_deg_xyz": [
            0.5120968181546444,
            0.33610263480894265,
            0.20060721427366796
          ],
          "rotation_angle_deg": 0.6440866598072778,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.012101209377714861,
            0.021587872516164452,
            -0.024105891730171802
          ],
          "translation_xyz_cm": [
            1.210120937771486,
            2.1587872516164452,
            -2.41058917301718
          ],
          "translation_norm_m": 0.03454807555109586,
          "rotation_rpy_deg_xyz": [
            0.6888086262602262,
            0.7924027415302516,
            0.18932208308063866
          ],
          "rotation_angle_deg": 1.066016034037837,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.010244586142522216,
            0.005277915796129573,
            -0.009097816364618226
          ],
          "translation_xyz_cm": [
            -1.0244586142522216,
            0.5277915796129573,
            -0.9097816364618226
          ],
          "translation_norm_m": 0.014682581618601937,
          "rotation_rpy_deg_xyz": [
            -0.4089733929482786,
            1.922173494834221,
            0.6383894475312755
          ],
          "rotation_angle_deg": 2.0683941955984535,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.015411116834146865,
            0.015199364673567639,
            -0.0007053728290768169
          ],
          "translation_xyz_cm": [
            1.5411116834146865,
            1.519936467356764,
            -0.07053728290768169
          ],
          "translation_norm_m": 0.02165688711204407,
          "rotation_rpy_deg_xyz": [
            0.3183715884940551,
            0.23120245382882412,
            -0.014534648029192179
          ],
          "rotation_angle_deg": 0.39375732806551234,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.004937683582914909,
            0.008033115242936484,
            0.02311811884494326
          ],
          "translation_xyz_cm": [
            -0.4937683582914909,
            0.8033115242936484,
            2.3118118844943263
          ],
          "translation_norm_m": 0.024967160002695672,
          "rotation_rpy_deg_xyz": [
            0.042018351304118705,
            1.4440930127863265,
            0.4754869621153203
          ],
          "rotation_angle_deg": 1.5207703283318257,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.009343561645531517,
            0.006703332207666168,
            0.24439046980098492
          ],
          "translation_xyz_cm": [
            0.9343561645531517,
            0.6703332207666168,
            24.439046980098492
          ],
          "translation_norm_m": 0.2446608643335838,
          "rotation_rpy_deg_xyz": [
            -0.026287077448226302,
            -0.3986316081909531,
            -0.2905833052012495
          ],
          "rotation_angle_deg": 0.4940542751855222,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.0016426099916251324,
            -0.0070332759279690404,
            0.03190390380828259
          ],
          "translation_xyz_cm": [
            0.16426099916251324,
            -0.703327592796904,
            3.190390380828259
          ],
          "translation_norm_m": 0.03271122461895433,
          "rotation_rpy_deg_xyz": [
            0.2752170989812519,
            1.2310635743245315,
            0.5142347360325037
          ],
          "rotation_angle_deg": 1.361118986706042,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.029696436167651385,
            -0.008016651585637913,
            0.2290313317722948
          ],
          "translation_xyz_cm": [
            2.9696436167651385,
            -0.8016651585637913,
            22.903133177229478
          ],
          "translation_norm_m": 0.2310876369628974,
          "rotation_rpy_deg_xyz": [
            0.29618228304264616,
            -0.6054154344304503,
            -0.25128457238015406
          ],
          "rotation_angle_deg": 0.7187543132684605,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.02781850623983484,
            0.0049688793212467885,
            0.3257049898253369
          ],
          "translation_xyz_cm": [
            2.781850623983484,
            0.49688793212467885,
            32.57049898253369
          ],
          "translation_norm_m": 0.32692858463011104,
          "rotation_rpy_deg_xyz": [
            -0.08380596513928225,
            0.15930696295598848,
            -0.22958197636035627
          ],
          "rotation_angle_deg": 0.2916444544215273,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.006386207465875815,
            0.01371409880247998,
            0.16052578251598237
          ],
          "translation_xyz_cm": [
            0.6386207465875815,
            1.371409880247998,
            16.052578251598238
          ],
          "translation_norm_m": 0.16123705220615347,
          "rotation_rpy_deg_xyz": [
            0.9042912179366549,
            -1.5378183236048404,
            -0.7453624162746609
          ],
          "rotation_angle_deg": 1.928732263166145,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.01430848913479954,
            0.02617641385263214,
            0.2205562666996539
          ],
          "translation_xyz_cm": [
            -1.430848913479954,
            2.617641385263214,
            22.05562666996539
          ],
          "translation_norm_m": 0.22256460698860858,
          "rotation_rpy_deg_xyz": [
            0.7841459701425789,
            -0.5574209938545415,
            -0.7003096739248279
          ],
          "rotation_angle_deg": 1.1877195770910876,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0020713869038755384,
            -0.011253943041440229,
            0.11263307656233998
          ],
          "translation_xyz_cm": [
            0.20713869038755384,
            -1.1253943041440229,
            11.263307656233998
          ],
          "translation_norm_m": 0.11321286063687053,
          "rotation_rpy_deg_xyz": [
            -0.7081953633062871,
            0.5752294249066399,
            0.00473121871785103
          ],
          "rotation_angle_deg": 0.9124041726282158,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            -0.0009537930911136527,
            -0.0038274981851991186,
            -0.03801437221635509
          ],
          "translation_xyz_cm": [
            -0.09537930911136527,
            -0.38274981851991186,
            -3.801437221635509
          ],
          "translation_norm_m": 0.03821847666537677,
          "rotation_rpy_deg_xyz": [
            -0.4887610929731296,
            0.5026091908766562,
            0.0900560597482801
          ],
          "rotation_angle_deg": 0.7071053536689378,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            -0.001466777115332718,
            0.02738015603570676,
            0.04677867115379
          ],
          "translation_xyz_cm": [
            -0.1466777115332718,
            2.738015603570676,
            4.677867115379001
          ],
          "translation_norm_m": 0.05422239808935177,
          "rotation_rpy_deg_xyz": [
            -0.8201055585745557,
            -0.168902858691228,
            -0.7397105897258652
          ],
          "rotation_angle_deg": 1.118056866682163,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.012335445245211574,
            -0.04057733084861148,
            -0.01198019357752817
          ],
          "translation_xyz_cm": [
            1.2335445245211574,
            -4.057733084861148,
            -1.1980193577528169
          ],
          "translation_norm_m": 0.04407048929102486,
          "rotation_rpy_deg_xyz": [
            0.14129867456026288,
            -0.051731509814885106,
            -0.6473485755879164
          ],
          "rotation_angle_deg": 0.6645440648996449,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.00122337983681442,
            0.013693159027025281,
            0.0070610496605975764
          ],
          "translation_xyz_cm": [
            0.122337983681442,
            1.3693159027025281,
            0.7061049660597576
          ],
          "translation_norm_m": 0.01545502134175017,
          "rotation_rpy_deg_xyz": [
            -0.08399806690115384,
            0.030048309304347143,
            0.14220262399867495
          ],
          "rotation_angle_deg": 0.1678881249096884,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.0060419819554002885,
            -0.012003428306194663,
            -0.017683158201969085
          ],
          "translation_xyz_cm": [
            0.6041981955400288,
            -1.2003428306194663,
            -1.7683158201969085
          ],
          "translation_norm_m": 0.02220995094652855,
          "rotation_rpy_deg_xyz": [
            -1.3533217857456405,
            -1.0906978392006157,
            0.15208684615746604
          ],
          "rotation_angle_deg": 1.7436332376803183,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.0025879627902243296,
            0.0034435310238590255,
            0.058854201051244344
          ],
          "translation_xyz_cm": [
            0.25879627902243296,
            0.34435310238590255,
            5.885420105124434
          ],
          "translation_norm_m": 0.05901162969022425,
          "rotation_rpy_deg_xyz": [
            -0.27916531777482795,
            -0.5364160981949373,
            -0.1381128345218774
          ],
          "rotation_angle_deg": 0.6205730309625402,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.013362478307735515,
            -0.031966449102918904,
            0.025848705286129717
          ],
          "translation_xyz_cm": [
            -1.3362478307735515,
            -3.1966449102918904,
            2.5848705286129716
          ],
          "translation_norm_m": 0.043226904350686476,
          "rotation_rpy_deg_xyz": [
            1.2520174008990141,
            -0.35149897142138253,
            -0.20859355944335656
          ],
          "rotation_angle_deg": 1.316435111493718,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.013233207502184818,
            0.021658658658626262,
            0.04811095260134757
          ],
          "translation_xyz_cm": [
            -1.3233207502184818,
            2.165865865862626,
            4.811095260134756
          ],
          "translation_norm_m": 0.054395579194415046,
          "rotation_rpy_deg_xyz": [
            0.12363392818794307,
            1.0094417166502565,
            -0.28350797755827994
          ],
          "rotation_angle_deg": 1.0560538481567812,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.0030482170676493503,
            -0.030689363671338565,
            -0.05012233379164305
          ],
          "translation_xyz_cm": [
            -0.30482170676493503,
            -3.0689363671338565,
            -5.012233379164305
          ],
          "translation_norm_m": 0.05885046316354755,
          "rotation_rpy_deg_xyz": [
            0.5948424254966925,
            0.059709044671339154,
            -0.08913753781674988
          ],
          "rotation_angle_deg": 0.6044860079470344,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.011576057053633626,
            0.0072142293234276345,
            -0.11104283880764719
          ],
          "translation_xyz_cm": [
            1.1576057053633626,
            0.7214229323427634,
            -11.104283880764719
          ],
          "translation_norm_m": 0.11187744299947644,
          "rotation_rpy_deg_xyz": [
            0.3149640144373868,
            0.5034970122705597,
            -0.02874017419155929
          ],
          "rotation_angle_deg": 0.594656598990126,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.0002758594350642518,
            0.02008746686099716,
            -0.11265698679376861
          ],
          "translation_xyz_cm": [
            -0.02758594350642518,
            2.008746686099716,
            -11.265698679376861
          ],
          "translation_norm_m": 0.11443416927111819,
          "rotation_rpy_deg_xyz": [
            0.2263849153128078,
            0.9222462332712891,
            0.21999263175538472
          ],
          "rotation_angle_deg": 0.9743619180539599,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.02210238881273008,
            0.018763270783825114,
            -0.04506933872788373
          ],
          "translation_xyz_cm": [
            -2.210238881273008,
            1.8763270783825114,
            -4.506933872788373
          ],
          "translation_norm_m": 0.05358937595368098,
          "rotation_rpy_deg_xyz": [
            0.040815904615290846,
            -0.13729541068995801,
            0.07078107333079628
          ],
          "rotation_angle_deg": 0.15979001086589728,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.03597995533668663,
            0.022318091205329793,
            -0.0726118570796889
          ],
          "translation_xyz_cm": [
            -3.597995533668663,
            2.2318091205329793,
            -7.26118570796889
          ],
          "translation_norm_m": 0.08405436436997517,
          "rotation_rpy_deg_xyz": [
            0.35618150382014435,
            0.4119544610244835,
            0.31760355603095375
          ],
          "rotation_angle_deg": 0.6297849582040155,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.010472543065393247,
            0.013735207746829459,
            -0.03200700620779637
          ],
          "translation_xyz_cm": [
            -1.0472543065393247,
            1.3735207746829459,
            -3.200700620779637
          ],
          "translation_norm_m": 0.03637002249780711,
          "rotation_rpy_deg_xyz": [
            0.393691354318348,
            0.5644454148447818,
            0.24579977190975077
          ],
          "rotation_angle_deg": 0.730105294658624,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.003916851645858532,
            -0.00048227348370311063,
            0.044909375477078975
          ],
          "translation_xyz_cm": [
            0.39168516458585323,
            -0.04822734837031106,
            4.490937547707897
          ],
          "translation_norm_m": 0.04508243915617266,
          "rotation_rpy_deg_xyz": [
            1.4983806857899884,
            -0.4512037738909708,
            -0.28493351139568235
          ],
          "rotation_angle_deg": 1.589508679287657,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.015068737106081809,
            0.007136663162194301,
            0.023877621934465465
          ],
          "translation_xyz_cm": [
            -1.5068737106081809,
            0.7136663162194301,
            2.3877621934465463
          ],
          "translation_norm_m": 0.029122836886335338,
          "rotation_rpy_deg_xyz": [
            1.5142786009379081,
            -0.01561244373027908,
            0.3978828123183685
          ],
          "rotation_angle_deg": 1.5658062164715634,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.017222593882413317,
            0.019263446473488433,
            0.07553424646638578
          ],
          "translation_xyz_cm": [
            1.7222593882413317,
            1.9263446473488433,
            7.553424646638578
          ],
          "translation_norm_m": 0.07983182635591025,
          "rotation_rpy_deg_xyz": [
            2.0181836165293427,
            -0.6627875689019732,
            -0.5154193572388455
          ],
          "rotation_angle_deg": 2.183094307956349,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.0006197808120580461,
            0.009805741283602565,
            0.030761986961937396
          ],
          "translation_xyz_cm": [
            0.061978081205804614,
            0.9805741283602565,
            3.0761986961937398
          ],
          "translation_norm_m": 0.032292979612020156,
          "rotation_rpy_deg_xyz": [
            1.82255570449965,
            0.05714387021955363,
            0.18743798299891448
          ],
          "rotation_angle_deg": 1.8329658382499758,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.0041161809153633655,
            0.00833703704333666,
            0.01905445417864772
          ],
          "translation_xyz_cm": [
            0.41161809153633655,
            0.8337037043336659,
            1.905445417864772
          ],
          "translation_norm_m": 0.021201918687613033,
          "rotation_rpy_deg_xyz": [
            1.0289910942817144,
            0.6362507122401511,
            -0.5017532590073943
          ],
          "rotation_angle_deg": 1.3119097059409317,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0016534054296493128,
            -0.015278722339962303,
            0.009662148951511428
          ],
          "translation_xyz_cm": [
            -0.16534054296493128,
            -1.5278722339962303,
            0.9662148951511428
          ],
          "translation_norm_m": 0.018152967476907193,
          "rotation_rpy_deg_xyz": [
            -0.7292729296631733,
            -0.34896811115819215,
            -0.6992538993004338
          ],
          "rotation_angle_deg": 1.0703597114785428,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.00399653435270686,
            0.03926719918564536,
            0.05073249947913065
          ],
          "translation_xyz_cm": [
            -0.399653435270686,
            3.9267199185645363,
            5.073249947913065
          ],
          "translation_norm_m": 0.0642780811950505,
          "rotation_rpy_deg_xyz": [
            -1.2175190343481954,
            -0.4655782787448729,
            0.6113676460691083
          ],
          "rotation_angle_deg": 1.43764159128075,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.02394546482894988,
            0.02140714709820024,
            0.02709210927218765
          ],
          "translation_xyz_cm": [
            2.394546482894988,
            2.140714709820024,
            2.709210927218765
          ],
          "translation_norm_m": 0.04201944332775739,
          "rotation_rpy_deg_xyz": [
            -0.24392209919550858,
            -0.11697433807852226,
            0.4976283574490649
          ],
          "rotation_angle_deg": 0.5661860777216423,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.007764306979268776,
            -0.02647052677106232,
            0.016119361419806848
          ],
          "translation_xyz_cm": [
            -0.7764306979268776,
            -2.647052677106232,
            1.6119361419806848
          ],
          "translation_norm_m": 0.03195007140818634,
          "rotation_rpy_deg_xyz": [
            0.8650813531793715,
            -0.6031150874985503,
            -0.12230589882880828
          ],
          "rotation_angle_deg": 1.0611084872304541,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.002914070482875619,
            -0.0010403466687580742,
            0.024017951765459428
          ],
          "translation_xyz_cm": [
            -0.2914070482875619,
            -0.10403466687580742,
            2.4017951765459427
          ],
          "translation_norm_m": 0.024216443483267697,
          "rotation_rpy_deg_xyz": [
            0.5381161438563082,
            -1.18122318248681,
            0.23897812117449893
          ],
          "rotation_angle_deg": 1.3208354328670546,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.013685425455202793,
            0.0037797437792899125,
            0.024334491041600292
          ],
          "translation_xyz_cm": [
            -1.3685425455202793,
            0.37797437792899125,
            2.4334491041600295
          ],
          "translation_norm_m": 0.02817347666122728,
          "rotation_rpy_deg_xyz": [
            -0.5221298987219626,
            -1.1718417327434323,
            0.18031652784155
          ],
          "rotation_angle_deg": 1.2947626390058276,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.007164148152440153,
            0.014185015837851367,
            -0.05104134568688994
          ],
          "translation_xyz_cm": [
            0.7164148152440153,
            1.4185015837851367,
            -5.104134568688994
          ],
          "translation_norm_m": 0.0534580084047171,
          "rotation_rpy_deg_xyz": [
            0.029034605698425885,
            -0.5421285997962119,
            0.09612747436081819
          ],
          "rotation_angle_deg": 0.551373966930815,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.004294608879272577,
            0.0017823689306075696,
            -0.02383106684546112
          ],
          "translation_xyz_cm": [
            -0.4294608879272577,
            0.17823689306075696,
            -2.383106684546112
          ],
          "translation_norm_m": 0.024280449983959486,
          "rotation_rpy_deg_xyz": [
            0.14612143402575795,
            -0.12720760782925722,
            -0.04638723976593878
          ],
          "rotation_angle_deg": 0.19917320434172409,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.011270820838496842,
            0.0191911378546894,
            -0.02062055773395971
          ],
          "translation_xyz_cm": [
            1.1270820838496842,
            1.91911378546894,
            -2.0620557733959712
          ],
          "translation_norm_m": 0.030340378636245672,
          "rotation_rpy_deg_xyz": [
            1.1355389163061824,
            0.31274551162313063,
            -0.1376386007352406
          ],
          "rotation_angle_deg": 1.186192236689091,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.0156495326622621,
            0.010968728778377623,
            -0.022830824136267577
          ],
          "translation_xyz_cm": [
            1.56495326622621,
            1.0968728778377623,
            -2.2830824136267576
          ],
          "translation_norm_m": 0.029773602642307093,
          "rotation_rpy_deg_xyz": [
            0.9813182019632221,
            0.29439766155096103,
            -0.0770863304192468
          ],
          "rotation_angle_deg": 1.0276108738266783,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.004280670362076577,
            0.0012480724976401403,
            0.024407256277881144
          ],
          "translation_xyz_cm": [
            0.42806703620765774,
            0.12480724976401403,
            2.4407256277881144
          ],
          "translation_norm_m": 0.024811206796975738,
          "rotation_rpy_deg_xyz": [
            1.2223365153658456,
            -0.09730865905399282,
            0.023549905487150028
          ],
          "rotation_angle_deg": 1.2264496069558513,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.0036411815791459468,
        "improved_pairs": 38,
        "worsened_pairs": 28,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": -0.014602177580218312,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.100_roll_-0.200",
      "body_left_rpy_correction_deg_xyz": [
        -0.2,
        0.1,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2990152137045299,
          0.0024476764333135033,
          0.7182275658581914
        ],
        "rotation_rpy_deg_xyz": [
          -0.9866396137764585,
          1.299726385041302,
          -0.8397351699715397
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10256719458254226,
          "median": 0.05538973793123575,
          "p90": 0.16013818600872365,
          "p95": 0.21655126019956425,
          "max": 0.3418289723590301
        },
        "rotation_deg": {
          "rms": 1.0458160126880083,
          "median": 0.8768354339460169,
          "p90": 1.6489889292075672,
          "p95": 1.825777727463781,
          "max": 2.535152977471376
        },
        "normalized_pair_score": {
          "rms": 2.929664876976855,
          "median": 2.427836647146794,
          "p90": 4.506920958383597,
          "p95": 4.903264538319449,
          "max": 7.016978231565398
        },
        "normalized_global_rms": 2.929664876976855
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.01193812860126059,
          0.013660076079552774,
          0.07512140390059938
        ],
        "translation_xyz_cm": [
          -1.193812860126059,
          1.3660076079552774,
          7.512140390059938
        ],
        "translation_norm_m": 0.07728092854641688,
        "rotation_rpy_deg_xyz": [
          -0.5186976328956353,
          -0.06075494068745601,
          0.025340093543245994
        ],
        "rotation_angle_deg": 0.5228446714705329,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.7058242505297496,
          "median": 0.6958135424032661,
          "p90": 2.316636492319242,
          "p95": 3.9421963521214107,
          "max": 5.747677749152345
        },
        "height_residual_m": {
          "rms": 0.034713965171217304,
          "median": -0.005924101606088833,
          "p90": 0.0534092673419908,
          "p95": 0.08720196104337455,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.01193812860126059,
            0.013660076079552774,
            0.07512140390059938
          ],
          "translation_xyz_cm": [
            -1.193812860126059,
            1.3660076079552774,
            7.512140390059938
          ],
          "translation_norm_m": 0.07728092854641688,
          "rotation_rpy_deg_xyz": [
            -0.5186976328956353,
            -0.06075494068745601,
            0.025340093543245994
          ],
          "rotation_angle_deg": 0.5228446714705329,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.021872302193916227,
            -0.015032568685410475,
            0.12910289996150243
          ],
          "translation_xyz_cm": [
            2.1872302193916227,
            -1.5032568685410475,
            12.910289996150242
          ],
          "translation_norm_m": 0.13180263465884617,
          "rotation_rpy_deg_xyz": [
            -0.2970010410852404,
            -0.11190881242044907,
            -0.3449773488089977
          ],
          "rotation_angle_deg": 0.4689801268726104,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03498370747598811,
            0.008951795248228978,
            0.10496774524476647
          ],
          "translation_xyz_cm": [
            3.4983707475988113,
            0.8951795248228978,
            10.496774524476647
          ],
          "translation_norm_m": 0.11100550422705135,
          "rotation_rpy_deg_xyz": [
            -0.26486001450683555,
            -0.13588063496860622,
            -0.40051735698137125
          ],
          "rotation_angle_deg": 0.49927919220838957,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03496452832672825,
            -0.018619776612753602,
            0.04623233875336642
          ],
          "translation_xyz_cm": [
            3.496452832672825,
            -1.8619776612753602,
            4.623233875336642
          ],
          "translation_norm_m": 0.06088220978927633,
          "rotation_rpy_deg_xyz": [
            0.2697752888100495,
            0.12676116120303882,
            -0.35016998967932783
          ],
          "rotation_angle_deg": 0.46008131139835645,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.047255567120638164,
            0.012107973161620822,
            0.023376992584938715
          ],
          "translation_xyz_cm": [
            4.725556712063817,
            1.2107973161620822,
            2.3376992584938714
          ],
          "translation_norm_m": 0.054094134804911605,
          "rotation_rpy_deg_xyz": [
            0.3818429301188199,
            0.3546605456646198,
            -0.38176494558513185
          ],
          "rotation_angle_deg": 0.6467097270108282,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.014909700050441094,
            0.010925927117361178,
            -0.03277810288064673
          ],
          "translation_xyz_cm": [
            1.4909700050441095,
            1.0925927117361178,
            -3.277810288064673
          ],
          "translation_norm_m": 0.03763082602630818,
          "rotation_rpy_deg_xyz": [
            0.4817019128960827,
            0.3063098921558084,
            0.13411148975811377
          ],
          "rotation_angle_deg": 0.5860906966123542,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.00591999729698226,
            0.021089978234940077,
            -0.010334661013449348
          ],
          "translation_xyz_cm": [
            0.591999729698226,
            2.1089978234940077,
            -1.0334661013449349
          ],
          "translation_norm_m": 0.02422062691611085,
          "rotation_rpy_deg_xyz": [
            0.27122689110868015,
            0.26232951774372587,
            -0.033029119834606026
          ],
          "rotation_angle_deg": 0.3788305805197378,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.031547376724226785,
            0.0012796843004821978,
            -0.07142133246324403
          ],
          "translation_xyz_cm": [
            -3.1547376724226783,
            0.12796843004821978,
            -7.142133246324403
          ],
          "translation_norm_m": 0.07808893200008835,
          "rotation_rpy_deg_xyz": [
            0.5333686544895924,
            0.6216102263213674,
            0.5354813710167988
          ],
          "rotation_angle_deg": 0.9769930434417843,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.029272718101028855,
            -0.015423886219011806,
            -0.12940469950212086
          ],
          "translation_xyz_cm": [
            -2.9272718101028854,
            -1.5423886219011806,
            -12.940469950212085
          ],
          "translation_norm_m": 0.13356782750480567,
          "rotation_rpy_deg_xyz": [
            0.5808325829721618,
            0.45458557766404306,
            0.3997264768640761
          ],
          "rotation_angle_deg": 0.8378244109757887,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.030589018497878373,
            -0.01956294097102318,
            -0.05091698877353057
          ],
          "translation_xyz_cm": [
            -3.058901849787837,
            -1.956294097102318,
            -5.091698877353057
          ],
          "translation_norm_m": 0.06253748042464712,
          "rotation_rpy_deg_xyz": [
            0.46816353767120233,
            0.4295127232043098,
            0.5869402857446643
          ],
          "rotation_angle_deg": 0.8637665922441115,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03705477865138075,
            -0.03668153959872644,
            -0.0771926541426014
          ],
          "translation_xyz_cm": [
            -3.705477865138075,
            -3.6681539598726443,
            -7.71926541426014
          ],
          "translation_norm_m": 0.0931520145880648,
          "rotation_rpy_deg_xyz": [
            0.5933203855673373,
            0.8944497464837455,
            0.5026029737462928
          ],
          "rotation_angle_deg": 1.183219904212373,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.01263738333154036,
            -0.010066511952241064,
            -0.0309941871296455
          ],
          "translation_xyz_cm": [
            -1.263738333154036,
            -1.0066511952241064,
            -3.09941871296455
          ],
          "translation_norm_m": 0.03495250715156767,
          "rotation_rpy_deg_xyz": [
            0.3250585990923554,
            0.3267621302031689,
            -0.0866367111243534
          ],
          "rotation_angle_deg": 0.4691511328658994,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.012881539719806268,
            0.0001735749980262269,
            -0.20938972368366968
          ],
          "translation_xyz_cm": [
            1.2881539719806268,
            0.01735749980262269,
            -20.93897236836697
          ],
          "translation_norm_m": 0.20978565389024204,
          "rotation_rpy_deg_xyz": [
            -0.16494816113173102,
            0.21532140085810142,
            0.29339132928219874
          ],
          "rotation_angle_deg": 0.39978913205954264,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.010996073450863508,
            0.019763287751528694,
            -0.19362440270682743
          ],
          "translation_xyz_cm": [
            1.0996073450863508,
            1.9763287751528695,
            -19.362440270682743
          ],
          "translation_norm_m": 0.19494078715769614,
          "rotation_rpy_deg_xyz": [
            -0.0012278468090643807,
            -0.01296306849368827,
            0.3985178512059501
          ],
          "rotation_angle_deg": 0.3987303789420781,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.0059720438209368565,
            0.008952841481540963,
            -0.13451603496720096
          ],
          "translation_xyz_cm": [
            -0.5972043820936856,
            0.8952841481540963,
            -13.451603496720097
          ],
          "translation_norm_m": 0.1349458496630779,
          "rotation_rpy_deg_xyz": [
            0.32877370901803427,
            -0.22772934829786215,
            -0.09624424923716766
          ],
          "rotation_angle_deg": 0.41120532094290396,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.008807822440432655,
            0.01653091532011708,
            -0.13421145579441998
          ],
          "translation_xyz_cm": [
            0.8807822440432655,
            1.6530915320117079,
            -13.421145579441998
          ],
          "translation_norm_m": 0.13551222735945498,
          "rotation_rpy_deg_xyz": [
            -0.8179398443254622,
            0.7484997951006033,
            0.29098780790463874
          ],
          "rotation_angle_deg": 1.1476273776843582,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.008990733814942364,
            -0.0005507941171856157,
            -0.06192216134140748
          ],
          "translation_xyz_cm": [
            -0.8990733814942364,
            -0.055079411718561566,
            -6.1922161341407485
          ],
          "translation_norm_m": 0.06257388220241711,
          "rotation_rpy_deg_xyz": [
            -0.8129592847586236,
            0.3347132730200882,
            -0.21330497600845155
          ],
          "rotation_angle_deg": 0.904112265977873,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.007602534572638042,
            -0.019056911794410443,
            0.06791459139164632
          ],
          "translation_xyz_cm": [
            -0.7602534572638042,
            -1.9056911794410443,
            6.791459139164632
          ],
          "translation_norm_m": 0.07094614959927267,
          "rotation_rpy_deg_xyz": [
            0.2725015762691158,
            -0.2866307981781891,
            -0.4830658100336522
          ],
          "rotation_angle_deg": 0.6237846495328129,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.0025212585691049005,
            -0.0011749495148111189,
            -0.00021474763538229143
          ],
          "translation_xyz_cm": [
            0.25212585691049005,
            -0.11749495148111189,
            -0.021474763538229143
          ],
          "translation_norm_m": 0.0027898687570461194,
          "rotation_rpy_deg_xyz": [
            0.13266041200791756,
            -0.19257318409503085,
            -0.47789582805506553
          ],
          "rotation_angle_deg": 0.5318404107794465,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.005997444487302717,
            0.016738745568542934,
            -0.07032153989677957
          ],
          "translation_xyz_cm": [
            0.5997444487302717,
            1.6738745568542934,
            -7.032153989677957
          ],
          "translation_norm_m": 0.07253463942862785,
          "rotation_rpy_deg_xyz": [
            -0.7953655670935981,
            -0.22111589568170925,
            -0.3093090541707238
          ],
          "rotation_angle_deg": 0.8821097957965472,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010666924831950364,
            0.02086016614094599,
            -0.06287885550192372
          ],
          "translation_xyz_cm": [
            1.0666924831950364,
            2.086016614094599,
            -6.287885550192372
          ],
          "translation_norm_m": 0.06710201402365024,
          "rotation_rpy_deg_xyz": [
            0.06836113385751648,
            0.05352754166262119,
            0.006842212300855938
          ],
          "rotation_angle_deg": 0.08709087713498583,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.013208673449955466,
            0.040997884226590564,
            -0.11151082185080909
          ],
          "translation_xyz_cm": [
            1.3208673449955466,
            4.099788422659056,
            -11.15108218508091
          ],
          "translation_norm_m": 0.1195406163410887,
          "rotation_rpy_deg_xyz": [
            -0.9322805897351686,
            -0.11275930855999779,
            0.16688400281356514
          ],
          "rotation_angle_deg": 0.9536272521242378,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.007194824968473568,
            0.017046649838138195,
            -0.05370781206172452
          ],
          "translation_xyz_cm": [
            0.7194824968473568,
            1.7046649838138195,
            -5.3707812061724525
          ],
          "translation_norm_m": 0.0568056586396865,
          "rotation_rpy_deg_xyz": [
            -0.9328863417491617,
            -0.029397038165186046,
            0.1653108227436858
          ],
          "rotation_angle_deg": 0.9478338634395149,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0013687018385954985,
            -0.015202239841547893,
            -0.1629786925255543
          ],
          "translation_xyz_cm": [
            -0.13687018385954985,
            -1.5202239841547893,
            -16.29786925255543
          ],
          "translation_norm_m": 0.16369189246343904,
          "rotation_rpy_deg_xyz": [
            -0.5445268100378047,
            1.727880424613969,
            -0.33448755800526864
          ],
          "rotation_angle_deg": 1.8407709215807582,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.002779534327510269,
            0.012462440083425674,
            -0.03653729183270861
          ],
          "translation_xyz_cm": [
            -0.2779534327510269,
            1.2462440083425674,
            -3.653729183270861
          ],
          "translation_norm_m": 0.03870415892871589,
          "rotation_rpy_deg_xyz": [
            0.5265866569685541,
            0.44603803063870856,
            0.20352440093729168
          ],
          "rotation_angle_deg": 0.7189084691560212,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.014861928952084602,
            0.02205042912585986,
            -0.03040468166714143
          ],
          "translation_xyz_cm": [
            1.4861928952084602,
            2.205042912585986,
            -3.0404681667141427
          ],
          "translation_norm_m": 0.04039236343780326,
          "rotation_rpy_deg_xyz": [
            0.677356161950493,
            1.014302759733513,
            0.19495464519577474
          ],
          "rotation_angle_deg": 1.2342113342267027,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.005248483443849317,
            0.00981526784985487,
            -0.021744730226941133
          ],
          "translation_xyz_cm": [
            -0.5248483443849317,
            0.981526784985487,
            -2.174473022694113
          ],
          "translation_norm_m": 0.02442783973394296,
          "rotation_rpy_deg_xyz": [
            -0.7604368281264984,
            2.3300780835505996,
            0.6324976157674249
          ],
          "rotation_angle_deg": 2.535152977471376,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.016914069857490555,
            0.015123221870820047,
            -0.005030067022912553
          ],
          "translation_xyz_cm": [
            1.6914069857490555,
            1.5123221870820047,
            -0.5030067022912553
          ],
          "translation_norm_m": 0.023240033845782427,
          "rotation_rpy_deg_xyz": [
            0.3326405676855964,
            0.3452650468787511,
            -0.011910629217558389
          ],
          "rotation_angle_deg": 0.4796072373323929,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            0.0003099509493385,
            0.011189392642213525,
            0.011988687963139826
          ],
          "translation_xyz_cm": [
            0.030995094933849998,
            1.1189392642213525,
            1.1988687963139826
          ],
          "translation_norm_m": 0.01640204915155883,
          "rotation_rpy_deg_xyz": [
            -0.19834464267731342,
            1.8500238169202934,
            0.475602336486353
          ],
          "rotation_angle_deg": 1.921236302703376,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.015384591123796754,
            0.012563000576964356,
            0.24585614610284806
          ],
          "translation_xyz_cm": [
            1.5384591123796754,
            1.2563000576964356,
            24.585614610284807
          ],
          "translation_norm_m": 0.2466571693750015,
          "rotation_rpy_deg_xyz": [
            -0.45394399308455174,
            -0.013057112588023272,
            -0.29592067302531927
          ],
          "rotation_angle_deg": 0.5420653421542649,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.006407936672089054,
            -0.005342845965579879,
            0.025472298905941798
          ],
          "translation_xyz_cm": [
            0.6407936672089054,
            -0.5342845965579879,
            2.54722989059418
          ],
          "translation_norm_m": 0.026803836795486213,
          "rotation_rpy_deg_xyz": [
            0.14182490971029096,
            1.5946309746760485,
            0.5179462400897543
          ],
          "rotation_angle_deg": 1.6820128905486542,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03609367995265489,
            -0.004077517849049972,
            0.2331625644333101
          ],
          "translation_xyz_cm": [
            3.609367995265489,
            -0.4077517849049972,
            23.31625644333101
          ],
          "translation_norm_m": 0.23597491675483537,
          "rotation_rpy_deg_xyz": [
            -0.019521811989637643,
            -0.19384658238974423,
            -0.251186118397094
          ],
          "rotation_angle_deg": 0.3179128713214332,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.0339914453206025,
            0.011374721347911176,
            0.33994447149983836
          ],
          "translation_xyz_cm": [
            3.39914453206025,
            1.1374721347911176,
            33.994447149983834
          ],
          "translation_norm_m": 0.3418289723590301,
          "rotation_rpy_deg_xyz": [
            -0.5339395209301538,
            0.5340359313816545,
            -0.23597177742653314
          ],
          "rotation_angle_deg": 0.7904373733336556,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.009274030974021574,
            0.01280857968224991,
            0.15578392687699197
          ],
          "translation_xyz_cm": [
            0.9274030974021574,
            1.280857968224991,
            15.578392687699196
          ],
          "translation_norm_m": 0.15658447955400828,
          "rotation_rpy_deg_xyz": [
            0.905007991556393,
            -1.3494472175203678,
            -0.7396176438432185
          ],
          "rotation_angle_deg": 1.7807981451128492,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.009235015734691654,
            0.025887880001989494,
            0.21707325975069583
          ],
          "translation_xyz_cm": [
            -0.9235015734691654,
            2.5887880001989494,
            21.707325975069583
          ],
          "translation_norm_m": 0.21880646230267164,
          "rotation_rpy_deg_xyz": [
            0.7156909985785658,
            -0.2480942889029289,
            -0.693241401730359
          ],
          "rotation_angle_deg": 1.0257640454697428,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.003941061141203406,
            -0.011944687924971387,
            0.10784244244349966
          ],
          "translation_xyz_cm": [
            0.3941061141203406,
            -1.1944687924971387,
            10.784244244349967
          ],
          "translation_norm_m": 0.10857347707761411,
          "rotation_rpy_deg_xyz": [
            -0.6963664558240159,
            0.7141099226446723,
            0.0053134694540879586
          ],
          "rotation_angle_deg": 0.9974704476636949,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.002150227988608977,
            -0.0033887297596324473,
            -0.05038280509424025
          ],
          "translation_xyz_cm": [
            0.2150227988608977,
            -0.3388729759632447,
            -5.038280509424025
          ],
          "translation_norm_m": 0.05054239823109918,
          "rotation_rpy_deg_xyz": [
            -0.5094356779280086,
            0.7437720580333383,
            0.09102165129079781
          ],
          "rotation_angle_deg": 0.9064240989881033,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            0.0009846231724117693,
            0.027285182445507594,
            0.04177740441054856
          ],
          "translation_xyz_cm": [
            0.09846231724117693,
            2.7285182445507594,
            4.177740441054856
          ],
          "translation_norm_m": 0.0499079370757679,
          "rotation_rpy_deg_xyz": [
            -0.818242116560719,
            0.016227478079622576,
            -0.7396158616753039
          ],
          "rotation_angle_deg": 1.1030115174582322,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.015954050616062698,
            -0.03983414479500058,
            -0.026212325547745104
          ],
          "translation_xyz_cm": [
            1.5954050616062698,
            -3.983414479500058,
            -2.6212325547745103
          ],
          "translation_norm_m": 0.050282967625528356,
          "rotation_rpy_deg_xyz": [
            0.10423182220160881,
            0.21740706144047997,
            -0.643655303003996
          ],
          "rotation_angle_deg": 0.6875145062858429,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.004514582622816121,
            0.013955130204843735,
            -0.007489171956879724
          ],
          "translation_xyz_cm": [
            0.4514582622816121,
            1.3955130204843735,
            -0.7489171956879724
          ],
          "translation_norm_m": 0.01646860078731915,
          "rotation_rpy_deg_xyz": [
            -0.10133491312826456,
            0.26456200768337507,
            0.1448657742091669
          ],
          "rotation_angle_deg": 0.3183011725701562,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.008343840747982334,
            -0.012098566759296325,
            -0.020505308164598418
          ],
          "translation_xyz_cm": [
            0.8343840747982334,
            -1.2098566759296325,
            -2.0505308164598417
          ],
          "translation_norm_m": 0.025228211569233102,
          "rotation_rpy_deg_xyz": [
            -1.348363055209726,
            -0.9167228122015666,
            0.15063076472013687
          ],
          "rotation_angle_deg": 1.6364178282622448,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.0076637958147025564,
            0.00492740969514413,
            0.05265533041635858
          ],
          "translation_xyz_cm": [
            0.7663795814702556,
            0.49274096951441304,
            5.265533041635858
          ],
          "translation_norm_m": 0.05343778582472472,
          "rotation_rpy_deg_xyz": [
            -0.4112069376050002,
            -0.17374019652525935,
            -0.13789233850405208
          ],
          "rotation_angle_deg": 0.46740005692383657,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.009600880370153497,
            -0.024258806533743793,
            0.014661676588050829
          ],
          "translation_xyz_cm": [
            -0.9600880370153497,
            -2.4258806533743793,
            1.466167658805083
          ],
          "translation_norm_m": 0.029927100739901402,
          "rotation_rpy_deg_xyz": [
            0.6824451978797951,
            -0.08824484625371838,
            -0.21275985988317453
          ],
          "rotation_angle_deg": 0.7201118634070781,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.010121112486917383,
            0.021694605032705372,
            0.03593642001612414
          ],
          "translation_xyz_cm": [
            -1.0121112486917383,
            2.169460503270537,
            3.593642001612414
          ],
          "translation_norm_m": 0.04318007745561844,
          "rotation_rpy_deg_xyz": [
            0.10729396651947076,
            1.2420153423879607,
            -0.28000389083202315
          ],
          "rotation_angle_deg": 1.2779530448915686,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.0021431186214568854,
            -0.027613027287897385,
            -0.06904512519429185
          ],
          "translation_xyz_cm": [
            0.21431186214568854,
            -2.7613027287897385,
            -6.9045125194291845
          ],
          "translation_norm_m": 0.0743928863973111,
          "rotation_rpy_deg_xyz": [
            0.38687187420754865,
            0.45744081727673186,
            -0.08447254204740909
          ],
          "rotation_angle_deg": 0.6052417791756737,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.0153902300315778,
            0.014123018714938596,
            -0.14020546626296165
          ],
          "translation_xyz_cm": [
            1.53902300315778,
            1.4123018714938596,
            -14.020546626296165
          ],
          "translation_norm_m": 0.14175292451325958,
          "rotation_rpy_deg_xyz": [
            -0.22727405470276052,
            0.8041624203835127,
            -0.03597322727163254
          ],
          "rotation_angle_deg": 0.8363666343830843,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.0015771386273704113,
            0.027605195205092414,
            -0.1361695940594602
          ],
          "translation_xyz_cm": [
            0.15771386273704113,
            2.7605195205092414,
            -13.61695940594602
          ],
          "translation_norm_m": 0.13894852469486454,
          "rotation_rpy_deg_xyz": [
            -0.3872088650153083,
            1.0688677147228443,
            0.20851825797651846
          ],
          "rotation_angle_deg": 1.1564554526171857,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.018039551125814013,
            0.02020098018117611,
            -0.0485903889397746
          ],
          "translation_xyz_cm": [
            -1.8039551125814013,
            2.020098018117611,
            -4.85903889397746
          ],
          "translation_norm_m": 0.05562850800102136,
          "rotation_rpy_deg_xyz": [
            -0.05390869285858829,
            0.1976489171521654,
            0.07355930791969285
          ],
          "rotation_angle_deg": 0.2177059580935924,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.031210753515040324,
            0.025574717242113354,
            -0.07512339665010188
          ],
          "translation_xyz_cm": [
            -3.1210753515040324,
            2.5574717242113354,
            -7.512339665010188
          ],
          "translation_norm_m": 0.08527427526070915,
          "rotation_rpy_deg_xyz": [
            0.10798255021463024,
            0.8193236744650109,
            0.3197722520822767
          ],
          "rotation_angle_deg": 0.885838621632559,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.00831045121578311,
            0.013843546864520606,
            -0.036820522286788414
          ],
          "translation_xyz_cm": [
            -0.831045121578311,
            1.3843546864520606,
            -3.6820522286788413
          ],
          "translation_norm_m": 0.04020520178623621,
          "rotation_rpy_deg_xyz": [
            0.39974613309119217,
            0.7340386883927469,
            0.24958045435644907
          ],
          "rotation_angle_deg": 0.8715610720954865,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.00894739298445102,
            0.0040912593494293326,
            0.0506196002321747
          ],
          "translation_xyz_cm": [
            0.8947392984451019,
            0.40912593494293326,
            5.06196002321747
          ],
          "translation_norm_m": 0.05156683209144883,
          "rotation_rpy_deg_xyz": [
            1.1186499455221801,
            -0.049201371137048366,
            -0.2781843838826371
          ],
          "rotation_angle_deg": 1.153653006460214,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.01044869066002807,
            0.014058936571188063,
            0.005674979032376112
          ],
          "translation_xyz_cm": [
            -1.044869066002807,
            1.4058936571188063,
            0.5674979032376113
          ],
          "translation_norm_m": 0.01841288193193981,
          "rotation_rpy_deg_xyz": [
            1.0176850945359526,
            0.32888439595989233,
            0.3996664359711866
          ],
          "rotation_angle_deg": 1.1407186210171152,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.021867404177806637,
            0.020952410523287668,
            0.09393092256019778
          ],
          "translation_xyz_cm": [
            2.1867404177806637,
            2.095241052328767,
            9.393092256019777
          ],
          "translation_norm_m": 0.09869247734869058,
          "rotation_rpy_deg_xyz": [
            1.8080287437576597,
            -0.26466777382907114,
            -0.5008982210789754
          ],
          "rotation_angle_deg": 1.893595912556167,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.0060206651579473025,
            0.014634862258029013,
            0.01845068831567713
          ],
          "translation_xyz_cm": [
            0.6020665157947303,
            1.4634862258029013,
            1.845068831567713
          ],
          "translation_norm_m": 0.024307519445181305,
          "rotation_rpy_deg_xyz": [
            1.4827099675215467,
            0.46655898952885394,
            0.19779643577048017
          ],
          "rotation_angle_deg": 1.566150340011081,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.008863920037717854,
            0.015030399668509498,
            0.001742505544354192
          ],
          "translation_xyz_cm": [
            0.8863920037717854,
            1.5030399668509498,
            0.1742505544354192
          ],
          "translation_norm_m": 0.017536200221321938,
          "rotation_rpy_deg_xyz": [
            0.540071810677193,
            0.986594995524653,
            -0.5025310524035612
          ],
          "rotation_angle_deg": 1.2337920260254294,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            0.0004646642872501161,
            -0.01553377554852936,
            0.006622977698366499
          ],
          "translation_xyz_cm": [
            0.04646642872501161,
            -1.553377554852936,
            0.6622977698366499
          ],
          "translation_norm_m": 0.016893132607216293,
          "rotation_rpy_deg_xyz": [
            -0.7211452050657524,
            -0.188763125206156,
            -0.6987667557986833
          ],
          "rotation_angle_deg": 1.0225505872679699,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.006540851697354633,
            0.040326124921785,
            0.07306370646565859
          ],
          "translation_xyz_cm": [
            -0.6540851697354633,
            4.0326124921785,
            7.306370646565859
          ],
          "translation_norm_m": 0.08370952332103031,
          "rotation_rpy_deg_xyz": [
            -1.302814168669691,
            -0.600844507133393,
            0.6105050434568302
          ],
          "rotation_angle_deg": 1.556495869523796,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.02010133223356725,
            0.025008773241824933,
            0.06014134756967511
          ],
          "translation_xyz_cm": [
            2.010133223356725,
            2.5008773241824933,
            6.014134756967511
          ],
          "translation_norm_m": 0.06816512293043807,
          "rotation_rpy_deg_xyz": [
            -0.5547609780192527,
            -0.3373912978754272,
            0.48915497518335266
          ],
          "rotation_angle_deg": 0.8119506258047068,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.010417485785278568,
            -0.02480826999391339,
            0.026370682751289364
          ],
          "translation_xyz_cm": [
            -1.0417485785278568,
            -2.480826999391339,
            2.6370682751289363
          ],
          "translation_norm_m": 0.03767475519424824,
          "rotation_rpy_deg_xyz": [
            0.7101465849109376,
            -0.7876590345782726,
            -0.13092660579824122
          ],
          "rotation_angle_deg": 1.0679747621512234,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.0055032593079631376,
            0.0002656943957939917,
            0.03494916948632164
          ],
          "translation_xyz_cm": [
            -0.5503259307963138,
            0.026569439579399168,
            3.494916948632164
          ],
          "translation_norm_m": 0.03538079852556009,
          "rotation_rpy_deg_xyz": [
            0.4127115364150137,
            -1.348332990694566,
            0.23240685138234501
          ],
          "rotation_angle_deg": 1.4298923818924867,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.016884160143425753,
            0.008607552821607689,
            0.03879581418736493
          ],
          "translation_xyz_cm": [
            -1.6884160143425753,
            0.8607552821607689,
            3.8795814187364925
          ],
          "translation_norm_m": 0.04317730917723057,
          "rotation_rpy_deg_xyz": [
            -0.9118064284041235,
            -1.3797937097033854,
            0.17136247559601578
          ],
          "rotation_angle_deg": 1.6615600301528897,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.005775508477052105,
            0.02076714939687674,
            -0.05076414348547613
          ],
          "translation_xyz_cm": [
            0.5775508477052105,
            2.076714939687674,
            -5.076414348547613
          ],
          "translation_norm_m": 0.05515096786145015,
          "rotation_rpy_deg_xyz": [
            -0.5050673809886981,
            -0.66026085625198,
            0.08321837418381936
          ],
          "rotation_angle_deg": 0.8351499617353654,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.006883474554614022,
            0.003970201090887748,
            -0.0163538720701132
          ],
          "translation_xyz_cm": [
            -0.6883474554614022,
            0.39702010908877483,
            -1.6353872070113198
          ],
          "translation_norm_m": 0.018182239970139364,
          "rotation_rpy_deg_xyz": [
            -0.034951376794299036,
            -0.32397088612378405,
            -0.05340719174115674
          ],
          "rotation_angle_deg": 0.3302144844170468,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.008893183134704774,
            0.02383393553519708,
            -0.028835517137602337
          ],
          "translation_xyz_cm": [
            0.8893183134704774,
            2.383393553519708,
            -2.883551713760234
          ],
          "translation_norm_m": 0.03845298737362659,
          "rotation_rpy_deg_xyz": [
            0.7856163908613215,
            0.09621887346271842,
            -0.15207965200918738
          ],
          "rotation_angle_deg": 0.8060890358556931,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.014084056489773733,
            0.012460405173852052,
            -0.030561680599959947
          ],
          "translation_xyz_cm": [
            1.4084056489773733,
            1.2460405173852052,
            -3.056168059995995
          ],
          "translation_norm_m": 0.03588368243920438,
          "rotation_rpy_deg_xyz": [
            0.888256895521576,
            0.15226773325369988,
            -0.08351433121265298
          ],
          "rotation_angle_deg": 0.9051833819505575,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.0027345237894904617,
            0.0020992149751937195,
            0.023853082836052163
          ],
          "translation_xyz_cm": [
            0.27345237894904617,
            0.20992149751937195,
            2.3853082836052164
          ],
          "translation_norm_m": 0.024100910452738773,
          "rotation_rpy_deg_xyz": [
            1.1521027638005261,
            -0.21735787213369703,
            0.017773028427946282
          ],
          "rotation_angle_deg": 1.1725942093884534,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.07402348553420701,
        "improved_pairs": 24,
        "worsened_pairs": 42,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.08265109992793152,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.100_roll_-0.100",
      "body_left_rpy_correction_deg_xyz": [
        -0.1,
        0.1,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2990152192452926,
          0.0011901746480735614,
          0.7182307404781154
        ],
        "rotation_rpy_deg_xyz": [
          -0.886624718165571,
          1.3011901167388817,
          -0.8376398312653468
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10139401948155134,
          "median": 0.054850576572023885,
          "p90": 0.15948853159195353,
          "p95": 0.21583565899176332,
          "max": 0.33671277728950366
        },
        "rotation_deg": {
          "rms": 1.0344448200154543,
          "median": 0.843773712877115,
          "p90": 1.626756213173929,
          "p95": 1.8084108535270682,
          "max": 2.413812387144199
        },
        "normalized_pair_score": {
          "rms": 2.896999001946205,
          "median": 2.42538893085153,
          "p90": 4.590039157812415,
          "p95": 4.8416981828342465,
          "max": 6.852549388907909
        },
        "normalized_global_rms": 2.896999001946205
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012273502667841718,
          0.013750075200805512,
          0.07582077909708475
        ],
        "translation_xyz_cm": [
          -1.2273502667841718,
          1.3750075200805512,
          7.582077909708475
        ],
        "translation_norm_m": 0.07802880223772661,
        "rotation_rpy_deg_xyz": [
          -0.515722917776988,
          -0.0835459171102501,
          0.025240782383964606
        ],
        "rotation_angle_deg": 0.5230373912267472,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.6807154082401394,
          "median": 0.7133278004221145,
          "p90": 2.3175185373442213,
          "p95": 3.9104710727627636,
          "max": 5.650741373677544
        },
        "height_residual_m": {
          "rms": 0.03471396517121729,
          "median": -0.005924101606088833,
          "p90": 0.053409267341990765,
          "p95": 0.08720196104337453,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012273502667841718,
            0.013750075200805512,
            0.07582077909708475
          ],
          "translation_xyz_cm": [
            -1.2273502667841718,
            1.3750075200805512,
            7.582077909708475
          ],
          "translation_norm_m": 0.07802880223772661,
          "rotation_rpy_deg_xyz": [
            -0.515722917776988,
            -0.0835459171102501,
            0.025240782383964606
          ],
          "rotation_angle_deg": 0.5230373912267472,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.02119631155142665,
            -0.014978593526507211,
            0.12994451134180063
          ],
          "translation_xyz_cm": [
            2.119631155142665,
            -1.4978593526507211,
            12.994451134180062
          ],
          "translation_norm_m": 0.13251119920699841,
          "rotation_rpy_deg_xyz": [
            -0.2859995191891049,
            -0.1560693864068539,
            -0.34522485397194785
          ],
          "rotation_angle_deg": 0.47497594758710626,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03396818235809751,
            0.00878382019677093,
            0.10607248389310456
          ],
          "translation_xyz_cm": [
            3.396818235809751,
            0.8783820196770931,
            10.607248389310456
          ],
          "translation_norm_m": 0.11172450379936845,
          "rotation_rpy_deg_xyz": [
            -0.23851028397301854,
            -0.20208116029095863,
            -0.40071059519729996
          ],
          "rotation_angle_deg": 0.508556349911955,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.0346510444157363,
            -0.01858136528990001,
            0.04667892716842384
          ],
          "translation_xyz_cm": [
            3.46510444157363,
            -1.858136528990001,
            4.667892716842384
          ],
          "translation_norm_m": 0.06103182986551401,
          "rotation_rpy_deg_xyz": [
            0.2727109329174662,
            0.10412671169097691,
            -0.3505805509176563
          ],
          "rotation_angle_deg": 0.45639217061688064,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.046599157030482785,
            0.01201418458500203,
            0.02414320862511324
          ],
          "translation_xyz_cm": [
            4.659915703048279,
            1.201418458500203,
            2.4143208625113237
          ],
          "translation_norm_m": 0.05383973058912754,
          "rotation_rpy_deg_xyz": [
            0.39468716432557627,
            0.30706777359276505,
            -0.38257391851367745
          ],
          "rotation_angle_deg": 0.6302692451060993,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.013824474119147945,
            0.01031619622659119,
            -0.032051111948500015
          ],
          "translation_xyz_cm": [
            1.3824474119147945,
            1.031619622659119,
            -3.2051111948500015
          ],
          "translation_norm_m": 0.03639799124116338,
          "rotation_rpy_deg_xyz": [
            0.52952798576425,
            0.22244546984974073,
            0.13308616079385432
          ],
          "rotation_angle_deg": 0.5893383546314099,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.00557795419258289,
            0.021039649660189813,
            -0.009979750464636731
          ],
          "translation_xyz_cm": [
            0.557795419258289,
            2.103964966018981,
            -0.9979750464636731
          ],
          "translation_norm_m": 0.02394526780252197,
          "rotation_rpy_deg_xyz": [
            0.27521971511658333,
            0.23577462209218872,
            -0.033499231338283295
          ],
          "rotation_angle_deg": 0.36399943837705984,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.03238153180945386,
            0.0008425068358075549,
            -0.07100889648022081
          ],
          "translation_xyz_cm": [
            -3.2381531809453863,
            0.08425068358075549,
            -7.100889648022081
          ],
          "translation_norm_m": 0.07804829786378284,
          "rotation_rpy_deg_xyz": [
            0.5632000694209124,
            0.5518017340856848,
            0.534349401120655
          ],
          "rotation_angle_deg": 0.9509487171329924,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03030885735916261,
            -0.016188611436472655,
            -0.12875517808071896
          ],
          "translation_xyz_cm": [
            -3.030885735916261,
            -1.6188611436472655,
            -12.875517808071896
          ],
          "translation_norm_m": 0.1332613742134487,
          "rotation_rpy_deg_xyz": [
            0.6366570525064057,
            0.36631748801878294,
            0.3986130349138202
          ],
          "rotation_angle_deg": 0.8347376664569337,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.03116488362423206,
            -0.019801674550828874,
            -0.050759817210635216
          ],
          "translation_xyz_cm": [
            -3.116488362423206,
            -1.9801674550828874,
            -5.075981721063521
          ],
          "translation_norm_m": 0.06276874484634826,
          "rotation_rpy_deg_xyz": [
            0.4815637922603291,
            0.38094344540770475,
            0.5860479423359293
          ],
          "rotation_angle_deg": 0.8476987946919522,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.037904535831685994,
            -0.037186128928924866,
            -0.07671119042341559
          ],
          "translation_xyz_cm": [
            -3.7904535831685995,
            -3.7186128928924864,
            -7.67111904234156
          ],
          "translation_norm_m": 0.09329613474046884,
          "rotation_rpy_deg_xyz": [
            0.6268512424268373,
            0.8211744743409899,
            0.5013861484957061
          ],
          "rotation_angle_deg": 1.1463594545058189,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.01303056623486741,
            -0.010167335537615035,
            -0.03059533425779505
          ],
          "translation_xyz_cm": [
            -1.3030566234867411,
            -1.0167335537615037,
            -3.059533425779505
          ],
          "translation_norm_m": 0.03477419800199458,
          "rotation_rpy_deg_xyz": [
            0.3305955185099562,
            0.29537346473146064,
            -0.08720375254234271
          ],
          "rotation_angle_deg": 0.45198641159390757,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.01206554664238646,
            -0.0008686049230853116,
            -0.21000224699512413
          ],
          "translation_xyz_cm": [
            1.206554664238646,
            -0.08686049230853116,
            -21.00022469951241
          ],
          "translation_norm_m": 0.21035036399610324,
          "rotation_rpy_deg_xyz": [
            -0.08912484866930692,
            0.11972977324021028,
            0.2937619464853215
          ],
          "rotation_angle_deg": 0.3295894380298957,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.01027816511100832,
            0.018996224310154113,
            -0.19452017096562557
          ],
          "translation_xyz_cm": [
            1.027816511100832,
            1.8996224310154113,
            -19.452017096562557
          ],
          "translation_norm_m": 0.19571559500608796,
          "rotation_rpy_deg_xyz": [
            0.04528928558677578,
            -0.09601551349723272,
            0.3981842369577614
          ],
          "rotation_angle_deg": 0.41212978442594933,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.007000067613249894,
            0.0077375847232997175,
            -0.1335163016099367
          ],
          "translation_xyz_cm": [
            -0.7000067613249894,
            0.7737584723299717,
            -13.351630160993668
          ],
          "translation_norm_m": 0.13392338839626144,
          "rotation_rpy_deg_xyz": [
            0.4226597306520049,
            -0.3261035057081208,
            -0.0963660170239345
          ],
          "rotation_angle_deg": 0.5422534332915807,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.008388908460665423,
            0.0161987181174873,
            -0.13375575822561867
          ],
          "translation_xyz_cm": [
            0.8388908460665423,
            1.6198718117487299,
            -13.375575822561867
          ],
          "translation_norm_m": 0.13499398176334154,
          "rotation_rpy_deg_xyz": [
            -0.8084908549093847,
            0.7075060940116674,
            0.29111398364103325
          ],
          "rotation_angle_deg": 1.1143900724128104,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.009932156107248624,
            -0.0011340294207695667,
            -0.0599263794755359
          ],
          "translation_xyz_cm": [
            -0.9932156107248624,
            -0.11340294207695667,
            -5.99263794755359
          ],
          "translation_norm_m": 0.060754462426326,
          "rotation_rpy_deg_xyz": [
            -0.7718187379882078,
            0.2553193777163115,
            -0.2125709861655731
          ],
          "rotation_angle_deg": 0.8398486310622777,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.00829133047910946,
            -0.019130987737095304,
            0.06884189912433236
          ],
          "translation_xyz_cm": [
            -0.829133047910946,
            -1.9130987737095304,
            6.884189912433236
          ],
          "translation_norm_m": 0.07193016007180474,
          "rotation_rpy_deg_xyz": [
            0.28560255020438885,
            -0.3346633064947069,
            -0.48378772688554544
          ],
          "rotation_angle_deg": 0.6533073354099473,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.0016489886371057194,
            -0.0015255588491572825,
            0.00094380441010747
          ],
          "translation_xyz_cm": [
            0.16489886371057194,
            -0.15255588491572825,
            0.094380441010747
          ],
          "translation_norm_m": 0.002436649357639334,
          "rotation_rpy_deg_xyz": [
            0.15950646360005527,
            -0.2593050590139673,
            -0.4785475246748707
          ],
          "rotation_angle_deg": 0.5668713447808463,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.004984769565777314,
            0.01607935844340691,
            -0.06902337973241698
          ],
          "translation_xyz_cm": [
            0.4984769565777314,
            1.607935844340691,
            -6.902337973241698
          ],
          "translation_norm_m": 0.07104660896384073,
          "rotation_rpy_deg_xyz": [
            -0.7467533839302408,
            -0.3054575166552506,
            -0.3084491270636921
          ],
          "rotation_angle_deg": 0.8644714311656655,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010392144236766265,
            0.02069494956350304,
            -0.062170518719551204
          ],
          "translation_xyz_cm": [
            1.0392144236766265,
            2.069494956350304,
            -6.21705187195512
          ],
          "translation_norm_m": 0.06634343220795677,
          "rotation_rpy_deg_xyz": [
            0.07139009081988294,
            0.030521331812318482,
            0.006506800533151232
          ],
          "rotation_angle_deg": 0.07791140891886357,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.012669544013501066,
            0.04063694607042234,
            -0.1100250500824161
          ],
          "translation_xyz_cm": [
            1.2669544013501066,
            4.063694607042234,
            -11.00250500824161
          ],
          "translation_norm_m": 0.11797198979875954,
          "rotation_rpy_deg_xyz": [
            -0.9186666974032417,
            -0.1616942211636445,
            0.16718354119765155
          ],
          "rotation_angle_deg": 0.9474224225111134,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.006854316879474964,
            0.01689591723777073,
            -0.052693813537176934
          ],
          "translation_xyz_cm": [
            0.6854316879474964,
            1.689591723777073,
            -5.2693813537176935
          ],
          "translation_norm_m": 0.05575922940895636,
          "rotation_rpy_deg_xyz": [
            -0.9285606542260966,
            -0.05706580009457916,
            0.1654061692680799
          ],
          "rotation_angle_deg": 0.9448211203286838,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.001942183405093223,
            -0.015688432656623785,
            -0.16144844939633649
          ],
          "translation_xyz_cm": [
            -0.1942183405093223,
            -1.5688432656623785,
            -16.14484493963365
          ],
          "translation_norm_m": 0.16222053140118195,
          "rotation_rpy_deg_xyz": [
            -0.5236013260804179,
            1.6681091033923154,
            -0.33443249442340506
          ],
          "rotation_angle_deg": 1.7786132933555778,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.0032137368271078492,
            0.012301755243862011,
            -0.035217088006144204
          ],
          "translation_xyz_cm": [
            -0.3213736827107849,
            1.2301755243862011,
            -3.5217088006144204
          ],
          "translation_norm_m": 0.03744201615974094,
          "rotation_rpy_deg_xyz": [
            0.5332361353208555,
            0.4116062675663906,
            0.20279399671913212
          ],
          "rotation_angle_deg": 0.7029277058827201,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.014072592502860193,
            0.021664908706218622,
            -0.029643739804075142
          ],
          "translation_xyz_cm": [
            1.4072592502860193,
            2.166490870621862,
            -2.9643739804075144
          ],
          "translation_norm_m": 0.03932120850853968,
          "rotation_rpy_deg_xyz": [
            0.702990556549933,
            0.9488765942363516,
            0.1936789682269791
          ],
          "rotation_angle_deg": 1.195745196949885,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.006311730968653784,
            0.00794484301864884,
            -0.01933931216056749
          ],
          "translation_xyz_cm": [
            -0.6311730968653784,
            0.794484301864884,
            -1.933931216056749
          ],
          "translation_norm_m": 0.021839585006485588,
          "rotation_rpy_deg_xyz": [
            -0.614168133162664,
            2.242840327874244,
            0.6354381677066584
          ],
          "rotation_angle_deg": 2.413812387144199,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.01646129771222915,
            0.015016250391435726,
            -0.004560313522245951
          ],
          "translation_xyz_cm": [
            1.646129771222915,
            1.5016250391435726,
            -0.4560313522245951
          ],
          "translation_norm_m": 0.022743318966459435,
          "rotation_rpy_deg_xyz": [
            0.339767966636154,
            0.30961689651545576,
            -0.012540778015805713
          ],
          "rotation_angle_deg": 0.4598748836354997,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.0009616722788510224,
            0.009721971661267315,
            0.014467816743086063
          ],
          "translation_xyz_cm": [
            -0.09616722788510224,
            0.9721971661267315,
            1.4467816743086064
          ],
          "translation_norm_m": 0.01745735569511937,
          "rotation_rpy_deg_xyz": [
            -0.0856155482551795,
            1.752275345633886,
            0.47680561203867805
          ],
          "rotation_angle_deg": 1.8183433735842316,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.014189689551271867,
            0.010209200090250281,
            0.24423097892289114
          ],
          "translation_xyz_cm": [
            1.4189689551271867,
            1.020920009025028,
            24.423097892289114
          ],
          "translation_norm_m": 0.24485576595554767,
          "rotation_rpy_deg_xyz": [
            -0.2871040495327816,
            -0.08595648560835722,
            -0.2928532665508535
          ],
          "rotation_angle_deg": 0.4191732520716472,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.005139896304903413,
            -0.006332679151890397,
            0.027609980209592898
          ],
          "translation_xyz_cm": [
            0.5139896304903413,
            -0.6332679151890397,
            2.7609980209592897
          ],
          "translation_norm_m": 0.028789448873503265,
          "rotation_rpy_deg_xyz": [
            0.21821741815588913,
            1.4988974796153036,
            0.5178147892265356
          ],
          "rotation_angle_deg": 1.5998344477995556,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03458806433364725,
            -0.0059023003124833995,
            0.23137778725354227
          ],
          "translation_xyz_cm": [
            3.458806433364725,
            -0.59023003124834,
            23.137778725354227
          ],
          "translation_norm_m": 0.23402318641039124,
          "rotation_rpy_deg_xyz": [
            0.11632479527065477,
            -0.28575635982081465,
            -0.24968190503423518
          ],
          "rotation_angle_deg": 0.39671674463448364,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.03279673812115913,
            0.008812436478509156,
            0.3349958347829645
          ],
          "translation_xyz_cm": [
            3.279673812115913,
            0.8812436478509156,
            33.49958347829645
          ],
          "translation_norm_m": 0.33671277728950366,
          "rotation_rpy_deg_xyz": [
            -0.3614265650977547,
            0.466635200725326,
            -0.23263111970319197
          ],
          "rotation_angle_deg": 0.6338839348448986,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.008361032194418971,
            0.012845871058369207,
            0.1560054069381704
          ],
          "translation_xyz_cm": [
            0.8361032194418971,
            1.2845871058369207,
            15.600540693817038
          ],
          "translation_norm_m": 0.15675653178272508,
          "rotation_rpy_deg_xyz": [
            0.923626572942482,
            -1.4060543448911147,
            -0.7410252738426366
          ],
          "rotation_angle_deg": 1.8336616223024063,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.010728392234058415,
            0.02553457429016559,
            0.21589475092605578
          ],
          "translation_xyz_cm": [
            -1.0728392234058415,
            2.553457429016559,
            21.58947509260558
          ],
          "translation_norm_m": 0.21766409065698333,
          "rotation_rpy_deg_xyz": [
            0.7671547642076333,
            -0.33406861259515797,
            -0.6945914859146701
          ],
          "rotation_angle_deg": 1.0860333666628483,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.003320593600634636,
            -0.011921062126160509,
            0.10836897531956416
          ],
          "translation_xyz_cm": [
            0.3320593600634636,
            -1.1921062126160509,
            10.836897531956415
          ],
          "translation_norm_m": 0.10907324546326043,
          "rotation_rpy_deg_xyz": [
            -0.6860262699701816,
            0.6712627432156184,
            0.005364651759482591
          ],
          "rotation_angle_deg": 0.9598396879049608,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0012719835922228029,
            -0.0038184019393399105,
            -0.04762711490967106
          ],
          "translation_xyz_cm": [
            0.1271983592222803,
            -0.38184019393399105,
            -4.7627114909671056
          ],
          "translation_norm_m": 0.047796864021065755,
          "rotation_rpy_deg_xyz": [
            -0.4791155358175677,
            0.6734897035570675,
            0.09116731388147337
          ],
          "rotation_angle_deg": 0.8318426576039071,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            0.00028499373283796814,
            0.027075257313049272,
            0.04138213809453958
          ],
          "translation_xyz_cm": [
            0.028499373283796814,
            2.7075257313049272,
            4.1382138094539584
          ],
          "translation_norm_m": 0.049453332883346995,
          "rotation_rpy_deg_xyz": [
            -0.8002908277798098,
            -0.03949810788863584,
            -0.7393322193153724
          ],
          "rotation_angle_deg": 1.0904295457926423,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.014911928504075966,
            -0.04040630111482679,
            -0.021235096341533023
          ],
          "translation_xyz_cm": [
            1.4911928504075966,
            -4.040630111482679,
            -2.123509634153302
          ],
          "translation_norm_m": 0.048020454997083434,
          "rotation_rpy_deg_xyz": [
            0.14226381664395268,
            0.14036504556726948,
            -0.6442170632022658
          ],
          "rotation_angle_deg": 0.6746710734008035,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.003519966278928255,
            0.013555510908779489,
            -0.0020173727457365592
          ],
          "translation_xyz_cm": [
            0.3519966278928255,
            1.355551090877949,
            -0.20173727457365592
          ],
          "translation_norm_m": 0.01414962301257784,
          "rotation_rpy_deg_xyz": [
            -0.07268392684874188,
            0.1959372465670599,
            0.1444985959581438
          ],
          "rotation_angle_deg": 0.2541458054876874,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.007560103514932415,
            -0.012267879078138977,
            -0.01743280672626174
          ],
          "translation_xyz_cm": [
            0.7560103514932415,
            -1.2267879078138977,
            -1.743280672626174
          ],
          "translation_norm_m": 0.02261766505604701,
          "rotation_rpy_deg_xyz": [
            -1.3324594061867159,
            -0.969406112328205,
            0.1513634581226307
          ],
          "rotation_angle_deg": 1.6536779785483025,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.006274040721488072,
            0.00398805620607727,
            0.054993194901440064
          ],
          "translation_xyz_cm": [
            0.6274040721488072,
            0.398805620607727,
            5.499319490144006
          ],
          "translation_norm_m": 0.05549342001305646,
          "rotation_rpy_deg_xyz": [
            -0.3353379264586897,
            -0.26934174279036444,
            -0.13710989566871135
          ],
          "rotation_angle_deg": 0.45167628467944815,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.009957281734663592,
            -0.026867227191390952,
            0.016674434544485764
          ],
          "translation_xyz_cm": [
            -0.9957281734663592,
            -2.6867227191390954,
            1.6674434544485763
          ],
          "translation_norm_m": 0.03315165341088771,
          "rotation_rpy_deg_xyz": [
            0.8796047447628413,
            -0.1102874751875873,
            -0.20894294784457407
          ],
          "rotation_angle_deg": 0.9105877835712745,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.011062810520623634,
            0.02138963985908715,
            0.03828193477951412
          ],
          "translation_xyz_cm": [
            -1.1062810520623634,
            2.138963985908715,
            3.8281934779514115
          ],
          "translation_norm_m": 0.045226198164113274,
          "rotation_rpy_deg_xyz": [
            0.13546007758816025,
            1.1738775899501497,
            -0.2806225764297054
          ],
          "rotation_angle_deg": 1.2148507894592246,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.0008613487472253212,
            -0.02902210596729271,
            -0.06333958372220654
          ],
          "translation_xyz_cm": [
            0.08613487472253212,
            -2.902210596729271,
            -6.333958372220653
          ],
          "translation_norm_m": 0.06967730923725116,
          "rotation_rpy_deg_xyz": [
            0.48903453000759556,
            0.35890162149795,
            -0.08451716738429373
          ],
          "rotation_angle_deg": 0.6126714873540658,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.014902290087260184,
            0.011723553611015625,
            -0.13178617407458793
          ],
          "translation_xyz_cm": [
            1.4902290087260184,
            1.1723553611015625,
            -13.178617407458793
          ],
          "translation_norm_m": 0.13314321475889337,
          "rotation_rpy_deg_xyz": [
            -0.03453231035106172,
            0.7681842131082298,
            -0.032104153198043814
          ],
          "rotation_angle_deg": 0.7696201954564982,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.0017392483645304324,
            0.025194004890561672,
            -0.1293412463834099
          ],
          "translation_xyz_cm": [
            0.17392483645304324,
            2.519400489056167,
            -12.934124638340991
          ],
          "translation_norm_m": 0.13178361386497608,
          "rotation_rpy_deg_xyz": [
            -0.1884643967610035,
            1.0862394928612569,
            0.21322582239515325
          ],
          "rotation_angle_deg": 1.1232362636438045,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.019140372854559606,
            0.019356740725566146,
            -0.046509280918771025
          ],
          "translation_xyz_cm": [
            -1.9140372854559606,
            1.9356740725566146,
            -4.650928091877103
          ],
          "translation_norm_m": 0.05389017068176266,
          "rotation_rpy_deg_xyz": [
            0.007998251057806688,
            0.1066305149103925,
            0.07351328630616319
          ],
          "rotation_angle_deg": 0.12975802922554627,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.03232521419054146,
            0.024116034344768278,
            -0.07391446099707295
          ],
          "translation_xyz_cm": [
            -3.2325214190541463,
            2.411603434476828,
            -7.391446099707295
          ],
          "translation_norm_m": 0.08420124779045882,
          "rotation_rpy_deg_xyz": [
            0.22318467717621293,
            0.721922258399074,
            0.32051382944258944
          ],
          "rotation_angle_deg": 0.8202492269463538,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.008953804777239949,
            0.01360376470860758,
            -0.03569696328026602
          ],
          "translation_xyz_cm": [
            -0.8953804777239949,
            1.360376470860758,
            -3.569696328026602
          ],
          "translation_norm_m": 0.03923654191781868,
          "rotation_rpy_deg_xyz": [
            0.41489304741094685,
            0.6825534207726283,
            0.24871669863710305
          ],
          "rotation_angle_deg": 0.8358487180140904,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.007870624205977617,
            0.002144076896329228,
            0.05040281036765824
          ],
          "translation_xyz_cm": [
            0.7870624205977617,
            0.21440768963292278,
            5.040281036765824
          ],
          "translation_norm_m": 0.05105866316392558,
          "rotation_rpy_deg_xyz": [
            1.272747216860497,
            -0.13188145790893532,
            -0.27776221463561995
          ],
          "rotation_angle_deg": 1.3090501901544653,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.011194570926770453,
            0.011583514105244053,
            0.010653817949428143
          ],
          "translation_xyz_cm": [
            -1.1194570926770453,
            1.1583514105244053,
            1.0653817949428144
          ],
          "translation_norm_m": 0.019313209317988543,
          "rotation_rpy_deg_xyz": [
            1.2010993705423756,
            0.27514912949213594,
            0.40191287864508757
          ],
          "rotation_angle_deg": 1.2952040285997868,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.020684725457930764,
            0.019878137695423348,
            0.08942117765505007
          ],
          "translation_xyz_cm": [
            2.0684725457930764,
            1.9878137695423348,
            8.942117765505007
          ],
          "translation_norm_m": 0.09391030422016641,
          "rotation_rpy_deg_xyz": [
            1.9108814481661178,
            -0.3631591326192583,
            -0.5033711944090471
          ],
          "rotation_angle_deg": 2.007635858776786,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.004825788624532201,
            0.012647288702589021,
            0.022696958325673477
          ],
          "translation_xyz_cm": [
            0.4825788624532201,
            1.2647288702589021,
            2.269695832567348
          ],
          "translation_norm_m": 0.026427146357725778,
          "rotation_rpy_deg_xyz": [
            1.6256117406180348,
            0.3776610642685676,
            0.19717657379323422
          ],
          "rotation_angle_deg": 1.6798794384200926,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.008065753351425009,
            0.012571376328001094,
            0.006932519478819718
          ],
          "translation_xyz_cm": [
            0.8065753351425009,
            1.2571376328001094,
            0.6932519478819719
          ],
          "translation_norm_m": 0.016466806193991136,
          "rotation_rpy_deg_xyz": [
            0.7217956486836289,
            0.9303576135000602,
            -0.4999437774749251
          ],
          "rotation_angle_deg": 1.2815370898367058,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.00021380785700086946,
            -0.01566282010952208,
            0.008218073243487764
          ],
          "translation_xyz_cm": [
            -0.021380785700086946,
            -1.566282010952208,
            0.8218073243487765
          ],
          "translation_norm_m": 0.017689159827936826,
          "rotation_rpy_deg_xyz": [
            -0.7075662959260186,
            -0.23763831692452306,
            -0.6986480954089979
          ],
          "rotation_angle_deg": 1.0233640031331395,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0057233637376201685,
            0.04021721389432631,
            0.06780244443790286
          ],
          "translation_xyz_cm": [
            -0.5723363737620168,
            4.021721389432631,
            6.780244443790286
          ],
          "translation_norm_m": 0.07904019646768347,
          "rotation_rpy_deg_xyz": [
            -1.2907472905985025,
            -0.5517341215701028,
            0.6104702705434002
          ],
          "rotation_angle_deg": 1.5282322456402084,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.021631650330897756,
            0.024223110657609404,
            0.051484301851855055
          ],
          "translation_xyz_cm": [
            2.1631650330897756,
            2.4223110657609404,
            5.148430185185505
          ],
          "translation_norm_m": 0.06087134566560809,
          "rotation_rpy_deg_xyz": [
            -0.4835581729566882,
            -0.2401659010034725,
            0.49148012414418346
          ],
          "rotation_angle_deg": 0.7294261829939989,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.00943320022592653,
            -0.025082137160485574,
            0.023663630168648024
          ],
          "translation_xyz_cm": [
            -0.943320022592653,
            -2.5082137160485574,
            2.366363016864802
          ],
          "translation_norm_m": 0.035750052640498034,
          "rotation_rpy_deg_xyz": [
            0.7381529204936975,
            -0.7167843970602933,
            -0.1282345714193611
          ],
          "rotation_angle_deg": 1.0362924220082856,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.004587380603610747,
            7.886690298652965e-05,
            0.03217901899295324
          ],
          "translation_xyz_cm": [
            -0.4587380603610747,
            0.007886690298652965,
            3.217901899295324
          ],
          "translation_norm_m": 0.03250445421999293,
          "rotation_rpy_deg_xyz": [
            0.43361093468588424,
            -1.2856382988989365,
            0.23437117461102247
          ],
          "rotation_angle_deg": 1.377709699166698,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.015418282185852394,
            0.007415408509479693,
            0.03422610211692746
          ],
          "translation_xyz_cm": [
            -1.5418282185852394,
            0.7415408509479693,
            3.422610211692746
          ],
          "translation_norm_m": 0.03826405330128244,
          "rotation_rpy_deg_xyz": [
            -0.8156949715073674,
            -1.278405187244089,
            0.17367512865310875
          ],
          "rotation_angle_deg": 1.5253363205937427,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.006834019629686883,
            0.01892379575102332,
            -0.05033551888354166
          ],
          "translation_xyz_cm": [
            0.6834019629686883,
            1.892379575102332,
            -5.033551888354166
          ],
          "translation_norm_m": 0.05420773313099131,
          "rotation_rpy_deg_xyz": [
            -0.3566702148265097,
            -0.5713740619511016,
            0.08737319383542423
          ],
          "rotation_angle_deg": 0.6789728425166692,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.005863634973002352,
            0.0035619305910778998,
            -0.018952262797933737
          ],
          "translation_xyz_cm": [
            -0.5863634973002352,
            0.35619305910779,
            -1.8952262797933737
          ],
          "translation_norm_m": 0.020155838603099996,
          "rotation_rpy_deg_xyz": [
            -0.00031499297290635736,
            -0.2468232074603096,
            -0.05138302906035575
          ],
          "rotation_angle_deg": 0.25211520437696516,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.01005047911072432,
            0.022713793358650536,
            -0.027032834504322673
          ],
          "translation_xyz_cm": [
            1.005047911072432,
            2.2713793358650536,
            -2.7032834504322674
          ],
          "translation_norm_m": 0.036711070270869,
          "rotation_rpy_deg_xyz": [
            0.8689029352651022,
            0.19617358650815822,
            -0.14711017514853503
          ],
          "rotation_angle_deg": 0.9030804350118543,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.014699951084098828,
            0.012221483594132443,
            -0.029648448532144846
          ],
          "translation_xyz_cm": [
            1.4699951084098828,
            1.2221483594132443,
            -2.9648448532144847
          ],
          "translation_norm_m": 0.035277240871130905,
          "rotation_rpy_deg_xyz": [
            0.9019490624083181,
            0.20421578872188886,
            -0.08154213830071559
          ],
          "rotation_angle_deg": 0.9285076482037994,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.003298723518240898,
            0.0020250006385073016,
            0.023284416689010823
          ],
          "translation_xyz_cm": [
            0.3298723518240898,
            0.20250006385073016,
            2.3284416689010823
          ],
          "translation_norm_m": 0.02360394596213176,
          "rotation_rpy_deg_xyz": [
            1.161154845754953,
            -0.17431366298870507,
            0.019552097048139885
          ],
          "rotation_angle_deg": 1.174357752359419,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.04135761050355713,
        "improved_pairs": 31,
        "worsened_pairs": 35,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.029706550191235692,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.100_roll_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.1,
        0.1,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2990152188350905,
          -0.00132483596826191,
          0.7182305054498935
        ],
        "rotation_rpy_deg_xyz": [
          -0.6865945926762015,
          1.304106599014521,
          -0.8334414989727543
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.09932272291285332,
          "median": 0.05297050764680543,
          "p90": 0.15820266783221976,
          "p95": 0.21443102009687565,
          "max": 0.3265150762005175
        },
        "rotation_deg": {
          "rms": 1.0461846579706375,
          "median": 0.8428295445991012,
          "p90": 1.6329497783194329,
          "p95": 1.871841326847414,
          "max": 2.2453346006598824
        },
        "normalized_pair_score": {
          "rms": 2.885136161262053,
          "median": 2.4023798861451553,
          "p90": 4.494411271243221,
          "p95": 4.861583298952004,
          "max": 6.5795785541710154
        },
        "normalized_global_rms": 2.885136161262053
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012945125910301614,
          0.0139336649564471,
          0.0772184668148804
        ],
        "translation_xyz_cm": [
          -1.2945125910301614,
          1.39336649564471,
          7.7218466814880395
        ],
        "translation_norm_m": 0.07952619015892104,
        "rotation_rpy_deg_xyz": [
          -0.5097760994728473,
          -0.12912853856676368,
          0.025158131951224145
        ],
        "rotation_angle_deg": 0.5264501536349752,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.6476453039285432,
          "median": 0.7594633089830762,
          "p90": 2.329487946106142,
          "p95": 3.8537501645923045,
          "max": 5.457199431160461
        },
        "height_residual_m": {
          "rms": 0.0347139651712173,
          "median": -0.0059241016060888885,
          "p90": 0.053409267341990724,
          "p95": 0.08720196104337444,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012945125910301614,
            0.0139336649564471,
            0.0772184668148804
          ],
          "translation_xyz_cm": [
            -1.2945125910301614,
            1.39336649564471,
            7.7218466814880395
          ],
          "translation_norm_m": 0.07952619015892104,
          "rotation_rpy_deg_xyz": [
            -0.5097760994728473,
            -0.12912853856676368,
            0.025158131951224145
          ],
          "rotation_angle_deg": 0.5264501536349752,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.019842367959444496,
            -0.014866617413089145,
            0.1316251986695021
          ],
          "translation_xyz_cm": [
            1.9842367959444496,
            -1.4866617413089145,
            13.162519866950209
          ],
          "translation_norm_m": 0.13394001942784334,
          "rotation_rpy_deg_xyz": [
            -0.2640015191939441,
            -0.2443926360888103,
            -0.3455133188999571
          ],
          "rotation_angle_deg": 0.4991919434350986,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.031933271891301906,
            0.008452300672117552,
            0.10827736429768191
          ],
          "translation_xyz_cm": [
            3.1933271891301906,
            0.8452300672117552,
            10.82773642976819
          ],
          "translation_norm_m": 0.1132040761615438,
          "rotation_rpy_deg_xyz": [
            -0.18581872088047238,
            -0.3344855949792437,
            -0.40083989933243136
          ],
          "rotation_angle_deg": 0.5545412208792635,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03402353510023726,
            -0.018502229709528584,
            0.047571348502387874
          ],
          "translation_xyz_cm": [
            3.4023535100237257,
            -1.8502229709528584,
            4.757134850238788
          ],
          "translation_norm_m": 0.06134302440601441,
          "rotation_rpy_deg_xyz": [
            0.27858037335093544,
            0.058855562691976955,
            -0.351286454619393
          ],
          "rotation_angle_deg": 0.45229795458630645,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.0452843945554362,
            0.01183021382921745,
            0.025673599860923067
          ],
          "translation_xyz_cm": [
            4.52843945554362,
            1.183021382921745,
            2.5673599860923066
          ],
          "translation_norm_m": 0.05338318161477655,
          "rotation_rpy_deg_xyz": [
            0.42037335763404376,
            0.21187738375171225,
            -0.38397378613114397
          ],
          "rotation_angle_deg": 0.6079782227248322,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.011650739653164127,
            0.009098944723108238,
            -0.03060339733420401
          ],
          "translation_xyz_cm": [
            1.1650739653164126,
            0.9098944723108238,
            -3.0603397334204008
          ],
          "translation_norm_m": 0.033986739442540756,
          "rotation_rpy_deg_xyz": [
            0.6251758485220985,
            0.0547086632500239,
            0.13126801773573268
          ],
          "rotation_angle_deg": 0.6410854934369539,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.004893346276888763,
            0.020940819214246148,
            -0.009270416577605835
          ],
          "translation_xyz_cm": [
            0.48933462768887626,
            2.094081921424615,
            -0.9270416577605834
          ],
          "translation_norm_m": 0.023418013807144936,
          "rotation_rpy_deg_xyz": [
            0.2832035718683816,
            0.18266221061755814,
            -0.03430570568825576
          ],
          "rotation_angle_deg": 0.33878832622757693,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.034051428336521306,
            -3.0194447016740344e-05,
            -0.0701874735568548
          ],
          "translation_xyz_cm": [
            -3.4051428336521306,
            -0.0030194447016740344,
            -7.01874735568548
          ],
          "translation_norm_m": 0.07801142305942167,
          "rotation_rpy_deg_xyz": [
            0.6228614425523304,
            0.4121775244591239,
            0.5323440753923214
          ],
          "rotation_angle_deg": 0.9158853109582283,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.0323842508309532,
            -0.017716335583819798,
            -0.1274628690925247
          ],
          "translation_xyz_cm": [
            -3.23842508309532,
            -1.7716335583819798,
            -12.746286909252468
          ],
          "translation_norm_m": 0.132700381482868,
          "rotation_rpy_deg_xyz": [
            0.7483023060054081,
            0.18977262875379436,
            0.3965943161801948
          ],
          "rotation_angle_deg": 0.8673356876104018,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.032317051549761416,
            -0.020278343682710004,
            -0.05044676905918737
          ],
          "translation_xyz_cm": [
            -3.2317051549761415,
            -2.0278343682710003,
            -5.044676905918737
          ],
          "translation_norm_m": 0.06324934428035618,
          "rotation_rpy_deg_xyz": [
            0.5083624656871717,
            0.2837996282875649,
            0.5844844192085773
          ],
          "rotation_angle_deg": 0.824088246842196,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03960599232255134,
            -0.03819349402507172,
            -0.07575201486596278
          ],
          "translation_xyz_cm": [
            -3.960599232255134,
            -3.8193494025071715,
            -7.575201486596278
          ],
          "translation_norm_m": 0.09362555938391091,
          "rotation_rpy_deg_xyz": [
            0.6939128257794969,
            0.6746161975739622,
            0.49920995653775374
          ],
          "rotation_angle_deg": 1.087079763231695,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.013817621632674283,
            -0.010366958639124929,
            -0.02979813970936399
          ],
          "translation_xyz_cm": [
            -1.3817621632674284,
            -1.036695863912493,
            -2.979813970936399
          ],
          "translation_norm_m": 0.03444313616887769,
          "rotation_rpy_deg_xyz": [
            0.34166753559265733,
            0.23259292708536114,
            -0.08818221586065197
          ],
          "rotation_angle_deg": 0.42276990528599845,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.010436692547034776,
            -0.0029535919013300577,
            -0.21123504859570577
          ],
          "translation_xyz_cm": [
            1.0436692547034776,
            -0.29535919013300577,
            -21.123504859570577
          ],
          "translation_norm_m": 0.21151334239633943,
          "rotation_rpy_deg_xyz": [
            0.06250931347542805,
            -0.07146137262118804,
            0.2946297264651946
          ],
          "rotation_angle_deg": 0.3095864465253292,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.008846300521013317,
            0.017459753820782593,
            -0.19631574938963883
          ],
          "translation_xyz_cm": [
            0.8846300521013317,
            1.7459753820782593,
            -19.631574938963883
          ],
          "translation_norm_m": 0.19728906075808128,
          "rotation_rpy_deg_xyz": [
            0.13831500776812922,
            -0.26212631692122484,
            0.39775293150977953
          ],
          "rotation_angle_deg": 0.49628615587850644,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.009061297463201279,
            0.005307651564726956,
            -0.13152790035363365
          ],
          "translation_xyz_cm": [
            -0.9061297463201279,
            0.5307651564726956,
            -13.152790035363365
          ],
          "translation_norm_m": 0.13194645447409548,
          "rotation_rpy_deg_xyz": [
            0.6104211446716649,
            -0.5228623248490306,
            -0.09657127205210252
          ],
          "rotation_angle_deg": 0.8091874356272394,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.007550045605277944,
            0.015536496721341275,
            -0.13284431943565833
          ],
          "translation_xyz_cm": [
            0.7550045605277944,
            1.5536496721341275,
            -13.284431943565833
          ],
          "translation_norm_m": 0.13396267810602047,
          "rotation_rpy_deg_xyz": [
            -0.7895954188094686,
            0.6255185088090308,
            0.2915613590483623
          ],
          "rotation_angle_deg": 1.0498796689466594,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.011823409742551416,
            -0.002294270657271502,
            -0.05593963175024408
          ],
          "translation_xyz_cm": [
            -1.1823409742551416,
            -0.22942706572715021,
            -5.593963175024408
          ],
          "translation_norm_m": 0.05722149155817237,
          "rotation_rpy_deg_xyz": [
            -0.6895487807968242,
            0.09652953839518408,
            -0.21085531838688637
          ],
          "rotation_angle_deg": 0.7273306147045157,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.009671278471361955,
            -0.01927477031759959,
            0.07069427307416157
          ],
          "translation_xyz_cm": [
            -0.9671278471361955,
            -1.927477031759959,
            7.069427307416157
          ],
          "translation_norm_m": 0.07391028780590002,
          "rotation_rpy_deg_xyz": [
            0.311799520294898,
            -0.4307327869000083,
            -0.4850121178788741
          ],
          "rotation_angle_deg": 0.7189210013378864,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -9.965853382298828e-05,
            -0.0022221435788458144,
            0.0032574646187508785
          ],
          "translation_xyz_cm": [
            -0.009965853382298828,
            -0.22221435788458144,
            0.3257464618750878
          ],
          "translation_norm_m": 0.003944480910181115,
          "rotation_rpy_deg_xyz": [
            0.2131919550411292,
            -0.39277401331860123,
            -0.47959342157059537
          ],
          "rotation_angle_deg": 0.6550036855480482,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.002953646285696887,
            0.01476418229863441,
            -0.06643293439538378
          ],
          "translation_xyz_cm": [
            0.2953646285696887,
            1.476418229863441,
            -6.643293439538378
          ],
          "translation_norm_m": 0.06811783817554463,
          "rotation_rpy_deg_xyz": [
            -0.6495437847368251,
            -0.4741436194119343,
            -0.3064987278423279
          ],
          "rotation_angle_deg": 0.8615708423560063,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.009841658174921719,
            0.020368149073090702,
            -0.06075354099602698
          ],
          "translation_xyz_cm": [
            0.9841658174921719,
            2.03681490730907,
            -6.075354099602698
          ],
          "translation_norm_m": 0.06482833081185709,
          "rotation_rpy_deg_xyz": [
            0.07744588481441383,
            -0.015492961591267335,
            0.005952978997094564
          ],
          "rotation_angle_deg": 0.0792051735389124,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.011587326184248181,
            0.03992182974893721,
            -0.1070541678289783
          ],
          "translation_xyz_cm": [
            1.1587326184248181,
            3.992182974893721,
            -10.70541678289783
          ],
          "translation_norm_m": 0.11484168872042218,
          "rotation_rpy_deg_xyz": [
            -0.8914459256017848,
            -0.25956390632414356,
            0.16800492664726585
          ],
          "rotation_angle_deg": 0.9431831507113868,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.006171727372332958,
            0.016599561665977647,
            -0.0506658525881516
          ],
          "translation_xyz_cm": [
            0.6171727372332958,
            1.6599561665977647,
            -5.06658525881516
          ],
          "translation_norm_m": 0.05367182021084534,
          "rotation_rpy_deg_xyz": [
            -0.9199126793112754,
            -0.11240312769235343,
            0.1657357544157429
          ],
          "rotation_angle_deg": 0.9412981298122861,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0030940183725931547,
            -0.016654458220899393,
            -0.1583890974687375
          ],
          "translation_xyz_cm": [
            -0.30940183725931547,
            -1.6654458220899393,
            -15.83890974687375
          ],
          "translation_norm_m": 0.15929234170318063,
          "rotation_rpy_deg_xyz": [
            -0.4817501823618205,
            1.548564668452001,
            -0.33407331583570055
          ],
          "rotation_angle_deg": 1.6544997312129466,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.004084656094918038,
            0.011986886340916714,
            -0.03257713362235215
          ],
          "translation_xyz_cm": [
            -0.40846560949180377,
            1.1986886340916714,
            -3.257713362235215
          ],
          "translation_norm_m": 0.03495195981075158,
          "rotation_rpy_deg_xyz": [
            0.5465337099533609,
            0.34273865900405104,
            0.20150193582407014
          ],
          "rotation_angle_deg": 0.6753605116524832,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.012491212556688058,
            0.020896949387557262,
            -0.028124763990755988
          ],
          "translation_xyz_cm": [
            1.2491212556688058,
            2.089694938755726,
            -2.812476399075599
          ],
          "translation_norm_m": 0.03719832300491806,
          "rotation_rpy_deg_xyz": [
            0.7542603942874239,
            0.8180167070875887,
            0.1913842491981992
          ],
          "rotation_angle_deg": 1.1281029401099434,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.008449564119442421,
            0.004198158910853511,
            -0.01454756102090931
          ],
          "translation_xyz_cm": [
            -0.8449564119442421,
            0.4198158910853511,
            -1.454756102090931
          ],
          "translation_norm_m": 0.017339296517057068,
          "rotation_rpy_deg_xyz": [
            -0.3216615076558454,
            2.0683417272394546,
            0.6411182393595277
          ],
          "rotation_angle_deg": 2.190872838085688,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.0155548354014039,
            0.014804651712225225,
            -0.0036216034364122893
          ],
          "translation_xyz_cm": [
            1.55548354014039,
            1.4804651712225225,
            -0.36216034364122895
          ],
          "translation_norm_m": 0.021777204323229705,
          "rotation_rpy_deg_xyz": [
            0.3540208269514107,
            0.2383169732938207,
            -0.013627243974260442
          ],
          "rotation_angle_deg": 0.42700270758991316,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.0035179195826497978,
            0.006785560659960055,
            0.019411094478540097
          ],
          "translation_xyz_cm": [
            -0.3517919582649798,
            0.6785560659960055,
            1.9411094478540096
          ],
          "translation_norm_m": 0.020861691698297106,
          "rotation_rpy_deg_xyz": [
            0.13982392787711678,
            1.5567651178246398,
            0.47915510705051045
          ],
          "rotation_angle_deg": 1.6342650258778777,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.0118066569717028,
            0.0055073219783396965,
            0.24095687696111398
          ],
          "translation_xyz_cm": [
            1.18066569717028,
            0.5507321978339696,
            24.095687696111398
          ],
          "translation_norm_m": 0.2413088152121136,
          "rotation_rpy_deg_xyz": [
            0.046556561628215545,
            -0.23178419067153486,
            -0.2869611321653062
          ],
          "rotation_angle_deg": 0.3717310181594892,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.002592826517245017,
            -0.008309606570184369,
            0.031875102810879935
          ],
          "translation_xyz_cm": [
            0.2592826517245017,
            -0.8309606570184369,
            3.1875102810879934
          ],
          "translation_norm_m": 0.03304231362819417,
          "rotation_rpy_deg_xyz": [
            0.37099545134050604,
            1.307421871876041,
            0.5176758053668802
          ],
          "rotation_angle_deg": 1.4527824345568767,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03158579660946648,
            -0.009548356701029714,
            0.22778863339299332
          ],
          "translation_xyz_cm": [
            3.1585796609466477,
            -0.9548356701029714,
            22.77886333929933
          ],
          "translation_norm_m": 0.2301662337663633,
          "rotation_rpy_deg_xyz": [
            0.3880015617715102,
            -0.46959375266784853,
            -0.24683597011303493
          ],
          "rotation_angle_deg": 0.6566621160934105,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.030425509664320005,
            0.0037066700703225486,
            0.3250732901129927
          ],
          "translation_xyz_cm": [
            3.0425509664320005,
            0.37066700703225486,
            32.50732901129927
          ],
          "translation_norm_m": 0.3265150762005175,
          "rotation_rpy_deg_xyz": [
            -0.016421787566930572,
            0.3318022447179004,
            -0.22619292465666857
          ],
          "rotation_angle_deg": 0.4018755889623236,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.006534440510578943,
            0.012921697652590103,
            0.1564443149764776
          ],
          "translation_xyz_cm": [
            0.6534440510578943,
            1.2921697652590103,
            15.644431497647759
          ],
          "translation_norm_m": 0.1571129939612589,
          "rotation_rpy_deg_xyz": [
            0.9608554285447461,
            -1.5192763903860977,
            -0.7435980713532221
          ],
          "rotation_angle_deg": 1.9404475910359964,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.013709756778841342,
            0.024825280247476655,
            0.21352856955930252
          ],
          "translation_xyz_cm": [
            -1.3709756778841342,
            2.4825280247476655,
            21.352856955930253
          ],
          "translation_norm_m": 0.21540357933038773,
          "rotation_rpy_deg_xyz": [
            0.8700771598850835,
            -0.506026291618741,
            -0.6970695574621423
          ],
          "rotation_angle_deg": 1.2221411061286953,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0020784437423113644,
            -0.011871309450006251,
            0.10941984701942059
          ],
          "translation_xyz_cm": [
            0.20784437423113644,
            -1.187130945000625,
            10.94198470194206
          ],
          "translation_norm_m": 0.11008156447925858,
          "rotation_rpy_deg_xyz": [
            -0.6653485464506672,
            0.5855677502456926,
            0.0056688928826917956
          ],
          "rotation_angle_deg": 0.8863662385562447,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            -0.0004948746440140428,
            -0.004667652754462015,
            -0.042119423071664754
          ],
          "translation_xyz_cm": [
            -0.04948746440140428,
            -0.4667652754462015,
            -4.211942307166475
          ],
          "translation_norm_m": 0.042380156713247415,
          "rotation_rpy_deg_xyz": [
            -0.4184808869362607,
            0.5329224436981862,
            0.0917172513454058
          ],
          "rotation_angle_deg": 0.684032365585507,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            -0.0011130991187053851,
            0.026653758424031393,
            0.0405893338457303
          ],
          "translation_xyz_cm": [
            -0.11130991187053851,
            2.6653758424031393,
            4.05893338457303
          ],
          "translation_norm_m": 0.04857114215061073,
          "rotation_rpy_deg_xyz": [
            -0.7643956663987446,
            -0.15094974681174766,
            -0.7385242507520419
          ],
          "rotation_angle_deg": 1.0742360850849277,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.012807394822990759,
            -0.041534070753315167,
            -0.011285466984450154
          ],
          "translation_xyz_cm": [
            1.2807394822990759,
            -4.153407075331517,
            -1.1285466984450154
          ],
          "translation_norm_m": 0.0449051239899243,
          "rotation_rpy_deg_xyz": [
            0.21832176956990013,
            -0.013724806516689385,
            -0.6450878905659495
          ],
          "rotation_angle_deg": 0.6811438245697251,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.0015106002219833492,
            0.012776790224116041,
            0.008922194456519442
          ],
          "translation_xyz_cm": [
            0.15106002219833492,
            1.2776790224116041,
            0.8922194456519441
          ],
          "translation_norm_m": 0.01565675047325177,
          "rotation_rpy_deg_xyz": [
            -0.015387696620196482,
            0.05868344569459291,
            0.14402265457584476
          ],
          "rotation_angle_deg": 0.15628602282208068,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.005983894556965019,
            -0.012592910003347446,
            -0.011290312074711512
          ],
          "translation_xyz_cm": [
            0.5983894556965019,
            -1.2592910003347446,
            -1.1290312074711513
          ],
          "translation_norm_m": 0.017940443783966444,
          "rotation_rpy_deg_xyz": [
            -1.3006641369602876,
            -1.0747709400033723,
            0.15306204509024643
          ],
          "rotation_angle_deg": 1.6930747226172207,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.003482734365272133,
            0.0021124671677758416,
            0.059658142631649015
          ],
          "translation_xyz_cm": [
            0.3482734365272133,
            0.21124671677758416,
            5.965814263164901
          ],
          "translation_norm_m": 0.05979703954588518,
          "rotation_rpy_deg_xyz": [
            -0.1836152884096103,
            -0.4605521882433464,
            -0.1354186107262789
          ],
          "rotation_angle_deg": 0.5141601544920775,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.010672009963219153,
            -0.03209390774647375,
            0.020673276042493707
          ],
          "translation_xyz_cm": [
            -1.0672009963219153,
            -3.2093907746473747,
            2.0673276042493707
          ],
          "translation_norm_m": 0.03963956424361097,
          "rotation_rpy_deg_xyz": [
            1.2739169133989858,
            -0.15441412885717196,
            -0.2014069531115573
          ],
          "rotation_angle_deg": 1.2986834208932883,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.012954721643003264,
            0.02078865823610565,
            0.04296889640638764
          ],
          "translation_xyz_cm": [
            -1.2954721643003264,
            2.078865823610565,
            4.2968896406387636
          ],
          "translation_norm_m": 0.04946027883552794,
          "rotation_rpy_deg_xyz": [
            0.191791910955383,
            1.037596898585814,
            -0.2816015854053235
          ],
          "rotation_angle_deg": 1.0925501090259304,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.0017320874770283545,
            -0.0318405703494562,
            -0.05194203272838931
          ],
          "translation_xyz_cm": [
            -0.17320874770283545,
            -3.18405703494562,
            -5.194203272838931
          ],
          "translation_norm_m": 0.06094913298123128,
          "rotation_rpy_deg_xyz": [
            0.6933490618424856,
            0.1618118341226918,
            -0.08461018679361057
          ],
          "rotation_angle_deg": 0.7171053899483946,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.01391008590369136,
            0.006883954859807417,
            -0.11497291151666617
          ],
          "translation_xyz_cm": [
            1.391008590369136,
            0.6883954859807417,
            -11.497291151666616
          ],
          "translation_norm_m": 0.11601573042902022,
          "rotation_rpy_deg_xyz": [
            0.3509375743770506,
            0.6961878422255168,
            -0.024526521627571626
          ],
          "rotation_angle_deg": 0.780089292035612,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.0020694300338002236,
            0.020336546505490105,
            -0.1157102948138237
          ],
          "translation_xyz_cm": [
            0.20694300338002236,
            2.0336546505490105,
            -11.57102948138237
          ],
          "translation_norm_m": 0.117502042494319,
          "rotation_rpy_deg_xyz": [
            0.2090324085472653,
            1.1209365516436534,
            0.22274574759812166
          ],
          "rotation_angle_deg": 1.1614193966480408,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.0213520973639163,
            0.0176725688918955,
            -0.04235472267841239
          ],
          "translation_xyz_cm": [
            -2.13520973639163,
            1.7672568891895502,
            -4.2354722678412395
          ],
          "translation_norm_m": 0.05061772699600581,
          "rotation_rpy_deg_xyz": [
            0.13180225970325057,
            -0.07541314713550007,
            0.07360727442891095
          ],
          "rotation_angle_deg": 0.16878913744897628,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.034560413559181935,
            0.021197905163034325,
            -0.07151105424639809
          ],
          "translation_xyz_cm": [
            -3.4560413559181935,
            2.1197905163034325,
            -7.151105424639809
          ],
          "translation_norm_m": 0.08220464857971217,
          "rotation_rpy_deg_xyz": [
            0.4535735237818598,
            0.5271060340707374,
            0.32192781941085574
          ],
          "rotation_angle_deg": 0.7654156935582683,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.010243661748970012,
            0.013129261440568252,
            -0.03345153435302803
          ],
          "translation_xyz_cm": [
            -1.0243661748970012,
            1.3129261440568252,
            -3.345153435302803
          ],
          "translation_norm_m": 0.03736730205104348,
          "rotation_rpy_deg_xyz": [
            0.44518602143587854,
            0.5795776437935242,
            0.24721901257678483
          ],
          "rotation_angle_deg": 0.7707802929569919,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.005718154223623317,
            -0.0017491995202032484,
            0.04994894288061716
          ],
          "translation_xyz_cm": [
            0.5718154223623317,
            -0.17491995202032484,
            4.994894288061716
          ],
          "translation_norm_m": 0.05030560487239743,
          "rotation_rpy_deg_xyz": [
            1.5809314832406116,
            -0.29726000660992996,
            -0.27714107576104496
          ],
          "rotation_angle_deg": 1.6316345307609883,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.012700360892276219,
            0.006611294775778154,
            0.020586448539499147
          ],
          "translation_xyz_cm": [
            -1.270036089227622,
            0.6611294775778154,
            2.0586448539499145
          ],
          "translation_norm_m": 0.025076089186229524,
          "rotation_rpy_deg_xyz": [
            1.5679145729741613,
            0.16764841017804855,
            0.4061841976724548
          ],
          "rotation_angle_deg": 1.6277506145260534,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.018342903511085584,
            0.01773067143272833,
            0.08038875675188475
          ],
          "translation_xyz_cm": [
            1.8342903511085584,
            1.7730671432728329,
            8.038875675188475
          ],
          "translation_norm_m": 0.08433973577612193,
          "rotation_rpy_deg_xyz": [
            2.1165886809155556,
            -0.560153137601747,
            -0.5083248079801407
          ],
          "rotation_angle_deg": 2.2453346006598824,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.002415849532795278,
            0.008663138522507552,
            0.031170013886686485
          ],
          "translation_xyz_cm": [
            0.24158495327952778,
            0.8663138522507552,
            3.1170013886686485
          ],
          "translation_norm_m": 0.03244157924210055,
          "rotation_rpy_deg_xyz": [
            1.911407262567204,
            0.1998505689176781,
            0.19574724739182994
          ],
          "rotation_angle_deg": 1.9314301949241452,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.006453544999329264,
            0.007631657257044955,
            0.017287709076919233
          ],
          "translation_xyz_cm": [
            0.6453544999329264,
            0.7631657257044955,
            1.7287709076919233
          ],
          "translation_norm_m": 0.019968858772487986,
          "rotation_rpy_deg_xyz": [
            1.0852257905014293,
            0.8178517107316483,
            -0.494996816289085
          ],
          "rotation_angle_deg": 1.4488804877580408,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0015748617353776861,
            -0.01591356370236835,
            0.011406242504737311
          ],
          "translation_xyz_cm": [
            -0.15748617353776861,
            -1.591356370236835,
            1.1406242504737312
          ],
          "translation_norm_m": 0.0196424048240476,
          "rotation_rpy_deg_xyz": [
            -0.6804153134156338,
            -0.33538937802416846,
            -0.6981886534705121
          ],
          "rotation_angle_deg": 1.0323230167723803,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0041012404220150955,
            0.03997490777605517,
            0.0572776244940139
          ],
          "translation_xyz_cm": [
            -0.41012404220150955,
            3.997490777605517,
            5.72776244940139
          ],
          "translation_norm_m": 0.06996813340643401,
          "rotation_rpy_deg_xyz": [
            -1.266606310436814,
            -0.45351511621775104,
            0.6101756290213036
          ],
          "rotation_angle_deg": 1.475174206575064,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.024649105865161225,
            0.022638411081818077,
            0.03415905684692201
          ],
          "translation_xyz_cm": [
            2.4649105865161225,
            2.2638411081818077,
            3.415905684692201
          ],
          "translation_norm_m": 0.04782172352532433,
          "rotation_rpy_deg_xyz": [
            -0.34112986197911416,
            -0.04571952165030793,
            0.4959893738590014
          ],
          "rotation_angle_deg": 0.6035971825803282,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.007474437586231453,
            -0.025640017459197972,
            0.018245072950718443
          ],
          "translation_xyz_cm": [
            -0.7474437586231453,
            -2.5640017459197972,
            1.8245072950718442
          ],
          "translation_norm_m": 0.032344402908625225,
          "rotation_rpy_deg_xyz": [
            0.7941862533680263,
            -0.5750283955612969,
            -0.12311561392549839
          ],
          "rotation_angle_deg": 0.9877043840285485,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.0027644190789093415,
            -0.00030635002974560566,
            0.02663515331165689
          ],
          "translation_xyz_cm": [
            -0.27644190789093415,
            -0.030635002974560566,
            2.663515331165689
          ],
          "translation_norm_m": 0.026779978624338556,
          "rotation_rpy_deg_xyz": [
            0.47542849183877006,
            -1.1602434177876486,
            0.23804162607315923
          ],
          "rotation_angle_deg": 1.2771619340055451,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.012510152338940372,
            0.005030148000313817,
            0.025072876095915256
          ],
          "translation_xyz_cm": [
            -1.2510152338940372,
            0.5030148000313817,
            2.5072876095915255
          ],
          "translation_norm_m": 0.02846849866378055,
          "rotation_rpy_deg_xyz": [
            -0.6234485484604054,
            -1.0756382447524488,
            0.1782870731150942
          ],
          "rotation_angle_deg": 1.255138487977452,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.008953552534015308,
            0.015236244061915594,
            -0.04949764282183929
          ],
          "translation_xyz_cm": [
            0.8953552534015308,
            1.5236244061915594,
            -4.94976428218393
          ],
          "translation_norm_m": 0.0525578336788343,
          "rotation_rpy_deg_xyz": [
            -0.05984897349848199,
            -0.3936275826445443,
            0.09591926850075025
          ],
          "rotation_angle_deg": 0.4094943094169885,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.003834211882641103,
            0.0027365181629508406,
            -0.024154030829628463
          ],
          "translation_xyz_cm": [
            -0.3834211882641103,
            0.27365181629508406,
            -2.4154030829628463
          ],
          "translation_norm_m": 0.024609082017332307,
          "rotation_rpy_deg_xyz": [
            0.06897507897604013,
            -0.0925250187027215,
            -0.047596027899326085
          ],
          "rotation_angle_deg": 0.12481393820061966,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.012374642815450976,
            0.020475395873511326,
            -0.023438071298638907
          ],
          "translation_xyz_cm": [
            1.2374642815450976,
            2.0475395873511326,
            -2.3438071298638907
          ],
          "translation_norm_m": 0.03349204095284547,
          "rotation_rpy_deg_xyz": [
            1.035512430453766,
            0.39607799703816704,
            -0.137252278260299
          ],
          "rotation_angle_deg": 1.1175775606990446,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.01593418521427825,
            0.011747792189998774,
            -0.027823497872806937
          ],
          "translation_xyz_cm": [
            1.5934185214278251,
            1.1747792189998774,
            -2.7823497872806935
          ],
          "translation_norm_m": 0.034147560874247106,
          "rotation_rpy_deg_xyz": [
            0.9293433645487914,
            0.30811898096070195,
            -0.07783140340052873
          ],
          "rotation_angle_deg": 0.9823751186855719,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.004425899201898398,
            0.0018738645585085756,
            0.02214557488886174
          ],
          "translation_xyz_cm": [
            0.4425899201898398,
            0.18738645585085756,
            2.214557488886174
          ],
          "translation_norm_m": 0.0226611217570354,
          "rotation_rpy_deg_xyz": [
            1.179268176108766,
            -0.08821806459370339,
            0.022905972350413053
          ],
          "rotation_angle_deg": 1.182802535932146,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.029494769819405242,
        "improved_pairs": 30,
        "worsened_pairs": 36,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.013664187192618082,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.200_roll_-0.200",
      "body_left_rpy_correction_deg_xyz": [
        -0.2,
        0.2,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.300266778135581,
          0.0024476764333135033,
          0.7159592638351174
        ],
        "rotation_rpy_deg_xyz": [
          -0.9881056123574021,
          1.3997156446701597,
          -0.8397697014302278
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10267526429269669,
          "median": 0.05573474852997967,
          "p90": 0.1602865349010675,
          "p95": 0.2112722473315818,
          "max": 0.34142095735067635
        },
        "rotation_deg": {
          "rms": 1.0757093910702569,
          "median": 0.8967455715431769,
          "p90": 1.6699453976668024,
          "p95": 1.8316094167681647,
          "max": 2.6470410393405652
        },
        "normalized_pair_score": {
          "rms": 2.9741363007059745,
          "median": 2.4430918593251603,
          "p90": 4.58439585460328,
          "p95": 4.914396860809632,
          "max": 7.05028166241884
        },
        "normalized_global_rms": 2.9741363007059745
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.01201210641490108,
          0.01334901924793841,
          0.07419981593089706
        ],
        "translation_xyz_cm": [
          -1.201210641490108,
          1.334901924793841,
          7.419981593089705
        ],
        "translation_norm_m": 0.07634199171873722,
        "rotation_rpy_deg_xyz": [
          -0.49591346529312486,
          -0.0577837588917674,
          0.02590184941646954
        ],
        "rotation_angle_deg": 0.49992704876652105,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.7067898021773054,
          "median": 0.7385055841034844,
          "p90": 2.354962484664117,
          "p95": 3.858143262184229,
          "max": 5.772844678665988
        },
        "height_residual_m": {
          "rms": 0.034713965171217304,
          "median": -0.0059241016060887774,
          "p90": 0.053409267341990724,
          "p95": 0.08720196104337456,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.01201210641490108,
            0.01334901924793841,
            0.07419981593089706
          ],
          "translation_xyz_cm": [
            -1.201210641490108,
            1.334901924793841,
            7.419981593089705
          ],
          "translation_norm_m": 0.07634199171873722,
          "rotation_rpy_deg_xyz": [
            -0.49591346529312486,
            -0.0577837588917674,
            0.02590184941646954
          ],
          "rotation_angle_deg": 0.49992704876652105,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.021862949978100232,
            -0.015659998822578736,
            0.12684165025370076
          ],
          "translation_xyz_cm": [
            2.1862949978100232,
            -1.5659998822578736,
            12.684165025370076
          ],
          "translation_norm_m": 0.12966120616418092,
          "rotation_rpy_deg_xyz": [
            -0.2528550550344141,
            -0.10091798351668403,
            -0.3438003995990869
          ],
          "rotation_angle_deg": 0.43871598020210434,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.035199996019546154,
            0.007997330344484688,
            0.10244616932184443
          ],
          "translation_xyz_cm": [
            3.5199996019546154,
            0.7997330344484688,
            10.244616932184442
          ],
          "translation_norm_m": 0.10861958672879814,
          "rotation_rpy_deg_xyz": [
            -0.19868474717859064,
            -0.10954627505429712,
            -0.3986106266322779
          ],
          "rotation_angle_deg": 0.45882202317192805,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03494180931670199,
            -0.018895917393885353,
            0.04495947950334158
          ],
          "translation_xyz_cm": [
            3.494180931670199,
            -1.8895917393885353,
            4.495947950334158
          ],
          "translation_norm_m": 0.059994504162403844,
          "rotation_rpy_deg_xyz": [
            0.2924084008623983,
            0.12968628982453115,
            -0.34957185078247316
          ],
          "rotation_angle_deg": 0.47408089673947634,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04735477326402682,
            0.011500591584786668,
            0.021906116918553833
          ],
          "translation_xyz_cm": [
            4.735477326402682,
            1.1500591584786668,
            2.1906116918553833
          ],
          "translation_norm_m": 0.053428607656730166,
          "rotation_rpy_deg_xyz": [
            0.4294373434022533,
            0.36748260964463253,
            -0.38033160599565324
          ],
          "rotation_angle_deg": 0.6820247645837519,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.01553023680104168,
            0.009904717640053073,
            -0.03464448261765626
          ],
          "translation_xyz_cm": [
            1.5530236801041681,
            0.9904717640053073,
            -3.4644482617656256
          ],
          "translation_norm_m": 0.03923686866291313,
          "rotation_rpy_deg_xyz": [
            0.5655602030660467,
            0.3540859117615814,
            0.13734785320144743
          ],
          "rotation_angle_deg": 0.680895239725926,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.005964702932977736,
            0.02075799884975424,
            -0.010453518345841488
          ],
          "translation_xyz_cm": [
            0.5964702932977737,
            2.075799884975424,
            -1.0453518345841488
          ],
          "translation_norm_m": 0.02399475449201171,
          "rotation_rpy_deg_xyz": [
            0.29778168470421745,
            0.26631104314602005,
            -0.032314968504418444
          ],
          "rotation_angle_deg": 0.40085449181485494,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.03111689961543687,
            0.0004674914658625018,
            -0.0719365739673613
          ],
          "translation_xyz_cm": [
            -3.111689961543687,
            0.04674914658625018,
            -7.19365739673613
          ],
          "translation_norm_m": 0.07837952962419124,
          "rotation_rpy_deg_xyz": [
            0.6031904858690685,
            0.651406611542103,
            0.5379357967197737
          ],
          "rotation_angle_deg": 1.0362651683815214,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.028516526816319193,
            -0.016422869588027855,
            -0.13024535797470094
          ],
          "translation_xyz_cm": [
            -2.8516526816319194,
            -1.6422869588027855,
            -13.024535797470094
          ],
          "translation_norm_m": 0.13433821578809663,
          "rotation_rpy_deg_xyz": [
            0.6691039462667512,
            0.5103535057172044,
            0.40337626552724254
          ],
          "rotation_angle_deg": 0.9319137400775779,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.030349949538715018,
            -0.020124665322709068,
            -0.05128063114399952
          ],
          "translation_xyz_cm": [
            -3.034994953871502,
            -2.0124665322709068,
            -5.128063114399952
          ],
          "translation_norm_m": 0.06289534737864583,
          "rotation_rpy_deg_xyz": [
            0.5167377508331105,
            0.44288964255019486,
            0.588430494533235
          ],
          "rotation_angle_deg": 0.8983672990723964,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03656102961034887,
            -0.03750741780060207,
            -0.07781152319335848
          ],
          "translation_xyz_cm": [
            -3.656102961034887,
            -3.750741780060207,
            -7.781152319335847
          ],
          "translation_norm_m": 0.09379844571158039,
          "rotation_rpy_deg_xyz": [
            0.6666234672158453,
            0.9279467816454481,
            0.5052759287908468
          ],
          "rotation_angle_deg": 1.2471176687712298,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.012544601411036575,
            -0.010450218229439506,
            -0.03105555497517807
          ],
          "translation_xyz_cm": [
            -1.2544601411036576,
            -1.0450218229439505,
            -3.105555497517807
          ],
          "translation_norm_m": 0.03508591712384041,
          "rotation_rpy_deg_xyz": [
            0.3564483591463069,
            0.3322855184981405,
            -0.08576897185896296
          ],
          "rotation_angle_deg": 0.4949770877737651,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.013931988407110907,
            -0.0006444318563227497,
            -0.2096695288735549
          ],
          "translation_xyz_cm": [
            1.3931988407110907,
            -0.06444318563227497,
            -20.96695288735549
          ],
          "translation_norm_m": 0.21013287922515073,
          "rotation_rpy_deg_xyz": [
            -0.06938403386267719,
            0.29112209058270994,
            0.2967942419342959
          ],
          "rotation_angle_deg": 0.42161292665155725,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.011785767634175048,
            0.019039169330351723,
            -0.19415149078297986
          ],
          "translation_xyz_cm": [
            1.1785767634175048,
            1.9039169330351724,
            -19.415149078297986
          ],
          "translation_norm_m": 0.19543847026818975,
          "rotation_rpy_deg_xyz": [
            0.08179528302036033,
            0.03352476496024565,
            0.40130819236289794
          ],
          "rotation_angle_deg": 0.41090559105307395,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.004773177990423982,
            0.007967833816299674,
            -0.1349174140850391
          ],
          "translation_xyz_cm": [
            -0.47731779904239824,
            0.7967833816299674,
            -13.49174140850391
          ],
          "translation_norm_m": 0.13523674880462908,
          "rotation_rpy_deg_xyz": [
            0.4270816319087594,
            -0.13389964977785807,
            -0.09169066600690373
          ],
          "rotation_angle_deg": 0.4567749707185019,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.00916431181933186,
            0.016125859418411936,
            -0.1371060834485559
          ],
          "translation_xyz_cm": [
            0.9164311819331861,
            1.6125859418411936,
            -13.71060834485559
          ],
          "translation_norm_m": 0.13835500016879299,
          "rotation_rpy_deg_xyz": [
            -0.7769448904358175,
            0.7579471378712342,
            0.29198480762629975
          ],
          "rotation_angle_deg": 1.1253319541436468,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.008383313567782213,
            -0.0014504009327580558,
            -0.06367479926625445
          ],
          "translation_xyz_cm": [
            -0.8383313567782213,
            -0.14504009327580558,
            -6.367479926625445
          ],
          "translation_norm_m": 0.06424066991275314,
          "rotation_rpy_deg_xyz": [
            -0.7335776051227884,
            0.37585489111938325,
            -0.21128113414184294
          ],
          "rotation_angle_deg": 0.8503077636397108,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.007593297980498015,
            -0.019753319912202305,
            0.06957603007914048
          ],
          "translation_xyz_cm": [
            -0.7593297980498015,
            -1.9753319912202305,
            6.957603007914049
          ],
          "translation_norm_m": 0.07272328226467714,
          "rotation_rpy_deg_xyz": [
            0.32051812605824614,
            -0.27355809453749047,
            -0.48164102416165044
          ],
          "rotation_angle_deg": 0.6393791326862639,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.002833941324650091,
            -0.0020249479444029994,
            0.00040197427464842145
          ],
          "translation_xyz_cm": [
            0.2833941324650091,
            -0.20249479444029994,
            0.040197427464842145
          ],
          "translation_norm_m": 0.003506168981464038,
          "rotation_rpy_deg_xyz": [
            0.1993671718848384,
            -0.16575859100859433,
            -0.4757837756391457
          ],
          "rotation_angle_deg": 0.5415889089345158,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.006671587484399055,
            0.01576754037685668,
            -0.07105102773411881
          ],
          "translation_xyz_cm": [
            0.6671587484399055,
            1.5767540376856681,
            -7.105102773411881
          ],
          "translation_norm_m": 0.07308470394803769,
          "rotation_rpy_deg_xyz": [
            -0.7110584568450742,
            -0.17249413302427333,
            -0.30712373967585577
          ],
          "rotation_angle_deg": 0.7939390053946765,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010836576438109091,
            0.020615843004303414,
            -0.06368435808527625
          ],
          "translation_xyz_cm": [
            1.0836576438109091,
            2.0615843004303414,
            -6.368435808527625
          ],
          "translation_norm_m": 0.0678095998838716,
          "rotation_rpy_deg_xyz": [
            0.09136385549102051,
            0.05654733688530006,
            0.00744052570261287
          ],
          "rotation_angle_deg": 0.10770164907213244,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.013615875090007279,
            0.040497966763347826,
            -0.11343775854036052
          ],
          "translation_xyz_cm": [
            1.361587509000728,
            4.049796676334783,
            -11.343775854036052
          ],
          "translation_norm_m": 0.12121717052090039,
          "rotation_rpy_deg_xyz": [
            -0.8833616580960963,
            -0.09914187618707282,
            0.16805556405236433
          ],
          "rotation_angle_deg": 0.9045120035676598,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.00736619482979145,
            0.016730638992471736,
            -0.05462504259441803
          ],
          "translation_xyz_cm": [
            0.736619482979145,
            1.6730638992471736,
            -5.462504259441802
          ],
          "translation_norm_m": 0.05760269425824495,
          "rotation_rpy_deg_xyz": [
            -0.9052256170745232,
            -0.025070423963748766,
            0.16596771581643197
          ],
          "rotation_angle_deg": 0.9206198464696631,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0009284733465722006,
            -0.015753189578568527,
            -0.1673612312626484
          ],
          "translation_xyz_cm": [
            -0.09284733465722006,
            -1.5753189578568527,
            -16.73612312626484
          ],
          "translation_norm_m": 0.16810355967201676,
          "rotation_rpy_deg_xyz": [
            -0.48472626411314895,
            1.7487984785294368,
            -0.3329063277383538
          ],
          "rotation_angle_deg": 1.843672815878291,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.002636875017407836,
            0.012077150243532508,
            -0.03765022317356414
          ],
          "translation_xyz_cm": [
            -0.2636875017407836,
            1.2077150243532508,
            -3.7650223173564137
          ],
          "translation_norm_m": 0.039627641525600193,
          "rotation_rpy_deg_xyz": [
            0.5610239631043143,
            0.4526712863097149,
            0.20451324066900395
          ],
          "rotation_angle_deg": 0.7487163461569729,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.015242022563767721,
            0.021382332741016752,
            -0.03442398750887586
          ],
          "translation_xyz_cm": [
            1.524202256376772,
            2.138233274101675,
            -3.442398750887586
          ],
          "translation_norm_m": 0.04329589266077329,
          "rotation_rpy_deg_xyz": [
            0.7428148871149202,
            1.039909949429218,
            0.19725588761355678
          ],
          "rotation_angle_deg": 1.2920605188551422,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.0034888756490931705,
            0.008733874404231123,
            -0.027200316939892177
          ],
          "translation_xyz_cm": [
            -0.34888756490931705,
            0.8733874404231123,
            -2.7200316939892177
          ],
          "translation_norm_m": 0.028780376249005226,
          "rotation_rpy_deg_xyz": [
            -0.6731241992095818,
            2.4762575849126516,
            0.6352449197918263
          ],
          "rotation_angle_deg": 2.6470410393405652,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.01705657394973792,
            0.01474595544498103,
            -0.007946236934208359
          ],
          "translation_xyz_cm": [
            1.7056573949737919,
            1.474595544498103,
            -0.7946236934208359
          ],
          "translation_norm_m": 0.02390632967025304,
          "rotation_rpy_deg_xyz": [
            0.3682900746255184,
            0.35237700505596303,
            -0.010904480302770277
          ],
          "rotation_angle_deg": 0.5098532251194815,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            0.001705204179272668,
            0.009949490298470698,
            0.008276952221896656
          ],
          "translation_xyz_cm": [
            0.1705204179272668,
            0.9949490298470698,
            0.8276952221896656
          ],
          "translation_norm_m": 0.013054042154671154,
          "rotation_rpy_deg_xyz": [
            -0.10051978792551795,
            1.9627003542472232,
            0.4795545560026394
          ],
          "rotation_angle_deg": 2.0233381391978384,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.017823614543317934,
            0.011362388372984089,
            0.24241393220520854
          ],
          "translation_xyz_cm": [
            1.7823614543317934,
            1.136238837298409,
            24.241393220520855
          ],
          "translation_norm_m": 0.24333372070495848,
          "rotation_rpy_deg_xyz": [
            -0.38109746652536075,
            0.15380471696494316,
            -0.2925446895040787
          ],
          "rotation_angle_deg": 0.504156555873513,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.007355055466075733,
            -0.00661534428014765,
            0.025440167953447043
          ],
          "translation_xyz_cm": [
            0.7355055466075733,
            -0.661534428014765,
            2.5440167953447044
          ],
          "translation_norm_m": 0.027295819576512566,
          "rotation_rpy_deg_xyz": [
            0.2376239793245543,
            1.6709861400327526,
            0.5217717415374492
          ],
          "rotation_angle_deg": 1.7655780804705579,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.037970835799887914,
            -0.005605743167969468,
            0.23191297431791189
          ],
          "translation_xyz_cm": [
            3.7970835799887914,
            -0.5605743167969468,
            23.191297431791188
          ],
          "translation_norm_m": 0.2350677272293833,
          "rotation_rpy_deg_xyz": [
            0.07231067521941315,
            -0.05801636497751822,
            -0.2466182566247777
          ],
          "rotation_angle_deg": 0.26343353189672236,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.036588506292310585,
            0.010113561720901387,
            0.3393040925112272
          ],
          "translation_xyz_cm": [
            3.6588506292310585,
            1.0113561720901387,
            33.93040925112272
          ],
          "translation_norm_m": 0.34142095735067635,
          "rotation_rpy_deg_xyz": [
            -0.4665584089348453,
            0.7065459119111926,
            -0.23291802697407604
          ],
          "rotation_angle_deg": 0.8773772666502165,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.009415303814078069,
            0.012039963585760649,
            0.151701492577563
          ],
          "translation_xyz_cm": [
            0.9415303814078069,
            1.203996358576065,
            15.170149257756298
          ],
          "translation_norm_m": 0.15246951013011825,
          "rotation_rpy_deg_xyz": [
            0.9615693054078647,
            -1.330911760658794,
            -0.737661039199939
          ],
          "rotation_angle_deg": 1.795419219437786,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.008663982150276528,
            0.024569060725551317,
            0.2100425702275327
          ],
          "translation_xyz_cm": [
            -0.8663982150276528,
            2.4569060725551317,
            21.00425702275327
          ],
          "translation_norm_m": 0.21165203670039215,
          "rotation_rpy_deg_xyz": [
            0.801629370721204,
            -0.19670806726649093,
            -0.689648844816506
          ],
          "rotation_angle_deg": 1.0747150144675521,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.003945284204720956,
            -0.012542794807472557,
            0.10462850420246506
          ],
          "translation_xyz_cm": [
            0.3945284204720956,
            -1.2542794807472557,
            10.462850420246506
          ],
          "translation_norm_m": 0.10545146210785145,
          "rotation_rpy_deg_xyz": [
            -0.6535185250266816,
            0.7244473074505394,
            0.006379181532635643
          ],
          "rotation_angle_deg": 0.9757038887878208,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0025974883323312548,
            -0.004205998563290514,
            -0.054489048274145704
          ],
          "translation_xyz_cm": [
            0.2597488332331255,
            -0.4205998563290514,
            -5.44890482741457
          ],
          "translation_norm_m": 0.054712829860766476,
          "rotation_rpy_deg_xyz": [
            -0.43915097058719127,
            0.7740835159489979,
            0.09294873767310093
          ],
          "rotation_angle_deg": 0.8951238440139575,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            0.0013283761402047567,
            0.02659392110655978,
            0.03558707577539302
          ],
          "translation_xyz_cm": [
            0.13283761402047567,
            2.659392110655978,
            3.5587075775393022
          ],
          "translation_norm_m": 0.044445935531107414,
          "rotation_rpy_deg_xyz": [
            -0.7625324033102833,
            0.03417989091551074,
            -0.7382415459473038
          ],
          "rotation_angle_deg": 1.0617347196043798,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.016426635522518218,
            -0.04079104763334751,
            -0.025519128954318883
          ],
          "translation_xyz_cm": [
            1.6426635522518218,
            -4.079104763334751,
            -2.5519128954318884
          ],
          "translation_norm_m": 0.050842598912750704,
          "rotation_rpy_deg_xyz": [
            0.1812596701200449,
            0.2554088986144745,
            -0.641090634806169
          ],
          "rotation_angle_deg": 0.71386476508844,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.004805226518692862,
            0.013032247429424215,
            -0.005629330524235199
          ],
          "translation_xyz_cm": [
            0.4805226518692862,
            1.3032247429424215,
            -0.5629330524235199
          ],
          "translation_norm_m": 0.014987295857117432,
          "rotation_rpy_deg_xyz": [
            -0.03272161028483042,
            0.2931935041755735,
            0.14694234528910863
          ],
          "rotation_angle_deg": 0.32962060296874524,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.008293949369789111,
            -0.012720082191929216,
            -0.014112513574001923
          ],
          "translation_xyz_cm": [
            0.8293949369789111,
            -1.2720082191929216,
            -1.4112513574001921
          ],
          "translation_norm_m": 0.02073048784989028,
          "rotation_rpy_deg_xyz": [
            -1.295708943900491,
            -0.9007950249064871,
            0.15177893077110574
          ],
          "rotation_angle_deg": 1.5843617871391884,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.008559326899485686,
            0.0035978233708111734,
            0.053455846601509684
          ],
          "translation_xyz_cm": [
            0.8559326899485686,
            0.35978233708111734,
            5.345584660150968
          ],
          "translation_norm_m": 0.05425618808821671,
          "rotation_rpy_deg_xyz": [
            -0.3156527658077964,
            -0.09787576634239992,
            -0.13481444661203612
          ],
          "rotation_angle_deg": 0.3570208517689108,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.00693339148927663,
            -0.024409562400083018,
            0.0094761809563456
          ],
          "translation_xyz_cm": [
            -0.693339148927663,
            -2.440956240008302,
            0.9476180956345601
          ],
          "translation_norm_m": 0.027086835540987935,
          "rotation_rpy_deg_xyz": [
            0.7043549696279223,
            0.10887282353005566,
            -0.20645933279677145
          ],
          "rotation_angle_deg": 0.7422063721688006,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.0098558600400529,
            0.020852900464370272,
            0.03079341392944729
          ],
          "translation_xyz_cm": [
            -0.98558600400529,
            2.085290046437027,
            3.0793413929447286
          ],
          "translation_norm_m": 0.03847357244052499,
          "rotation_rpy_deg_xyz": [
            0.17545956036406737,
            1.2701659736097213,
            -0.2778434467863792
          ],
          "rotation_angle_deg": 1.3123950932107737,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.0034456990600917337,
            -0.028757253028442675,
            -0.07086920076730535
          ],
          "translation_xyz_cm": [
            0.34456990600917337,
            -2.8757253028442675,
            -7.086920076730535
          ],
          "translation_norm_m": 0.0765591017525103,
          "rotation_rpy_deg_xyz": [
            0.4853978608569899,
            0.5595428777659305,
            -0.07961400153490089
          ],
          "rotation_angle_deg": 0.7452604514073777,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.01770255765767237,
            0.013777687611537637,
            -0.14414414157362407
          ],
          "translation_xyz_cm": [
            1.7702557657672369,
            1.3777687611537637,
            -14.414414157362406
          ],
          "translation_norm_m": 0.14587919239405361,
          "rotation_rpy_deg_xyz": [
            -0.19131281064427033,
            0.9968724123926149,
            -0.032509537103797136
          ],
          "rotation_angle_deg": 1.0155308493949136,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.003911924564929059,
            0.02783692104836355,
            -0.13923159011951697
          ],
          "translation_xyz_cm": [
            0.3911924564929059,
            2.783692104836355,
            -13.923159011951697
          ],
          "translation_norm_m": 0.14204095541238695,
          "rotation_rpy_deg_xyz": [
            -0.40459827562974054,
            1.2675684617373304,
            0.21015934598191227
          ],
          "rotation_angle_deg": 1.3477644455082949,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.017280331047126785,
            0.01910413758665841,
            -0.045878140905336054
          ],
          "translation_xyz_cm": [
            -1.7280331047126785,
            1.910413758665841,
            -4.587814090533605
          ],
          "translation_norm_m": 0.0526154133971989,
          "rotation_rpy_deg_xyz": [
            0.0370853942695332,
            0.2595280346431109,
            0.07676067119430184
          ],
          "rotation_angle_deg": 0.27314725109349947,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.02978974058194983,
            0.024457451410303643,
            -0.07402727550482269
          ],
          "translation_xyz_cm": [
            -2.978974058194983,
            2.4457451410303643,
            -7.402727550482268
          ],
          "translation_norm_m": 0.08346036839179512,
          "rotation_rpy_deg_xyz": [
            0.2053930322267262,
            0.9344786865517752,
            0.32436639689386765
          ],
          "rotation_angle_deg": 1.0097327844707245,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.008084061599809622,
            0.013247332244573418,
            -0.038265444635174714
          ],
          "translation_xyz_cm": [
            -0.8084061599809622,
            1.3247332244573418,
            -3.8265444635174712
          ],
          "translation_norm_m": 0.04129271263401391,
          "rotation_rpy_deg_xyz": [
            0.4512435396553447,
            0.7491666484307656,
            0.2511669438449359
          ],
          "rotation_angle_deg": 0.909104048809833,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.010769702066319775,
            0.002834600895287309,
            0.055653372105624294
          ],
          "translation_xyz_cm": [
            1.0769702066319775,
            0.2834600895287309,
            5.565337210562429
          ],
          "translation_norm_m": 0.056756667199192874,
          "rotation_rpy_deg_xyz": [
            1.2012352341832784,
            0.10475685568110953,
            -0.2704645733855335
          ],
          "rotation_angle_deg": 1.2359943715241535,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.008101770819068488,
            0.013524540245845262,
            0.002375105343916592
          ],
          "translation_xyz_cm": [
            -0.8101770819068488,
            1.3524540245845262,
            0.2375105343916592
          ],
          "translation_norm_m": 0.015943431395433638,
          "rotation_rpy_deg_xyz": [
            1.0713447720263547,
            0.5121752138367888,
            0.40743318306217746
          ],
          "rotation_angle_deg": 1.2538697439763702,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.023009530293275127,
            0.019415747444053277,
            0.09878139237723801
          ],
          "translation_xyz_cm": [
            2.3009530293275127,
            1.9415747444053277,
            9.8781392377238
          ],
          "translation_norm_m": 0.10326748381322294,
          "rotation_rpy_deg_xyz": [
            1.906466792398904,
            -0.16204206455357928,
            -0.49347596562466667
          ],
          "rotation_angle_deg": 1.975273654223719,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.00781348028257467,
            0.013496311873194111,
            0.018852628764943147
          ],
          "translation_xyz_cm": [
            0.781348028257467,
            1.3496311873194111,
            1.8852628764943147
          ],
          "translation_norm_m": 0.024466763571291263,
          "rotation_rpy_deg_xyz": [
            1.571602249704431,
            0.6092745279339916,
            0.206158750844427
          ],
          "rotation_angle_deg": 1.6971089565315203,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.01118625387650507,
            0.014321811494298231,
            -3.244493679074867e-05
          ],
          "translation_xyz_cm": [
            1.118625387650507,
            1.432181149429823,
            -0.003244493679074867
          ],
          "translation_norm_m": 0.01817271616852475,
          "rotation_rpy_deg_xyz": [
            0.5963162220275844,
            1.1682207880887046,
            -0.49627472684108254
          ],
          "rotation_angle_deg": 1.4045042960916836,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            0.000544553715202678,
            -0.01617611040469874,
            0.008366467702622664
          ],
          "translation_xyz_cm": [
            0.054455371520267803,
            -1.617611040469874,
            0.8366467702622664
          ],
          "translation_norm_m": 0.01821979331366775,
          "rotation_rpy_deg_xyz": [
            -0.672288454569076,
            -0.17518536345883584,
            -0.6975466292368255
          ],
          "rotation_angle_deg": 0.9852210488772688,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.006672103274932617,
            0.041006888783805984,
            0.07960750826531897
          ],
          "translation_xyz_cm": [
            -0.6672103274932617,
            4.100688878380598,
            7.960750826531897
          ],
          "translation_norm_m": 0.08979664393534777,
          "rotation_rpy_deg_xyz": [
            -1.3518977233072038,
            -0.5887828415265969,
            0.6092766048205575
          ],
          "rotation_angle_deg": 1.5927993601758728,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.020763472264783367,
            0.02623701734447481,
            0.06720389819137694
          ],
          "translation_xyz_cm": [
            2.0763472264783367,
            2.623701734447481,
            6.720389819137694
          ],
          "translation_norm_m": 0.07507241032324496,
          "rotation_rpy_deg_xyz": [
            -0.6519656961689877,
            -0.26614639806366813,
            0.487341898279799
          ],
          "rotation_angle_deg": 0.8555206880109816,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.010138909339030944,
            -0.02398584171946594,
            0.028494499013781725
          ],
          "translation_xyz_cm": [
            -1.0138909339030944,
            -2.398584171946594,
            2.8494499013781724
          ],
          "translation_norm_m": 0.03860122484614665,
          "rotation_rpy_deg_xyz": [
            0.6392543162624382,
            -0.7595747577326487,
            -0.13178306737862724
          ],
          "rotation_angle_deg": 1.0009212935932472,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.005366209049132653,
            0.000989232482801583,
            0.037564602408942466
          ],
          "translation_xyz_cm": [
            -0.5366209049132653,
            0.0989232482801583,
            3.7564602408942465
          ],
          "translation_norm_m": 0.03795884790936033,
          "rotation_rpy_deg_xyz": [
            0.3500276236705358,
            -1.327354870754006,
            0.23142994607986764
          ],
          "rotation_angle_deg": 1.3927737545857246,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.015716096532251367,
            0.009854966100386553,
            0.03952962168282935
          ],
          "translation_xyz_cm": [
            -1.5716096532251367,
            0.9854966100386553,
            3.952962168282935
          ],
          "translation_norm_m": 0.04366585665526813,
          "rotation_rpy_deg_xyz": [
            -1.0131171064072237,
            -1.2836045800187992,
            0.16901535319157182
          ],
          "rotation_angle_deg": 1.6427818388020845,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.007553751863486058,
            0.02182087119397691,
            -0.049227247246865946
          ],
          "translation_xyz_cm": [
            0.7553751863486058,
            2.182087119397691,
            -4.922724724686595
          ],
          "translation_norm_m": 0.054373996159775874,
          "rotation_rpy_deg_xyz": [
            -0.5939558638522894,
            -0.5117705896491087,
            0.08225849489829219
          ],
          "rotation_angle_deg": 0.7880484189739134,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.006422617548786924,
            0.00492204585157574,
            -0.01667839688890336
          ],
          "translation_xyz_cm": [
            -0.6422617548786924,
            0.49220458515757404,
            -1.667839688890336
          ],
          "translation_norm_m": 0.018537677155641183,
          "rotation_rpy_deg_xyz": [
            -0.11209418099713042,
            -0.28929229841052456,
            -0.05467203590486332
          ],
          "rotation_angle_deg": 0.31507948180637074,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.01000945456388247,
            0.025111856304408153,
            -0.03165662387598633
          ],
          "translation_xyz_cm": [
            1.000945456388247,
            2.5111856304408153,
            -3.1656623875986325
          ],
          "translation_norm_m": 0.04162855201595821,
          "rotation_rpy_deg_xyz": [
            0.6855824704406601,
            0.17954563693395836,
            -0.1519311487658391
          ],
          "rotation_angle_deg": 0.7250301793802022,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.014389040732654124,
            0.01325562687074966,
            -0.03555406738412162
          ],
          "translation_xyz_cm": [
            1.4389040732654124,
            1.325562687074966,
            -3.5554067384121617
          ],
          "translation_norm_m": 0.04058137312237205,
          "rotation_rpy_deg_xyz": [
            0.8362842631236832,
            0.16598873535751493,
            -0.08429637078407252
          ],
          "rotation_angle_deg": 0.8568740377187055,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.0028880117640086578,
            0.0027325280432729526,
            0.02159139874323638
          ],
          "translation_xyz_cm": [
            0.2888011764008658,
            0.27325280432729526,
            2.159139874323638
          ],
          "translation_norm_m": 0.021954403229096323,
          "rotation_rpy_deg_xyz": [
            1.1090365378655247,
            -0.20826684949977023,
            0.017093771980973595
          ],
          "rotation_angle_deg": 1.1285817941483023,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.11849490926332651,
        "improved_pairs": 27,
        "worsened_pairs": 39,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.08349931538584737,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.200_roll_-0.100",
      "body_left_rpy_correction_deg_xyz": [
        -0.1,
        0.2,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.3002667892170896,
          0.0011901746480735614,
          0.7159624384405358
        ],
        "rotation_rpy_deg_xyz": [
          -0.8880870599061297,
          1.4011794298989813,
          -0.8376743139361774
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10146524807256484,
          "median": 0.05629897475431494,
          "p90": 0.15963531965764388,
          "p95": 0.2106499295427135,
          "max": 0.33630847700340843
        },
        "rotation_deg": {
          "rms": 1.0646575627535269,
          "median": 0.8822034197081274,
          "p90": 1.6448284445376076,
          "p95": 1.8365468393863742,
          "max": 2.5310697757029503
        },
        "normalized_pair_score": {
          "rms": 2.9414386837539155,
          "median": 2.4490936386263185,
          "p90": 4.663756567135647,
          "p95": 4.8575105426744205,
          "max": 6.886842018995678
        },
        "normalized_global_rms": 2.9414386837539155
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012347089981138093,
          0.013437463992124532,
          0.07489918672116615
        ],
        "translation_xyz_cm": [
          -1.2347089981138093,
          1.3437463992124532,
          7.489918672116615
        ],
        "translation_norm_m": 0.07709023440769963,
        "rotation_rpy_deg_xyz": [
          -0.49293887218940247,
          -0.080574625512603,
          0.025798084495368287
        ],
        "rotation_angle_deg": 0.5001285987059726,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.6816953294526065,
          "median": 0.7204657180292057,
          "p90": 2.2714964920288296,
          "p95": 3.825941572676517,
          "max": 5.676337113128431
        },
        "height_residual_m": {
          "rms": 0.03471396517121731,
          "median": -0.0059241016060887774,
          "p90": 0.0534092673419908,
          "p95": 0.08720196104337455,
          "max": 0.12336745254185413
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012347089981138093,
            0.013437463992124532,
            0.07489918672116615
          ],
          "translation_xyz_cm": [
            -1.2347089981138093,
            1.3437463992124532,
            7.489918672116615
          ],
          "translation_norm_m": 0.07709023440769963,
          "rotation_rpy_deg_xyz": [
            -0.49293887218940247,
            -0.080574625512603,
            0.025798084495368287
          ],
          "rotation_angle_deg": 0.5001285987059726,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.02118873542198385,
            -0.015609536269950652,
            0.12768326261243312
          ],
          "translation_xyz_cm": [
            2.118873542198385,
            -1.5609536269950652,
            12.768326261243313
          ],
          "translation_norm_m": 0.13036731063691273,
          "rotation_rpy_deg_xyz": [
            -0.2418540226149386,
            -0.14507836952473746,
            -0.34406385996642225
          ],
          "rotation_angle_deg": 0.44511961856905025,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.034187422821581825,
            0.007826099760466887,
            0.10355093870014236
          ],
          "translation_xyz_cm": [
            3.4187422821581825,
            0.7826099760466887,
            10.355093870014235
          ],
          "translation_norm_m": 0.10932897430380949,
          "rotation_rpy_deg_xyz": [
            -0.17233618989507188,
            -0.1757468117407714,
            -0.3988360352824728
          ],
          "rotation_angle_deg": 0.4689002568662313,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.034628846199888264,
            -0.018859654846083873,
            0.04540603137867161
          ],
          "translation_xyz_cm": [
            3.4628846199888264,
            -1.8859654846083873,
            4.54060313786716
          ],
          "translation_norm_m": 0.06013776896102682,
          "rotation_rpy_deg_xyz": [
            0.29534389433904523,
            0.10705200999236439,
            -0.34998680599330545
          ],
          "rotation_angle_deg": 0.4705015534970398,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04669959990172434,
            0.01140457545255602,
            0.022672297872694282
          ],
          "translation_xyz_cm": [
            4.669959990172434,
            1.140457545255602,
            2.2672297872694283
          ],
          "translation_norm_m": 0.05315025929440376,
          "rotation_rpy_deg_xyz": [
            0.4422807279707848,
            0.31989023520893,
            -0.38115890926659507
          ],
          "rotation_angle_deg": 0.6664560850091904,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.014447777553358188,
            0.009293306322116557,
            -0.0339174929407485
          ],
          "translation_xyz_cm": [
            1.4447777553358188,
            0.9293306322116557,
            -3.39174929407485
          ],
          "translation_norm_m": 0.03801973363943699,
          "rotation_rpy_deg_xyz": [
            0.6133830594120848,
            0.27022129610932744,
            0.13628108258484078
          ],
          "rotation_angle_deg": 0.6836926995680854,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.005622716556953506,
            0.020707480418980823,
            -0.010098613521045418
          ],
          "translation_xyz_cm": [
            0.5622716556953505,
            2.0707480418980824,
            -1.0098613521045419
          ],
          "translation_norm_m": 0.023714904212957612,
          "rotation_rpy_deg_xyz": [
            0.3017742828763355,
            0.23975635368863432,
            -0.03279109359622179
          ],
          "rotation_angle_deg": 0.3868686520623362,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.031950423034711885,
            2.9707218591024098e-05,
            -0.07152415334531535
          ],
          "translation_xyz_cm": [
            -3.1950423034711886,
            0.00297072185910241,
            -7.152415334531535
          ],
          "translation_norm_m": 0.07833603849046791,
          "rotation_rpy_deg_xyz": [
            0.6330196157388501,
            0.5815985041822255,
            0.5367690337922438
          ],
          "rotation_angle_deg": 1.0117478481643591,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.029551363096625205,
            -0.01718822263609121,
            -0.1295958427921709
          ],
          "translation_xyz_cm": [
            -2.9551363096625205,
            -1.718822263609121,
            -12.95958427921709
          ],
          "translation_norm_m": 0.13402910328458328,
          "rotation_rpy_deg_xyz": [
            0.7249245008303035,
            0.42208492481110155,
            0.40222197606629917
          ],
          "rotation_angle_deg": 0.9291396341773344,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.0309254974468276,
            -0.020363930882593334,
            -0.051123472949776996
          ],
          "translation_xyz_cm": [
            -3.09254974468276,
            -2.0363930882593335,
            -5.1123472949777
          ],
          "translation_norm_m": 0.06312436581678552,
          "rotation_rpy_deg_xyz": [
            0.5301370745418749,
            0.3943207958119903,
            0.5875191260010544
          ],
          "rotation_angle_deg": 0.8829294587106913,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03740999286786298,
            -0.038012697412351304,
            -0.07733007985358507
          ],
          "translation_xyz_cm": [
            -3.740999286786298,
            -3.8012697412351306,
            -7.733007985358507
          ],
          "translation_norm_m": 0.0939383520246038,
          "rotation_rpy_deg_xyz": [
            0.7001515462618214,
            0.854671857879406,
            0.504022002253132
          ],
          "rotation_angle_deg": 1.212201864409844,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.012937751111876783,
            -0.010551132879353053,
            -0.03065670679857446
          ],
          "translation_xyz_cm": [
            -1.2937751111876783,
            -1.0551132879353053,
            -3.065670679857446
          ],
          "translation_norm_m": 0.03490767079890028,
          "rotation_rpy_deg_xyz": [
            0.36198494354678357,
            0.3008971111901856,
            -0.08634434348935659
          ],
          "rotation_angle_deg": 0.47873929801643317,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.013116492319991513,
            -0.0016867312735686646,
            -0.21028205412466955
          ],
          "translation_xyz_cm": [
            1.3116492319991513,
            -0.16867312735686646,
            -21.028205412466956
          ],
          "translation_norm_m": 0.210697483895893,
          "rotation_rpy_deg_xyz": [
            0.006436235120281744,
            0.19552836120838354,
            0.297135283710071
          ],
          "rotation_angle_deg": 0.35574644028281466,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.011068654908585218,
            0.018271612903068654,
            -0.19504725732942763
          ],
          "translation_xyz_cm": [
            1.1068654908585218,
            1.8271612903068655,
            -19.504725732942763
          ],
          "translation_norm_m": 0.19621365791222814,
          "rotation_rpy_deg_xyz": [
            0.12831007428301602,
            -0.04952816818432277,
            0.40093327958095537
          ],
          "rotation_angle_deg": 0.4239202762224175,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.005800476340794614,
            0.006752532110722798,
            -0.13391767210102554
          ],
          "translation_xyz_cm": [
            -0.5800476340794614,
            0.6752532110722798,
            -13.391767210102554
          ],
          "translation_norm_m": 0.13421320768331355,
          "rotation_rpy_deg_xyz": [
            0.5209632459620627,
            -0.23227697760736274,
            -0.09181993918064493
          ],
          "rotation_angle_deg": 0.5775740953526642,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.00874757021346606,
            0.015789094070698173,
            -0.13665037853038559
          ],
          "translation_xyz_cm": [
            0.874757021346606,
            1.5789094070698173,
            -13.665037853038559
          ],
          "translation_norm_m": 0.13783737312032082,
          "rotation_rpy_deg_xyz": [
            -0.7674964661658625,
            0.7169534998144673,
            0.29209709094510655
          ],
          "rotation_angle_deg": 1.0914160684125922,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.009322252065248726,
            -0.002035455322972224,
            -0.061678986542036775
          ],
          "translation_xyz_cm": [
            -0.9322252065248726,
            -0.2035455322972224,
            -6.167898654203677
          ],
          "translation_norm_m": 0.062412697768904395,
          "rotation_rpy_deg_xyz": [
            -0.6924385999054452,
            0.2964601447283968,
            -0.2105873829744931
          ],
          "rotation_angle_deg": 0.7816333365963862,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.00828351536698424,
            -0.01982484580969306,
            0.07050334608340655
          ],
          "translation_xyz_cm": [
            -0.828351536698424,
            -1.982484580969306,
            7.0503346083406555
          ],
          "translation_norm_m": 0.07370456530751515,
          "rotation_rpy_deg_xyz": [
            0.3336184622861757,
            -0.3215902388066507,
            -0.48238156632580986
          ],
          "rotation_angle_deg": 0.6682130633061891,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.0019609408434754227,
            -0.002374756254913346,
            0.0015605147353553485
          ],
          "translation_xyz_cm": [
            0.19609408434754227,
            -0.2374756254913346,
            0.15605147353553483
          ],
          "translation_norm_m": 0.0034525298696928513,
          "rotation_rpy_deg_xyz": [
            0.22621184482600595,
            -0.23249026314661073,
            -0.4764680283668011
          ],
          "rotation_angle_deg": 0.5760271473832896,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.005660030864195809,
            0.015107478111636263,
            -0.06975284769804696
          ],
          "translation_xyz_cm": [
            0.5660030864195809,
            1.5107478111636263,
            -6.975284769804696
          ],
          "translation_norm_m": 0.0715942148938317,
          "rotation_rpy_deg_xyz": [
            -0.6624475601491372,
            -0.256836904281241,
            -0.30630523736315207
          ],
          "rotation_angle_deg": 0.7742948445496051,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010562141009244186,
            0.020449264255443245,
            -0.06297604004403039
          ],
          "translation_xyz_cm": [
            1.0562141009244186,
            2.0449264255443245,
            -6.297604004403039
          ],
          "translation_norm_m": 0.06705007718799007,
          "rotation_rpy_deg_xyz": [
            0.09439266660044536,
            0.03354128418620416,
            0.007100577041866337
          ],
          "rotation_angle_deg": 0.10042419437572178,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.013078460162727623,
            0.040134113374020286,
            -0.11195194961771592
          ],
          "translation_xyz_cm": [
            1.3078460162727623,
            4.013411337402029,
            -11.195194961771591
          ],
          "translation_norm_m": 0.11964544370662164,
          "rotation_rpy_deg_xyz": [
            -0.8697482458371678,
            -0.1480768269894866,
            0.16833582974942987
          ],
          "rotation_angle_deg": 0.8979678963314063,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.0070261610932721985,
            0.016578369201178056,
            -0.0536110360803175
          ],
          "translation_xyz_cm": [
            0.7026161093272199,
            1.6578369201178056,
            -5.36110360803175
          ],
          "translation_norm_m": 0.05655397823923872,
          "rotation_rpy_deg_xyz": [
            -0.9009000989928097,
            -0.05273910636938967,
            0.16605654654750157
          ],
          "rotation_angle_deg": 0.9175177645063037,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.001497311734963036,
            -0.016245448732132406,
            -0.16583106924192764
          ],
          "translation_xyz_cm": [
            -0.1497311734963036,
            -1.6245448732132406,
            -16.583106924192766
          ],
          "translation_norm_m": 0.1666316298691848,
          "rotation_rpy_deg_xyz": [
            -0.4638025026288426,
            1.689027122739734,
            -0.3328786727258601
          ],
          "rotation_angle_deg": 1.7816167127074216,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.0030703770143927778,
            0.01191466732277624,
            -0.036330058452113574
          ],
          "translation_xyz_cm": [
            -0.3070377014392778,
            1.191466732277624,
            -3.6330058452113576
          ],
          "translation_norm_m": 0.03835700274470012,
          "rotation_rpy_deg_xyz": [
            0.5676729977317706,
            0.4182398444691579,
            0.20377287449153683
          ],
          "rotation_angle_deg": 0.733385458597603,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.01445737723000562,
            0.020991635875972525,
            -0.03366317384792669
          ],
          "translation_xyz_cm": [
            1.445737723000562,
            2.0991635875972525,
            -3.3663173847926693
          ],
          "translation_norm_m": 0.04222409035889154,
          "rotation_rpy_deg_xyz": [
            0.7684470216245958,
            0.9744843093631123,
            0.19594853938341622
          ],
          "rotation_angle_deg": 1.2553683111312608,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.004543772580525296,
            0.006867913981144724,
            -0.024795033696255273
          ],
          "translation_xyz_cm": [
            -0.4543772580525296,
            0.6867913981144724,
            -2.4795033696255273
          ],
          "translation_norm_m": 0.02612676420290831,
          "rotation_rpy_deg_xyz": [
            -0.5268495314151538,
            2.389014362807181,
            0.6383057437678961
          ],
          "rotation_angle_deg": 2.5310697757029503,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.016605686918671037,
            0.014634267833917414,
            -0.007476559861917781
          ],
          "translation_xyz_cm": [
            1.6605686918671037,
            1.4634267833917414,
            -0.7476559861917781
          ],
          "translation_norm_m": 0.023362567933439857,
          "rotation_rpy_deg_xyz": [
            0.3754170287071176,
            0.31672915302275556,
            -0.011545276101289782
          ],
          "rotation_angle_deg": 0.4913371503622357,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            0.0004399575749562956,
            0.008482939299369052,
            0.010756026242157105
          ],
          "translation_xyz_cm": [
            0.04399575749562956,
            0.8482939299369052,
            1.0756026242157106
          ],
          "translation_norm_m": 0.013705689415221463,
          "rotation_rpy_deg_xyz": [
            0.01220749222764503,
            1.8649473919358657,
            0.48078516425100726
          ],
          "rotation_angle_deg": 1.9259077626308265,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.01663326833912615,
            0.009012638890500746,
            0.2407889043120313
          ],
          "translation_xyz_cm": [
            1.663326833912615,
            0.9012638890500746,
            24.078890431203128
          ],
          "translation_norm_m": 0.24153092910681337,
          "rotation_rpy_deg_xyz": [
            -0.21425576961871212,
            0.08089860617375802,
            -0.2892807018342832
          ],
          "rotation_angle_deg": 0.36884388586889244,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.006087028993551735,
            -0.007605179098087167,
            0.027577839116066365
          ],
          "translation_xyz_cm": [
            0.6087028993551735,
            -0.7605179098087167,
            2.7577839116066363
          ],
          "translation_norm_m": 0.029247698736720493,
          "rotation_rpy_deg_xyz": [
            0.3140120502856556,
            1.57525066499022,
            0.521611056847392
          ],
          "rotation_angle_deg": 1.6874741778014157,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03646730914906715,
            -0.007429735397891157,
            0.23012825721424696
          ],
          "translation_xyz_cm": [
            3.646730914906715,
            -0.7429735397891157,
            23.012825721424697
          ],
          "translation_norm_m": 0.23311816826048312,
          "rotation_rpy_deg_xyz": [
            0.20815453553090077,
            -0.1499324297124423,
            -0.2450266819100822
          ],
          "rotation_angle_deg": 0.35455962473243163,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.0353946151254545,
            0.00755212162933816,
            0.3343554671055473
          ],
          "translation_xyz_cm": [
            3.53946151254545,
            0.755212162933816,
            33.43554671055473
          ],
          "translation_norm_m": 0.33630847700340843,
          "rotation_rpy_deg_xyz": [
            -0.2940406543266296,
            0.6391386974303508,
            -0.2293572694264693
          ],
          "rotation_angle_deg": 0.7394654002831409,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.008506349264195467,
            0.012071434400522385,
            0.15192297291192308
          ],
          "translation_xyz_cm": [
            0.8506349264195467,
            1.2071434400522385,
            15.192297291192308
          ],
          "translation_norm_m": 0.15263900944610295,
          "rotation_rpy_deg_xyz": [
            0.9801872068156441,
            -1.3875182444294034,
            -0.7390935702146647
          ],
          "rotation_angle_deg": 1.8478642641547214,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.010146738762454977,
            0.02420968941446633,
            0.2088641756576748
          ],
          "translation_xyz_cm": [
            -1.0146738762454977,
            2.420968941446633,
            20.88641756576748
          ],
          "translation_norm_m": 0.210507266483175,
          "rotation_rpy_deg_xyz": [
            0.8530897983719065,
            -0.28268257421163223,
            -0.6910403064367562
          ],
          "rotation_angle_deg": 1.1323818010676363,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.003327303388096947,
            -0.012524195423037066,
            0.10515503746900104
          ],
          "translation_xyz_cm": [
            0.3327303388096947,
            -1.2524195423037066,
            10.515503746900103
          ],
          "translation_norm_m": 0.10595049940390973,
          "rotation_rpy_deg_xyz": [
            -0.6431789619561372,
            0.6816002120134335,
            0.006415269287748453
          ],
          "rotation_angle_deg": 0.937199758755503,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0017243954807127926,
            -0.004640655024457985,
            -0.05173335082370843
          ],
          "translation_xyz_cm": [
            0.17243954807127926,
            -0.4640655024457985,
            -5.173335082370843
          ],
          "translation_norm_m": 0.05196969122747242,
          "rotation_rpy_deg_xyz": [
            -0.4088325476548906,
            0.7038008988485257,
            0.09305929523078052
          ],
          "rotation_angle_deg": 0.8195150284001523,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            0.0006348178668695859,
            0.026375044741966835,
            0.035191925623644565
          ],
          "translation_xyz_cm": [
            0.06348178668695859,
            2.6375044741966835,
            3.5191925623644567
          ],
          "translation_norm_m": 0.04398315141011363,
          "rotation_rpy_deg_xyz": [
            -0.7445818153138412,
            -0.021545785806351456,
            -0.7379821838797836
          ],
          "rotation_angle_deg": 1.048657693866843,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.015383567676146015,
            -0.04136243647205484,
            -0.020541912482167614
          ],
          "translation_xyz_cm": [
            1.5383567676146015,
            -4.136243647205484,
            -2.0541912482167612
          ],
          "translation_norm_m": 0.048677258281217634,
          "rotation_rpy_deg_xyz": [
            0.21928945158048752,
            0.17836678087840258,
            -0.6416915735795427
          ],
          "rotation_angle_deg": 0.7015039811043354,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.003808325700971338,
            0.01263494614920968,
            -0.00015754658593369886
          ],
          "translation_xyz_cm": [
            0.3808325700971338,
            1.263494614920968,
            -0.015754658593369886
          ],
          "translation_norm_m": 0.013197349346169734,
          "rotation_rpy_deg_xyz": [
            -0.004072229166585534,
            0.224568771694988,
            0.14654123170934782
          ],
          "rotation_angle_deg": 0.2681871739641515,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.007504162260566716,
            -0.012880044259107992,
            -0.011040319717752878
          ],
          "translation_xyz_cm": [
            0.7504162260566716,
            -1.2880044259107992,
            -1.1040319717752878
          ],
          "translation_norm_m": 0.018549842339483574,
          "rotation_rpy_deg_xyz": [
            -1.2798054310636306,
            -0.9534785736787509,
            0.15248962768500685
          ],
          "rotation_angle_deg": 1.6021827112737996,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.007168244893041464,
            0.00265880474117218,
            0.05579366903420734
          ],
          "translation_xyz_cm": [
            0.7168244893041464,
            0.265880474117218,
            5.579366903420734
          ],
          "translation_norm_m": 0.05631506443037211,
          "rotation_rpy_deg_xyz": [
            -0.23978605413750892,
            -0.19347954393461095,
            -0.1340614928944615
          ],
          "rotation_angle_deg": 0.33617350319494377,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.007287610351404794,
            -0.027009093420932828,
            0.011489255684468389
          ],
          "translation_xyz_cm": [
            -0.7287610351404794,
            -2.700909342093283,
            1.148925568446839
          ],
          "translation_norm_m": 0.030242410423735547,
          "rotation_rpy_deg_xyz": [
            0.9015192205847944,
            0.08681840489389321,
            -0.20230751191186624
          ],
          "rotation_angle_deg": 0.9281584039245215,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.01079135854162816,
            0.02054147625377567,
            0.03313881297825094
          ],
          "translation_xyz_cm": [
            -1.079135854162816,
            2.054147625377567,
            3.313881297825094
          ],
          "translation_norm_m": 0.04045474745275138,
          "rotation_rpy_deg_xyz": [
            0.20362339466301457,
            1.2020283837049592,
            -0.2784957801004705
          ],
          "rotation_angle_deg": 1.2510315251871484,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.0021671074909486165,
            -0.030166267803071856,
            -0.06516361851235676
          ],
          "translation_xyz_cm": [
            0.21671074909486165,
            -3.0166267803071856,
            -6.5163618512356765
          ],
          "translation_norm_m": 0.07184008105276567,
          "rotation_rpy_deg_xyz": [
            0.5875558825335884,
            0.4609998337939518,
            -0.07965236006563277
          ],
          "rotation_angle_deg": 0.7513067688769995,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.01721721379744956,
            0.011384625529307524,
            -0.13572474011000724
          ],
          "translation_xyz_cm": [
            1.721721379744956,
            1.1384625529307524,
            -13.572474011000724
          ],
          "translation_norm_m": 0.13728527680461097,
          "rotation_rpy_deg_xyz": [
            0.0014385057544094495,
            0.9608870177011732,
            -0.0283275126393505
          ],
          "rotation_angle_deg": 0.9613059047947397,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.0040731705009897645,
            0.025431030850569414,
            -0.1324031842245602
          ],
          "translation_xyz_cm": [
            0.40731705009897645,
            2.5431030850569414,
            -13.24031842245602
          ],
          "translation_norm_m": 0.1348848814391575,
          "rotation_rpy_deg_xyz": [
            -0.20583895354216938,
            1.2849377578940078,
            0.21520913687321333
          ],
          "rotation_angle_deg": 1.3193708258832553,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.018385526298199117,
            0.01826169598266003,
            -0.04379710129184038
          ],
          "translation_xyz_cm": [
            -1.8385526298199117,
            1.8261695982660031,
            -4.379710129184038
          ],
          "translation_norm_m": 0.050889126530061404,
          "rotation_rpy_deg_xyz": [
            0.0989893684579667,
            0.1685083813025341,
            0.076675795329284
          ],
          "rotation_angle_deg": 0.20988285259820716,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.030906095118024668,
            0.022998466202759915,
            -0.07281837328519915
          ],
          "translation_xyz_cm": [
            -3.090609511802467,
            2.2998466202759915,
            -7.281837328519915
          ],
          "translation_norm_m": 0.08238101511286737,
          "rotation_rpy_deg_xyz": [
            0.3205919517214839,
            0.8370724366221942,
            0.32514089474038266
          ],
          "rotation_angle_deg": 0.9527115011977059,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.008726078752184119,
            0.013005432959144692,
            -0.03714192705931947
          ],
          "translation_xyz_cm": [
            -0.8726078752184119,
            1.3005432959144692,
            -3.7141927059319473
          ],
          "translation_norm_m": 0.04030891318956558,
          "rotation_rpy_deg_xyz": [
            0.46638929712082594,
            0.697681800664475,
            0.2502820426655999
          ],
          "rotation_angle_deg": 0.8749255828077164,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.009685542120729362,
            0.0008827123197421294,
            0.05543621781399344
          ],
          "translation_xyz_cm": [
            0.9685542120729362,
            0.08827123197421294,
            5.543621781399343
          ],
          "translation_norm_m": 0.056282885078257766,
          "rotation_rpy_deg_xyz": [
            1.3553268091951465,
            0.022066309180181258,
            -0.26989496897840287
          ],
          "rotation_angle_deg": 1.3821644021573776,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.008844482773376239,
            0.011053973041791343,
            0.007354166882595423
          ],
          "translation_xyz_cm": [
            -0.8844482773376239,
            1.1053973041791343,
            0.7354166882595423
          ],
          "translation_norm_m": 0.015953023728254842,
          "rotation_rpy_deg_xyz": [
            1.2547601548553928,
            0.45842643245173226,
            0.4099478198257644
          ],
          "rotation_angle_deg": 1.3958880373798794,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.021818341330403612,
            0.018341314563928623,
            0.09427138558629748
          ],
          "translation_xyz_cm": [
            2.1818341330403612,
            1.8341314563928623,
            9.427138558629748
          ],
          "translation_norm_m": 0.09848623243227124,
          "rotation_rpy_deg_xyz": [
            2.009310398275689,
            -0.2605375172351304,
            -0.49594138674450494
          ],
          "rotation_angle_deg": 2.0848505994534294,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.006617947587249429,
            0.01150842180576217,
            0.02309886555985438
          ],
          "translation_xyz_cm": [
            0.6617947587249429,
            1.150842180576217,
            2.3098865559854382
          ],
          "translation_norm_m": 0.026642045583609934,
          "rotation_rpy_deg_xyz": [
            1.7144970743354413,
            0.5203669519130223,
            0.20564783478568635
          ],
          "rotation_angle_deg": 1.8025945650813329,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.010389900803214225,
            0.01186529925041957,
            0.005157642711380445
          ],
          "translation_xyz_cm": [
            1.0389900803214225,
            1.186529925041957,
            0.5157642711380445
          ],
          "translation_norm_m": 0.01659327102595792,
          "rotation_rpy_deg_xyz": [
            0.7780451720476518,
            1.1119722028903116,
            -0.4934269812295707
          ],
          "rotation_angle_deg": 1.446626076312717,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.00013541352996382372,
            -0.01630250960364027,
            0.009961527995296336
          ],
          "translation_xyz_cm": [
            -0.013541352996382372,
            -1.630250960364027,
            0.9961527995296336
          ],
          "translation_norm_m": 0.019105554066866346,
          "rotation_rpy_deg_xyz": [
            -0.6587100415852261,
            -0.2240605217853735,
            -0.6974471968403082
          ],
          "rotation_angle_deg": 0.9860652541035315,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.005849281708567133,
            0.040908087814580885,
            0.07434636638866111
          ],
          "translation_xyz_cm": [
            -0.5849281708567133,
            4.0908087814580885,
            7.434636638866111
          ],
          "translation_norm_m": 0.08505920256120839,
          "rotation_rpy_deg_xyz": [
            -1.3398312390714697,
            -0.5396725690969726,
            0.6092220708196656
          ],
          "rotation_angle_deg": 1.5651915149277613,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.02230550916359597,
            0.025454992230004247,
            0.058547214195144484
          ],
          "translation_xyz_cm": [
            2.230550916359597,
            2.5454992230004247,
            5.854721419514449
          ],
          "translation_norm_m": 0.067625946636546,
          "rotation_rpy_deg_xyz": [
            -0.5807631684274817,
            -0.1689183508787147,
            0.48962883170125776
          ],
          "rotation_angle_deg": 0.7776341358424744,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.009152091818644292,
            -0.02425709020102007,
            0.025787620419585038
          ],
          "translation_xyz_cm": [
            -0.9152091818644292,
            -2.425709020102007,
            2.5787620419585036
          ],
          "translation_norm_m": 0.0365673156873993,
          "rotation_rpy_deg_xyz": [
            0.6672611144715639,
            -0.6886985763938718,
            -0.12912803272967815
          ],
          "rotation_angle_deg": 0.9670448538198824,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.004447584719295072,
            0.0008059892753259912,
            0.034794669467049
          ],
          "translation_xyz_cm": [
            -0.44475847192950724,
            0.08059892753259912,
            3.4794669467048998
          ],
          "translation_norm_m": 0.03508702968147118,
          "rotation_rpy_deg_xyz": [
            0.370927435300329,
            -1.2646592186187953,
            0.23336378744872377
          ],
          "rotation_angle_deg": 1.3391457676861183,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.014249037057554315,
            0.008662881437794479,
            0.0349599743036387
          ],
          "translation_xyz_cm": [
            -1.4249037057554315,
            0.8662881437794479,
            3.4959974303638703
          ],
          "translation_norm_m": 0.03873345292100768,
          "rotation_rpy_deg_xyz": [
            -0.9170060314783413,
            -1.1822125088192947,
            0.17131903518479694
          ],
          "rotation_angle_deg": 1.5048600109564099,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.008614508719718694,
            0.019976290643349826,
            -0.04879854946916989
          ],
          "translation_xyz_cm": [
            0.8614508719718694,
            1.9976290643349826,
            -4.879854946916988
          ],
          "translation_norm_m": 0.05342808604699139,
          "rotation_rpy_deg_xyz": [
            -0.4455557744195208,
            -0.42287976781743497,
            0.08653660683152153
          ],
          "rotation_angle_deg": 0.6201211840474964,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.005403245834918913,
            0.004513380846663084,
            -0.019276798958956162
          ],
          "translation_xyz_cm": [
            -0.5403245834918913,
            0.4513380846663084,
            -1.9276798958956163
          ],
          "translation_norm_m": 0.020522198964136547,
          "rotation_rpy_deg_xyz": [
            -0.07745802070064917,
            -0.21214323499402324,
            -0.05268933571760255
          ],
          "rotation_angle_deg": 0.23193913826709664,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.011161792026584738,
            0.023990901806485665,
            -0.029854056343239385
          ],
          "translation_xyz_cm": [
            1.1161792026584738,
            2.3990901806485665,
            -2.9854056343239384
          ],
          "translation_norm_m": 0.0398925262534034,
          "rotation_rpy_deg_xyz": [
            0.7688722686685902,
            0.27950412142835496,
            -0.14698837379113427
          ],
          "rotation_angle_deg": 0.8315302043695855,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.01500049579445717,
            0.01300916101456362,
            -0.034641158214888126
          ],
          "translation_xyz_cm": [
            1.500049579445717,
            1.300916101456362,
            -3.4641158214888126
          ],
          "translation_norm_m": 0.039928222936305095,
          "rotation_rpy_deg_xyz": [
            0.8499761719689687,
            0.21793753771724264,
            -0.08234610894610755
          ],
          "rotation_angle_deg": 0.8814773807055635,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.003450550833809407,
            0.00265469106567362,
            0.021022561212256635
          ],
          "translation_xyz_cm": [
            0.3450550833809407,
            0.265469106567362,
            2.1022561212256634
          ],
          "translation_norm_m": 0.02146862281642554,
          "rotation_rpy_deg_xyz": [
            1.118088512545101,
            -0.16522211706214945,
            0.018857373815566788
          ],
          "rotation_angle_deg": 1.1304139916357179,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.08579729231126754,
        "improved_pairs": 30,
        "worsened_pairs": 36,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.04173782588453678,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.200_roll_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.1,
        0.2,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.3002667883966867,
          -0.00132483596826191,
          0.7159622034133878
        ],
        "rotation_rpy_deg_xyz": [
          -0.6880496073495588,
          1.404096019030304,
          -0.8334758829122912
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.09931755660454081,
          "median": 0.05421174388785016,
          "p90": 0.15834627204447646,
          "p95": 0.21095584207103596,
          "max": 0.32611866509936216
        },
        "rotation_deg": {
          "rms": 1.0760678191977628,
          "median": 0.8776463592710988,
          "p90": 1.674292492252943,
          "p95": 1.903695315626283,
          "max": 2.3194277090275017
        },
        "normalized_pair_score": {
          "rms": 2.928699135454269,
          "median": 2.440458245810097,
          "p90": 4.658985742447703,
          "p95": 4.853862528082904,
          "max": 6.61569142350004
        },
        "normalized_global_rms": 2.928699135454269
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.013017932115307884,
          0.0136179450092212,
          0.07629687402453278
        ],
        "translation_xyz_cm": [
          -1.3017932115307884,
          1.36179450092212,
          7.629687402453278
        ],
        "translation_norm_m": 0.07858834499306092,
        "rotation_rpy_deg_xyz": [
          -0.48699228692645413,
          -0.12615705006128158,
          0.02570652600223137
        ],
        "rotation_angle_deg": 0.5036965847149959,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.648644705864238,
          "median": 0.7384894986865091,
          "p90": 2.2872153823956474,
          "p95": 3.7684382589726937,
          "max": 5.483696631022495
        },
        "height_residual_m": {
          "rms": 0.034713965171217304,
          "median": -0.0059241016060887774,
          "p90": 0.053409267341990724,
          "p95": 0.08720196104337455,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.013017932115307884,
            0.0136179450092212,
            0.07629687402453278
          ],
          "translation_xyz_cm": [
            -1.3017932115307884,
            1.36179450092212,
            7.629687402453278
          ],
          "translation_norm_m": 0.07858834499306092,
          "rotation_rpy_deg_xyz": [
            -0.48699228692645413,
            -0.12615705006128158,
            0.02570652600223137
          ],
          "rotation_angle_deg": 0.5036965847149959,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.01983834457668665,
            -0.015504585040189589,
            0.12936397253632068
          ],
          "translation_xyz_cm": [
            1.983834457668665,
            -1.550458504018959,
            12.936397253632068
          ],
          "translation_norm_m": 0.13179146202690734,
          "rotation_rpy_deg_xyz": [
            -0.21985692641757718,
            -0.2334013181664172,
            -0.3443842361043236
          ],
          "rotation_angle_deg": 0.4708734484159498,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03215841779482376,
            0.007488070882689879,
            0.1057559036558589
          ],
          "translation_xyz_cm": [
            3.2158417794823757,
            0.7488070882689879,
            10.575590365585889
          ],
          "translation_norm_m": 0.11079055103517599,
          "rotation_rpy_deg_xyz": [
            -0.1196467469432824,
            -0.3081513953342554,
            -0.39902968033958963
          ],
          "rotation_angle_deg": 0.5184145137643963,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03400237854132815,
            -0.018784816978978658,
            0.046298391215537554
          ],
          "translation_xyz_cm": [
            3.400237854132815,
            -1.8784816978978658,
            4.629839121553755
          ],
          "translation_norm_m": 0.06043651317331653,
          "rotation_rpy_deg_xyz": [
            0.3012130442605803,
            0.06178117795259717,
            -0.3507014983915448
          ],
          "rotation_angle_deg": 0.4665311935417798,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.045387311899497074,
            0.011216149960456168,
            0.02420263231449835
          ],
          "translation_xyz_cm": [
            4.538731189949708,
            1.1216149960456168,
            2.420263231449835
          ],
          "translation_norm_m": 0.05264577392676899,
          "rotation_rpy_deg_xyz": [
            0.4679653148711452,
            0.22470055626566388,
            -0.38259543754061653
          ],
          "rotation_angle_deg": 0.6454161610213566,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.012279578964766696,
            0.008072698124777178,
            -0.03246976371089197
          ],
          "translation_xyz_cm": [
            1.2279578964766698,
            0.8072698124777178,
            -3.246976371089197
          ],
          "translation_norm_m": 0.035640455524682604,
          "rotation_rpy_deg_xyz": [
            0.7090248588392039,
            0.10248398460935348,
            0.13438006756457746
          ],
          "rotation_angle_deg": 0.7287704900989723,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.004938222482159602,
            0.020608270342872242,
            -0.00938929003357111
          ],
          "translation_xyz_cm": [
            0.4938222482159602,
            2.0608270342872244,
            -0.9389290033571109
          ],
          "translation_norm_m": 0.023178559384541823,
          "rotation_rpy_deg_xyz": [
            0.3097577051373673,
            0.18664432425832636,
            -0.0336095959146478
          ],
          "rotation_angle_deg": 0.36324835841970443,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.03361905395620376,
            -0.0008442053845835185,
            -0.07070275645747724
          ],
          "translation_xyz_cm": [
            -3.3619053956203757,
            -0.08442053845835185,
            -7.070275645747724
          ],
          "translation_norm_m": 0.07829325157589791,
          "rotation_rpy_deg_xyz": [
            0.6926766766182315,
            0.4419749339111483,
            0.5346941291820502
          ],
          "rotation_angle_deg": 0.9788648264335834,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03162414796137569,
            -0.01871719701435337,
            -0.1283035384953676
          ],
          "translation_xyz_cm": [
            -3.1624147961375693,
            -1.871719701435337,
            -12.83035384953676
          ],
          "translation_norm_m": 0.13346242238468992,
          "rotation_rpy_deg_xyz": [
            0.8365623086373095,
            0.24553898238035454,
            0.4001215786438502
          ],
          "rotation_angle_deg": 0.9585324964450912,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.032077029714107724,
            -0.02084166332882062,
            -0.050810448250677244
          ],
          "translation_xyz_cm": [
            -3.2077029714107725,
            -2.084166332882062,
            -5.081044825067725
          ],
          "translation_norm_m": 0.06360041208220593,
          "rotation_rpy_deg_xyz": [
            0.5569339845376506,
            0.2971777537677473,
            0.585917552916602
          ],
          "rotation_angle_deg": 0.8602864470229568,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03910985906791155,
            -0.03902144042569072,
            -0.07637093944039589
          ],
          "translation_xyz_cm": [
            -3.9109859067911548,
            -3.9021440425690725,
            -7.637093944039589
          ],
          "translation_norm_m": 0.09425908062471355,
          "rotation_rpy_deg_xyz": [
            0.7672078626242982,
            0.7081141457067361,
            0.5017716188488857
          ],
          "rotation_angle_deg": 1.1563027790195821,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.013724739555608233,
            -0.010750937945598393,
            -0.02985952111748592
          ],
          "translation_xyz_cm": [
            -1.3724739555608232,
            -1.0750937945598393,
            -2.985952111748592
          ],
          "translation_norm_m": 0.03457661267309122,
          "rotation_rpy_deg_xyz": [
            0.37305631861552224,
            0.23811704847639364,
            -0.08733946804193757
          ],
          "rotation_angle_deg": 0.45125835251701374,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.011488634223095318,
            -0.0037719489798593714,
            -0.21151485674058076
          ],
          "translation_xyz_cm": [
            1.1488634223095318,
            -0.37719489798593714,
            -21.151485674058076
          ],
          "translation_norm_m": 0.21186021556065487,
          "rotation_rpy_deg_xyz": [
            0.1580646158298921,
            0.004332965408601208,
            0.29794391414239924
          ],
          "rotation_angle_deg": 0.33729831825279,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.009638384220401752,
            0.01673416076358522,
            -0.1968428272719935
          ],
          "translation_xyz_cm": [
            0.9638384220401752,
            1.6734160763585222,
            -19.68428272719935
          ],
          "translation_norm_m": 0.19778783894687124,
          "rotation_rpy_deg_xyz": [
            0.22133147920542845,
            -0.21564006830911459,
            0.4004193809937665
          ],
          "rotation_angle_deg": 0.5061196006354263,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.00786025470157814,
            0.004322519574601946,
            -0.1319292494888606
          ],
          "translation_xyz_cm": [
            -0.786025470157814,
            0.4322519574601946,
            -13.19292494888606
          ],
          "translation_norm_m": 0.13223386347732763,
          "rotation_rpy_deg_xyz": [
            0.7087159338677353,
            -0.429042151428882,
            -0.0920401992615858
          ],
          "rotation_angle_deg": 0.8332681971854976,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.00791305279474841,
            0.015117736796860126,
            -0.1357388985434119
          ],
          "translation_xyz_cm": [
            0.791305279474841,
            1.5117736796860126,
            -13.57388985434119
          ],
          "translation_norm_m": 0.13680720356827078,
          "rotation_rpy_deg_xyz": [
            -0.748602099535282,
            0.6349659743700895,
            0.29251668240313095
          ],
          "rotation_angle_deg": 1.0254617730161373,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.01120853564457891,
            -0.0031993310567137723,
            -0.057692160908431704
          ],
          "translation_xyz_cm": [
            -1.120853564457891,
            -0.3199331056713772,
            -5.76921609084317
          ],
          "translation_norm_m": 0.05885790024109444,
          "rotation_rpy_deg_xyz": [
            -0.6101713860139643,
            0.13766847519553718,
            -0.20895219104054746
          ],
          "rotation_angle_deg": 0.6592539646140351,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.009666304643551005,
            -0.019963527340618875,
            0.0723557213531634
          ],
          "translation_xyz_cm": [
            -0.9666304643551005,
            -1.9963527340618876,
            7.23557213531634
          ],
          "translation_norm_m": 0.07567912712153992,
          "rotation_rpy_deg_xyz": [
            0.35981425224376196,
            -0.41765907660964374,
            -0.48364320941570316
          ],
          "rotation_angle_deg": 0.7324924851119249,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.00021083493920937002,
            -0.0030697368627858324,
            0.0038741462073057023
          ],
          "translation_xyz_cm": [
            0.021083493920937002,
            -0.30697368627858324,
            0.3874146207305702
          ],
          "translation_norm_m": 0.004947397761845997,
          "rotation_rpy_deg_xyz": [
            0.2798948098075749,
            -0.36595893877722646,
            -0.4775790372102809
          ],
          "rotation_angle_deg": 0.6629430619017354,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.003631146857606571,
            0.013790956316668823,
            -0.06716235566992257
          ],
          "translation_xyz_cm": [
            0.3631146857606571,
            1.3790956316668823,
            -6.716235566992257
          ],
          "translation_norm_m": 0.06865972416754201,
          "rotation_rpy_deg_xyz": [
            -0.5652401616439944,
            -0.42552542414788325,
            -0.3044376927882022
          ],
          "rotation_angle_deg": 0.7710551210252471,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010012345431286707,
            0.020119739369975687,
            -0.06155909243799722
          ],
          "translation_xyz_cm": [
            1.0012345431286707,
            2.0119739369975687,
            -6.155909243799722
          ],
          "translation_norm_m": 0.06553299043337671,
          "rotation_rpy_deg_xyz": [
            0.10044818017110235,
            -0.012472718023224458,
            0.0065376810065954525
          ],
          "rotation_angle_deg": 0.10143120709710246,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.011999672212322343,
            0.03941316734725264,
            -0.10898097531392557
          ],
          "translation_xyz_cm": [
            1.1999672212322343,
            3.9413167347252642,
            -10.898097531392557
          ],
          "translation_norm_m": 0.1165085527930039,
          "rotation_rpy_deg_xyz": [
            -0.8425283336628414,
            -0.24594667650555593,
            0.16911866942622683
          ],
          "rotation_angle_deg": 0.8934940390715803,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.0063445205389954795,
            0.016278939380289903,
            -0.05158305071915964
          ],
          "translation_xyz_cm": [
            0.634452053899548,
            1.6278939380289903,
            -5.158305071915964
          ],
          "translation_norm_m": 0.05446161886789893,
          "rotation_rpy_deg_xyz": [
            -0.8922524435409469,
            -0.10807630768911798,
            0.1663730997139781
          ],
          "rotation_angle_deg": 0.91388954617272,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.002639858200167433,
            -0.017223605793230234,
            -0.16277183952612045
          ],
          "translation_xyz_cm": [
            -0.2639858200167433,
            -1.7223605793230234,
            -16.277183952612045
          ],
          "translation_norm_m": 0.16370184235540752,
          "rotation_rpy_deg_xyz": [
            -0.4219546296413655,
            1.5694825037371833,
            -0.332574303248646
          ],
          "rotation_angle_deg": 1.6577286006431422,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.003939894753068052,
            0.01159620225658653,
            -0.03369017215768068
          ],
          "translation_xyz_cm": [
            -0.39398947530680517,
            1.159620225658653,
            -3.369017215768068
          ],
          "translation_norm_m": 0.035847208781927195,
          "rotation_rpy_deg_xyz": [
            0.5809697215906171,
            0.34937282941870285,
            0.20246088889661396
          ],
          "rotation_angle_deg": 0.7070069620582611,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.012885381454306621,
            0.020213324587171844,
            -0.032144417792908886
          ],
          "translation_xyz_cm": [
            1.2885381454306621,
            2.0213324587171844,
            -3.2144417792908886
          ],
          "translation_norm_m": 0.040098318435246534,
          "rotation_rpy_deg_xyz": [
            0.819712559149489,
            0.8436253477040967,
            0.1935904856231919
          ],
          "rotation_angle_deg": 1.191116992875964,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.006664911601660606,
            0.0031301732303883334,
            -0.0200035023689703
          ],
          "translation_xyz_cm": [
            -0.6664911601660606,
            0.31301732303883334,
            -2.00035023689703
          ],
          "translation_norm_m": 0.021315701680582565,
          "rotation_rpy_deg_xyz": [
            -0.234332046117054,
            2.214504521790122,
            0.6442262182453095
          ],
          "rotation_angle_deg": 2.3194277090275017,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.015702995125691066,
            0.014413236617246916,
            -0.006537976024776855
          ],
          "translation_xyz_cm": [
            1.5702995125691066,
            1.4413236617246916,
            -0.6537976024776855
          ],
          "translation_norm_m": 0.02229507964109529,
          "rotation_rpy_deg_xyz": [
            0.3896690398585717,
            0.24542977439821137,
            -0.012653036793608265
          ],
          "rotation_angle_deg": 0.4607154448821106,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.002103537913360487,
            0.005548280524320548,
            0.015699228387622267
          ],
          "translation_xyz_cm": [
            -0.2103537913360487,
            0.5548280524320548,
            1.5699228387622266
          ],
          "translation_norm_m": 0.016783148110417916,
          "rotation_rpy_deg_xyz": [
            0.23764307206691626,
            1.669428150172129,
            0.48318928967281216
          ],
          "rotation_angle_deg": 1.753159980102663,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.01425933302998783,
            0.00431887674250353,
            0.23751511274611473
          ],
          "translation_xyz_cm": [
            1.425933302998783,
            0.431887674250353,
            23.751511274611474
          ],
          "translation_norm_m": 0.23798195321825694,
          "rotation_rpy_deg_xyz": [
            0.11940686784989951,
            -0.0649432779613318,
            -0.28299549226361076
          ],
          "rotation_angle_deg": 0.3138849105795759,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.0035399890072618234,
            -0.00958210140124699,
            0.031842941692668734
          ],
          "translation_xyz_cm": [
            0.35399890072618234,
            -0.958210140124699,
            3.1842941692668734
          ],
          "translation_norm_m": 0.03344130866276042,
          "rotation_rpy_deg_xyz": [
            0.4667815105795986,
            1.3837710520905426,
            0.5214136240856849
          ],
          "rotation_angle_deg": 1.5487659772153461,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03346921358318955,
            -0.01107419703564938,
            0.22653923535239004
          ],
          "translation_xyz_cm": [
            3.346921358318955,
            -1.107419703564938,
            22.653923535239002
          ],
          "translation_norm_m": 0.22926589639958905,
          "rotation_rpy_deg_xyz": [
            0.4798249841779736,
            -0.33378257655495847,
            -0.24200606018272505
          ],
          "rotation_angle_deg": 0.6320855365331995,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.03302500441886491,
            0.0024480583808834666,
            0.3244329511925194
          ],
          "translation_xyz_cm": [
            3.302500441886491,
            0.24480583808834666,
            32.44329511925194
          ],
          "translation_norm_m": 0.32611866509936216,
          "rotation_rpy_deg_xyz": [
            0.05097218713694677,
            0.5042919230940032,
            -0.22247898864767532
          ],
          "rotation_angle_deg": 0.5536288288411338,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.006687846004071352,
            0.012135619913909323,
            0.1523619186741018
          ],
          "translation_xyz_cm": [
            0.6687846004071352,
            1.2135619913909323,
            15.236191867410179
          ],
          "translation_norm_m": 0.1529907017335454,
          "rotation_rpy_deg_xyz": [
            1.017414852445509,
            -1.5007391101032885,
            -0.741716175060454
          ],
          "rotation_angle_deg": 1.953873760800823,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.013106862460808166,
            0.023488267446107436,
            0.20649828703671194
          ],
          "translation_xyz_cm": [
            -1.3106862460808166,
            2.3488267446107436,
            20.649828703671194
          ],
          "translation_norm_m": 0.20824272160217916,
          "rotation_rpy_deg_xyz": [
            0.9560058968720943,
            -0.45464073045523223,
            -0.6936011235526104
          ],
          "rotation_angle_deg": 1.2635062040532659,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.002090127704166278,
            -0.012484495166692033,
            0.10620593932795044
          ],
          "translation_xyz_cm": [
            0.2090127704166278,
            -1.2484495166692033,
            10.620593932795044
          ],
          "translation_norm_m": 0.10695762152328918,
          "rotation_rpy_deg_xyz": [
            -0.6225024149839725,
            0.5959053156587848,
            0.006689322250610905
          ],
          "rotation_angle_deg": 0.8617986794706172,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            -3.2157678040878324e-05,
            -0.005499872216122359,
            -0.046225606869712874
          ],
          "translation_xyz_cm": [
            -0.0032157678040878324,
            -0.5499872216122359,
            -4.622560686971287
          ],
          "translation_norm_m": 0.04655165259132244,
          "rotation_rpy_deg_xyz": [
            -0.3482010749585525,
            0.5632329830802514,
            0.09353902827139053
          ],
          "rotation_angle_deg": 0.6689873194782009,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            -0.0007511322684967681,
            0.02593564448339669,
            0.0343994103711647
          ],
          "translation_xyz_cm": [
            -0.0751132268496768,
            2.593564448339669,
            3.43994103711647
          ],
          "translation_norm_m": 0.0430876001691637,
          "rotation_rpy_deg_xyz": [
            -0.7086879115057579,
            -0.13299771174088573,
            -0.7372227758705762
          ],
          "rotation_angle_deg": 1.031808960510595,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.013277145349635422,
            -0.04248866777442739,
            -0.01059231484054184
          ],
          "translation_xyz_cm": [
            1.3277145349635422,
            -4.248866777442739,
            -1.0592314840541839
          ],
          "translation_norm_m": 0.04575769456126667,
          "rotation_rpy_deg_xyz": [
            0.2953432993096583,
            0.024276594342236574,
            -0.642640752760065
          ],
          "rotation_angle_deg": 0.7077313416720086,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.001794393297110286,
            0.011860863916217657,
            0.010781973120621735
          ],
          "translation_xyz_cm": [
            0.1794393297110286,
            1.1860863916217657,
            1.0781973120621735
          ],
          "translation_norm_m": 0.016129193548270103,
          "rotation_rpy_deg_xyz": [
            0.05322103816012282,
            0.0873148989234108,
            0.14599742270015667
          ],
          "rotation_angle_deg": 0.1782127115159501,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.005915857270801794,
            -0.013186374289907932,
            -0.004898498461515383
          ],
          "translation_xyz_cm": [
            0.5915857270801794,
            -1.3186374289907932,
            -0.48984984615153826
          ],
          "translation_norm_m": 0.015260180907823863,
          "rotation_rpy_deg_xyz": [
            -1.2480103106897278,
            -1.058843996491766,
            0.15414421877221693
          ],
          "rotation_angle_deg": 1.642814571668502,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.004374287039567326,
            0.0007838937654551098,
            0.0604585256615161
          ],
          "translation_xyz_cm": [
            0.4374287039567326,
            0.07838937654551098,
            6.04585256615161
          ],
          "translation_norm_m": 0.06062163146686376,
          "rotation_rpy_deg_xyz": [
            -0.08806771004129846,
            -0.3846944983171834,
            -0.1324291932841721
          ],
          "rotation_angle_deg": 0.41636699811798167,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.007997996819602449,
            -0.032217990788736495,
            0.015488778343847528
          ],
          "translation_xyz_cm": [
            -0.7997996819602449,
            -3.2217990788736497,
            1.548877834384753
          ],
          "translation_norm_m": 0.03663153202057376,
          "rotation_rpy_deg_xyz": [
            1.2958400450806427,
            0.04266646215682582,
            -0.1941017916906235
          ],
          "rotation_angle_deg": 1.3110617730447771,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.012670868387613554,
            0.01992757793276212,
            0.037825590104856865
          ],
          "translation_xyz_cm": [
            -1.2670868387613554,
            1.992757793276212,
            3.7825590104856865
          ],
          "translation_norm_m": 0.044591866239743524,
          "rotation_rpy_deg_xyz": [
            0.2599509179968717,
            1.0657478885400091,
            -0.27954207491021793
          ],
          "rotation_angle_deg": 1.1326447576219019,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.0004199725898179629,
            -0.03298459317517233,
            -0.053765968998156596
          ],
          "translation_xyz_cm": [
            -0.04199725898179629,
            -3.2984593175172328,
            -5.3765968998156595
          ],
          "translation_norm_m": 0.0630788331076167,
          "rotation_rpy_deg_xyz": [
            0.7918610937070613,
            0.2639023368677551,
            -0.07973284213892447
          ],
          "rotation_angle_deg": 0.8386509098504318,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.016230180908550107,
            0.00655784058089548,
            -0.11891122281659616
          ],
          "translation_xyz_cm": [
            1.6230180908550107,
            0.655784058089548,
            -11.891122281659616
          ],
          "translation_norm_m": 0.12019277414697975,
          "rotation_rpy_deg_xyz": [
            0.38692637644802275,
            0.8888747430593863,
            -0.02012409085729838
          ],
          "rotation_angle_deg": 0.9697077369388957,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.00440160186338967,
            0.020584168597544306,
            -0.11877208815026812
          ],
          "translation_xyz_cm": [
            0.44016018633896703,
            2.0584168597544306,
            -11.877208815026812
          ],
          "translation_norm_m": 0.1206229290781441,
          "rotation_rpy_deg_xyz": [
            0.1916882068648239,
            1.319628086391854,
            0.2254135487757883
          ],
          "rotation_angle_deg": 1.3520261902008246,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.020605994652241666,
            0.016581126614279462,
            -0.03964270443966929
          ],
          "translation_xyz_cm": [
            -2.0605994652241666,
            1.6581126614279462,
            -3.964270443966929
          ],
          "translation_norm_m": 0.0476558998519381,
          "rotation_rpy_deg_xyz": [
            0.22278781569591202,
            -0.013537867412669194,
            0.07669208081428176
          ],
          "rotation_angle_deg": 0.23601565492143653,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.033145084106716016,
            0.020079745497173396,
            -0.07041504316578547
          ],
          "translation_xyz_cm": [
            -3.3145084106716016,
            2.0079745497173396,
            -7.041504316578546
          ],
          "translation_norm_m": 0.08037456739362249,
          "rotation_rpy_deg_xyz": [
            0.5509740610289262,
            0.6422465045093532,
            0.32662070486861217
          ],
          "rotation_angle_deg": 0.9059314169765579,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.010013261615174407,
            0.012526696010335514,
            -0.034896567845720705
          ],
          "translation_xyz_cm": [
            -1.0013261615174407,
            1.2526696010335514,
            -3.4896567845720705
          ],
          "translation_norm_m": 0.038405129455845725,
          "rotation_rpy_deg_xyz": [
            0.4966800732158183,
            0.5947067685194851,
            0.248742067360889
          ],
          "rotation_angle_deg": 0.812990987051528,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.007518281622342471,
            -0.0030199598314828435,
            0.05498157598284424
          ],
          "translation_xyz_cm": [
            0.7518281622342471,
            -0.30199598314828435,
            5.498157598284424
          ],
          "translation_norm_m": 0.05557533997641308,
          "rotation_rpy_deg_xyz": [
            1.6634984243109143,
            -0.14333359187958822,
            -0.2689789923828324
          ],
          "rotation_angle_deg": 1.6908563838627437,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.010343954282202361,
            0.006091474608785008,
            0.017287273250941357
          ],
          "translation_xyz_cm": [
            -1.0343954282202361,
            0.6091474608785008,
            1.7287273250941357
          ],
          "translation_norm_m": 0.021046455035337367,
          "rotation_rpy_deg_xyz": [
            1.6215760807623987,
            0.35089750032929207,
            0.4147554148577664
          ],
          "rotation_angle_deg": 1.7089531595917278,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.01945950005563235,
            0.016193541920977772,
            0.08523839699328972
          ],
          "translation_xyz_cm": [
            1.945950005563235,
            1.6193541920977772,
            8.523839699328972
          ],
          "translation_norm_m": 0.08891843039745631,
          "rotation_rpy_deg_xyz": [
            2.214999368144162,
            -0.4575397243207946,
            -0.5008798467259478
          ],
          "rotation_angle_deg": 2.314633272255785,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.004206689245159989,
            0.007523653449277745,
            0.03157185146675964
          ],
          "translation_xyz_cm": [
            0.4206689245159989,
            0.7523653449277745,
            3.1571851466759644
          ],
          "translation_norm_m": 0.03272741054023839,
          "rotation_rpy_deg_xyz": [
            2.0002777012985367,
            0.3425368948038387,
            0.20443638646340861
          ],
          "rotation_angle_deg": 2.039062434787097,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.008781302678148695,
            0.006930614080590702,
            0.015512996253103276
          ],
          "translation_xyz_cm": [
            0.8781302678148695,
            0.6930614080590702,
            1.5512996253103275
          ],
          "translation_norm_m": 0.01912583961576955,
          "rotation_rpy_deg_xyz": [
            1.14148402182609,
            0.9994427669670941,
            -0.4879592132363607
          ],
          "rotation_angle_deg": 1.5967607472864411,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0014994559028700394,
            -0.01654796174426343,
            0.013149610887739083
          ],
          "translation_xyz_cm": [
            -0.14994559028700394,
            -1.6547961744263429,
            1.3149610887739083
          ],
          "translation_norm_m": 0.021189517983975094,
          "rotation_rpy_deg_xyz": [
            -0.6315599512326644,
            -0.3218116038887659,
            -0.6970262115921333
          ],
          "rotation_angle_deg": 0.9953599910223782,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0042164880377972835,
            0.04068600076668827,
            0.06382172697406434
          ],
          "translation_xyz_cm": [
            -0.42164880377972835,
            4.068600076668827,
            6.382172697406434
          ],
          "translation_norm_m": 0.07580463220484522,
          "rotation_rpy_deg_xyz": [
            -1.3156911465186127,
            -0.44145388009391223,
            0.6088879086073773
          ],
          "rotation_angle_deg": 1.513429918568732,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.025346406474271,
            0.023877560196617686,
            0.0412226284208161
          ],
          "translation_xyz_cm": [
            2.5346406474271,
            2.3877560196617686,
            4.12226284208161
          ],
          "translation_norm_m": 0.0539618689078014,
          "rotation_rpy_deg_xyz": [
            -0.4383357914399517,
            0.025533281150201273,
            0.4940616729484009
          ],
          "rotation_angle_deg": 0.661046491067773,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.0071882621904129085,
            -0.024809734875171907,
            0.020369392135433186
          ],
          "translation_xyz_cm": [
            -0.7188262190412908,
            -2.4809734875171907,
            2.0369392135433184
          ],
          "translation_norm_m": 0.03289538256140956,
          "rotation_rpy_deg_xyz": [
            0.7232951016153538,
            -0.54693962393305,
            -0.12408306725311925
          ],
          "rotation_angle_deg": 0.9147864986566497,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.0026191289076589186,
            0.00042793997181950205,
            0.02925121531401631
          ],
          "translation_xyz_cm": [
            -0.26191289076589186,
            0.042793997181950205,
            2.925121531401631
          ],
          "translation_norm_m": 0.029371356219986808,
          "rotation_rpy_deg_xyz": [
            0.41274562167094014,
            -1.139262541141826,
            0.2369732815309715
          ],
          "rotation_angle_deg": 1.2354641040164327,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.01133854338900031,
            0.006277729035329971,
            0.025806871515065652
          ],
          "translation_xyz_cm": [
            -1.133854338900031,
            0.6277729035329971,
            2.5806871515065652
          ],
          "translation_norm_m": 0.028878487935146024,
          "rotation_rpy_deg_xyz": [
            -0.7247604553303281,
            -0.9794384570991861,
            0.17591307498083045
          ],
          "rotation_angle_deg": 1.2301745445583785,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.010738525195524207,
            0.016286270208435982,
            -0.04796054080269111
          ],
          "translation_xyz_cm": [
            1.0738525195524207,
            1.6286270208435982,
            -4.796054080269111
          ],
          "translation_norm_m": 0.05177617207522874,
          "rotation_rpy_deg_xyz": [
            -0.14872751926920416,
            -0.24512552901504017,
            0.09532935805965427
          ],
          "rotation_angle_deg": 0.30204863242621327,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.0033747558477470463,
            0.0036871762667178842,
            -0.024478586432092192
          ],
          "translation_xyz_cm": [
            -0.33747558477470463,
            0.3687176266717884,
            -2.4478586432092193
          ],
          "translation_norm_m": 0.024983703479811766,
          "rotation_rpy_deg_xyz": [
            -0.008168726135522247,
            -0.057842414825320244,
            -0.04898525449319768
          ],
          "rotation_angle_deg": 0.07623930710928334,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.013476039869520395,
            0.02175086923545755,
            -0.026259497268802584
          ],
          "translation_xyz_cm": [
            1.3476039869520395,
            2.175086923545755,
            -2.6259497268802585
          ],
          "translation_norm_m": 0.03666422179554787,
          "rotation_rpy_deg_xyz": [
            0.93548800376033,
            0.4794160617907114,
            -0.13718381498058635
          ],
          "rotation_angle_deg": 1.0605966008102643,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.016225851507391198,
            0.012520378792477582,
            -0.03281680750957035
          ],
          "translation_xyz_cm": [
            1.6225851507391198,
            1.2520378792477582,
            -3.281680750957035
          ],
          "translation_norm_m": 0.03869083867490112,
          "rotation_rpy_deg_xyz": [
            0.8773698405174778,
            0.3218421256722765,
            -0.07867923811740489
          ],
          "rotation_angle_deg": 0.9380491523300574,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.004574405722232999,
            0.0024963085108008487,
            0.01988339752452991
          ],
          "translation_xyz_cm": [
            0.4574405722232999,
            0.24963085108008487,
            1.9883397524529909
          ],
          "translation_norm_m": 0.020554956604458618,
          "rotation_rpy_deg_xyz": [
            1.1362015598108992,
            -0.0791255451490655,
            0.02218031439651488
          ],
          "rotation_angle_deg": 1.1391845260639735,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.07305774401162113,
        "improved_pairs": 29,
        "worsened_pairs": 37,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.028170056427377133,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.300_roll_-0.200",
      "body_left_rpy_correction_deg_xyz": [
        -0.2,
        0.3,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.301514381728528,
          0.0024476764333135038,
          0.7136887808759609
        ],
        "rotation_rpy_deg_xyz": [
          -0.98957173596909,
          1.4997049033829544,
          -0.8398067936647792
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.102893833307342,
          "median": 0.058647822415504244,
          "p90": 0.1612773573681593,
          "p95": 0.20899250501296773,
          "max": 0.34102879485003584
        },
        "rotation_deg": {
          "rms": 1.1155635852142416,
          "median": 0.9032016705641412,
          "p90": 1.7237961721609267,
          "p95": 1.8523188479157913,
          "max": 2.7649230606587203
        },
        "normalized_pair_score": {
          "rms": 3.035256961724302,
          "median": 2.567240614380259,
          "p90": 4.665150885339164,
          "p95": 4.867844831646721,
          "max": 7.1030716468727
        },
        "normalized_global_rms": 3.035256961724302
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.01208464163388967,
          0.013039256664958754,
          0.07327791948984122
        ],
        "translation_xyz_cm": [
          -1.208464163388967,
          1.3039256664958754,
          7.327791948984122
        ],
        "translation_norm_m": 0.07540367539154748,
        "rotation_rpy_deg_xyz": [
          -0.473130282285162,
          -0.05481315085147722,
          0.026504623063242874
        ],
        "rotation_angle_deg": 0.47701910095086286,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.7135991876939975,
          "median": 0.7501993496833461,
          "p90": 2.4068068761684835,
          "p95": 3.7744794821981595,
          "max": 5.799621427831512
        },
        "height_residual_m": {
          "rms": 0.03471396517121731,
          "median": -0.0059241016060887774,
          "p90": 0.0534092673419908,
          "p95": 0.08720196104337465,
          "max": 0.12336745254185413
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.01208464163388967,
            0.013039256664958754,
            0.07327791948984122
          ],
          "translation_xyz_cm": [
            -1.208464163388967,
            1.3039256664958754,
            7.327791948984122
          ],
          "translation_norm_m": 0.07540367539154748,
          "rotation_rpy_deg_xyz": [
            -0.473130282285162,
            -0.05481315085147722,
            0.026504623063242874
          ],
          "rotation_angle_deg": 0.47701910095086286,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.021856702474127743,
            -0.01628389507877359,
            0.12457968141647374
          ],
          "translation_xyz_cm": [
            2.1856702474127743,
            -1.6283895078773591,
            12.457968141647374
          ],
          "translation_norm_m": 0.12752638042306833,
          "rotation_rpy_deg_xyz": [
            -0.20871087549424475,
            -0.08992908671513256,
            -0.34253766498908095
          ],
          "rotation_angle_deg": 0.4112074527490782,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.035418549287047574,
            0.007048460250196342,
            0.09992321493663883
          ],
          "translation_xyz_cm": [
            3.5418549287047574,
            0.7048460250196342,
            9.992321493663884
          ],
          "translation_norm_m": 0.10624878026956987,
          "rotation_rpy_deg_xyz": [
            -0.1325116884956509,
            -0.08321580241890679,
            -0.3965573320358145
          ],
          "rotation_angle_deg": 0.4264014012649048,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03492113210345826,
            -0.01917063699226018,
            0.043686431140914604
          ],
          "translation_xyz_cm": [
            3.4921132103458263,
            -1.9170636992260182,
            4.36864311409146
          ],
          "translation_norm_m": 0.05912277950084951,
          "rotation_rpy_deg_xyz": [
            0.31504066977001116,
            0.13261028984895482,
            -0.3489329964018299
          ],
          "rotation_angle_deg": 0.48871706557315686,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.047455720349456776,
            0.010896347048949373,
            0.020434654121718302
          ],
          "translation_xyz_cm": [
            4.745572034945678,
            1.0896347048949373,
            2.0434654121718303
          ],
          "translation_norm_m": 0.05280483748645812,
          "rotation_rpy_deg_xyz": [
            0.47703065368728603,
            0.3803013815445009,
            -0.3788042681618934
          ],
          "rotation_angle_deg": 0.7189417739675726,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.016150586430554087,
            0.008889638740942285,
            -0.03651277811010629
          ],
          "translation_xyz_cm": [
            1.6150586430554088,
            0.8889638740942285,
            -3.6512778110106288
          ],
          "translation_norm_m": 0.0409029349107508,
          "rotation_rpy_deg_xyz": [
            0.6494190209484018,
            0.40185303550142704,
            0.14080163513652716
          ],
          "rotation_angle_deg": 0.776152485822299,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.006009442582104266,
            0.02042712987058473,
            -0.01057252059667046
          ],
          "translation_xyz_cm": [
            0.6009442582104266,
            2.042712987058473,
            -1.057252059667046
          ],
          "translation_norm_m": 0.023773077770124006,
          "rotation_rpy_deg_xyz": [
            0.32433561928513177,
            0.27029118428046195,
            -0.03155254579717572
          ],
          "rotation_angle_deg": 0.42343188185652425,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.030687010660929437,
            -0.00034129043824709937,
            -0.07245287795032951
          ],
          "translation_xyz_cm": [
            -3.0687010660929435,
            -0.03412904382470994,
            -7.245287795032951
          ],
          "translation_norm_m": 0.07868436074438541,
          "rotation_rpy_deg_xyz": [
            0.6730124459047927,
            0.6811965056320695,
            0.5405490692126742
          ],
          "rotation_angle_deg": 1.0976476543806457,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.027761910937621648,
            -0.0174170140068286,
            -0.13108813018387538
          ],
          "translation_xyz_cm": [
            -2.776191093762165,
            -1.7417014006828602,
            -13.108813018387538
          ],
          "translation_norm_m": 0.13512281062399184,
          "rotation_rpy_deg_xyz": [
            0.7573773307817553,
            0.5661111304691714,
            0.4072673593732334
          ],
          "rotation_angle_deg": 1.0280626502325205,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.03011089405543875,
            -0.02068414696155768,
            -0.05164464762054739
          ],
          "translation_xyz_cm": [
            -3.011089405543875,
            -2.0684146961557683,
            -5.164464762054739
          ],
          "translation_norm_m": 0.06325875041601504,
          "rotation_rpy_deg_xyz": [
            0.5653109891689735,
            0.4562630231205246,
            0.590017108953984
          ],
          "rotation_angle_deg": 0.934457166253611,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03606793570157982,
            -0.03832958223109706,
            -0.0784315437487233
          ],
          "translation_xyz_cm": [
            -3.606793570157982,
            -3.832958223109706,
            -7.84315437487233
          ],
          "translation_norm_m": 0.09445400952099188,
          "rotation_rpy_deg_xyz": [
            0.7399277947464856,
            0.9614365712140539,
            0.5081204355372686
          ],
          "rotation_angle_deg": 1.3129007580472671,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.012451944260278694,
            -0.010832645884559428,
            -0.03111707421378177
          ],
          "translation_xyz_cm": [
            -1.2451944260278693,
            -1.0832645884559429,
            -3.1117074213781772
          ],
          "translation_norm_m": 0.03522313785492928,
          "rotation_rpy_deg_xyz": [
            0.3878371998164776,
            0.3378071270643779,
            -0.08484330931531564
          ],
          "rotation_angle_deg": 0.5214626131111922,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.014979582998971841,
            -0.0014581379812270284,
            -0.2099519041142579
          ],
          "translation_xyz_cm": [
            1.497958299897184,
            -0.14581379812270284,
            -20.99519041142579
          ],
          "translation_norm_m": 0.21049065564627312,
          "rotation_rpy_deg_xyz": [
            0.026182168028126344,
            0.3669141538032287,
            0.3004922661181984
          ],
          "rotation_angle_deg": 0.4749277935294012,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.012574119833949626,
            0.018319141728629126,
            -0.1946798900896417
          ],
          "translation_xyz_cm": [
            1.2574119833949626,
            1.8319141728629127,
            -19.46798900896417
          ],
          "translation_norm_m": 0.19594376501585117,
          "rotation_rpy_deg_xyz": [
            0.16481731887534973,
            0.080005673042547,
            0.40431193924169234
          ],
          "rotation_angle_deg": 0.4437799078166375,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.0035778829227025577,
            0.006987533039174598,
            -0.13532239125067366
          ],
          "translation_xyz_cm": [
            -0.35778829227025577,
            0.6987533039174598,
            -13.532239125067367
          ],
          "translation_norm_m": 0.13554990386563365,
          "rotation_rpy_deg_xyz": [
            0.5253922517195333,
            -0.04008234859107405,
            -0.08680218438530024
          ],
          "rotation_angle_deg": 0.5339908835455367,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.009524985065067382,
            0.01572459484953015,
            -0.1400006389503744
          ],
          "translation_xyz_cm": [
            0.9524985065067382,
            1.572459484953015,
            -14.00006389503744
          ],
          "translation_norm_m": 0.14120257480012435,
          "rotation_rpy_deg_xyz": [
            -0.7359504803280884,
            0.7673934748040167,
            0.2930603344317491
          ],
          "rotation_angle_deg": 1.10420937508025,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.007775667058880276,
            -0.0023443733761543406,
            -0.06542895893233319
          ],
          "translation_xyz_cm": [
            -0.7775667058880276,
            -0.23443733761543406,
            -6.542895893233319
          ],
          "translation_norm_m": 0.06593106818265816,
          "rotation_rpy_deg_xyz": [
            -0.6541965223785923,
            0.41699294917611507,
            -0.2090607218091834
          ],
          "rotation_angle_deg": 0.8028478455370961,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.007587093923854482,
            -0.02044922878035134,
            0.07123664624184298
          ],
          "translation_xyz_cm": [
            -0.7587093923854482,
            -2.044922878035134,
            7.123664624184298
          ],
          "translation_norm_m": 0.0745009712668635,
          "rotation_rpy_deg_xyz": [
            0.3685325018616431,
            -0.26048854632734314,
            -0.4801211656789722
          ],
          "rotation_angle_deg": 0.6583167608108,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.003144810627101813,
            -0.002873007677882622,
            0.0010175579397699516
          ],
          "translation_xyz_cm": [
            0.3144810627101813,
            -0.2873007677882622,
            0.10175579397699516
          ],
          "translation_norm_m": 0.004379432743894335,
          "rotation_rpy_deg_xyz": [
            0.26607166429433904,
            -0.1389489700924768,
            -0.4735234266883899
          ],
          "rotation_angle_deg": 0.5603742424401951,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.007344547647743782,
            0.014800805685669771,
            -0.07178242199737835
          ],
          "translation_xyz_cm": [
            0.7344547647743782,
            1.4800805685669771,
            -7.178242199737834
          ],
          "translation_norm_m": 0.07365950269248794,
          "rotation_rpy_deg_xyz": [
            -0.626753686598787,
            -0.12387646512787955,
            -0.30471851047637966
          ],
          "rotation_angle_deg": 0.7081177402078626,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.011007466859051462,
            0.020372772560280694,
            -0.06448972101567134
          ],
          "translation_xyz_cm": [
            1.1007466859051462,
            2.0372772560280694,
            -6.448972101567134
          ],
          "translation_norm_m": 0.06852107927583426,
          "rotation_rpy_deg_xyz": [
            0.11436566790442429,
            0.0595661259045448,
            0.008080262815954344
          ],
          "rotation_angle_deg": 0.12919736092408854,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.014025449169186355,
            0.04000169778763918,
            -0.11536481266956945
          ],
          "translation_xyz_cm": [
            1.4025449169186355,
            4.000169778763918,
            -11.536481266956946
          ],
          "translation_norm_m": 0.12290601715366054,
          "rotation_rpy_deg_xyz": [
            -0.8344446994448821,
            -0.08552564233068592,
            0.16932447128424916
          ],
          "rotation_angle_deg": 0.8556119565077912,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.007538925567035004,
            0.016416196137580608,
            -0.0555422360593153
          ],
          "translation_xyz_cm": [
            0.7538925567035004,
            1.6416196137580608,
            -5.554223605931529
          ],
          "translation_norm_m": 0.05840605174809812,
          "rotation_rpy_deg_xyz": [
            -0.8775660451684503,
            -0.020744209052822916,
            0.1666750795183922
          ],
          "rotation_angle_deg": 0.8934649176086595,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.00048299696699083405,
            -0.016297124384176964,
            -0.17174414804376578
          ],
          "translation_xyz_cm": [
            -0.048299696699083405,
            -1.6297124384176964,
            -17.17441480437658
          ],
          "translation_norm_m": 0.17251632368139078,
          "rotation_rpy_deg_xyz": [
            -0.42492381204305896,
            1.7697138959260355,
            -0.3311983829210027
          ],
          "rotation_angle_deg": 1.8487210197879693,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.002492684371473819,
            0.011693925454111964,
            -0.038763265674629066
          ],
          "translation_xyz_cm": [
            -0.2492684371473819,
            1.1693925454111964,
            -3.8763265674629066
          ],
          "translation_norm_m": 0.040565405626765194,
          "rotation_rpy_deg_xyz": [
            0.5954604225262117,
            0.4593022994732532,
            0.2055663008986702
          ],
          "rotation_angle_deg": 0.7789771903942916,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.015626273658449596,
            0.020721536863292034,
            -0.0384440439231334
          ],
          "translation_xyz_cm": [
            1.5626273658449596,
            2.0721536863292034,
            -3.84440439231334
          ],
          "translation_norm_m": 0.04638434037031611,
          "rotation_rpy_deg_xyz": [
            0.808274481683889,
            1.065510960047381,
            0.19970118939018527
          ],
          "rotation_angle_deg": 1.3511030374499777,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.0017396743235238432,
            0.007664245055356567,
            -0.03266203468531201
          ],
          "translation_xyz_cm": [
            -0.17396743235238432,
            0.7664245055356567,
            -3.266203468531201
          ],
          "translation_norm_m": 0.03359427970361934,
          "rotation_rpy_deg_xyz": [
            -0.5857915030951795,
            2.622431757211252,
            0.638371590113869
          ],
          "rotation_angle_deg": 2.7649230606587203,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.017203514975057566,
            0.014371987950761111,
            -0.010862531228842204
          ],
          "translation_xyz_cm": [
            1.7203514975057566,
            1.4371987950761111,
            -1.0862531228842203
          ],
          "translation_norm_m": 0.024910029101777954,
          "rotation_rpy_deg_xyz": [
            0.4039385970423517,
            0.3594868397373558,
            -0.009831538600971306
          ],
          "rotation_angle_deg": 0.5408495339506397,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            0.0030950451100084653,
            0.008719863351088764,
            0.0045604298959720825
          ],
          "translation_xyz_cm": [
            0.3095045110008465,
            0.8719863351088764,
            0.45604298959720824
          ],
          "translation_norm_m": 0.010315660033692668,
          "rotation_rpy_deg_xyz": [
            -0.0026784990993738585,
            2.075367149021988,
            0.4838730038602838
          ],
          "rotation_angle_deg": 2.131035055200222,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.020252172115300504,
            0.010169324313240136,
            0.2389636062532431
          ],
          "translation_xyz_cm": [
            2.0252172115300504,
            1.0169324313240136,
            23.89636062532431
          ],
          "translation_norm_m": 0.2400357697217867,
          "rotation_rpy_deg_xyz": [
            -0.3082428961375435,
            0.3206606437176471,
            -0.28882514093282485
          ],
          "rotation_angle_deg": 0.5298659945657888,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.008299099435876034,
            -0.007884001977133348,
            0.025404712682173446
          ],
          "translation_xyz_cm": [
            0.8299099435876034,
            -0.7884001977133348,
            2.5404712682173445
          ],
          "translation_norm_m": 0.027864528797124578,
          "rotation_rpy_deg_xyz": [
            0.3334328702890166,
            1.7473310495028265,
            0.5258940929215999
          ],
          "rotation_angle_deg": 1.8535181239583984,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03984200721196962,
            -0.00712810781373352,
            0.23065673457958652
          ],
          "translation_xyz_cm": [
            3.984200721196962,
            -0.712810781373352,
            23.065673457958653
          ],
          "translation_norm_m": 0.23418096563683538,
          "rotation_rpy_deg_xyz": [
            0.1641500556785251,
            0.07780319475820995,
            -0.24166897865671275
          ],
          "rotation_angle_deg": 0.30241740823885727,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.03917801071856508,
            0.008855978791005636,
            0.3386551255077311
          ],
          "translation_xyz_cm": [
            3.917801071856508,
            0.8855978791005636,
            33.86551255077311
          ],
          "translation_norm_m": 0.34102879485003584,
          "rotation_rpy_deg_xyz": [
            -0.3991665864557057,
            0.87905100009278,
            -0.2295393071242416
          ],
          "rotation_angle_deg": 0.9916364320984434,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.009561740227491233,
            0.011277676007708903,
            0.14761815712580492
          ],
          "translation_xyz_cm": [
            0.9561740227491233,
            1.1277676007708903,
            14.761815712580493
          ],
          "translation_norm_m": 0.14835677660805288,
          "rotation_rpy_deg_xyz": [
            1.0181261161106774,
            -1.3123816697221933,
            -0.7355869202838428
          ],
          "rotation_angle_deg": 1.8118435457432893,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.008088805193718684,
            0.023264369787523442,
            0.203009344750324
          ],
          "translation_xyz_cm": [
            -0.8088805193718684,
            2.3264369787523442,
            20.3009344750324
          ],
          "translation_norm_m": 0.2044980531130516,
          "rotation_rpy_deg_xyz": [
            0.887566585877532,
            -0.14533213100229525,
            -0.6858279933398516
          ],
          "rotation_angle_deg": 1.1303547233182998,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.003954129149073449,
            -0.013136717487908678,
            0.10141390847297119
          ],
          "translation_xyz_cm": [
            0.39541291490734487,
            -1.3136717487908678,
            10.141390847297119
          ],
          "translation_norm_m": 0.10233762414405005,
          "rotation_rpy_deg_xyz": [
            -0.6106711811726857,
            0.7347834263458103,
            0.007527646916360982
          ],
          "rotation_angle_deg": 0.9554770959694707,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.00304853775731162,
            -0.0050153289375689525,
            -0.058596391242643896
          ],
          "translation_xyz_cm": [
            0.304853775731162,
            -0.5015328937568952,
            -5.8596391242643895
          ],
          "translation_norm_m": 0.05888959308291038,
          "rotation_rpy_deg_xyz": [
            -0.3688660467445685,
            0.8043913294891651,
            0.09503641346957155
          ],
          "rotation_angle_deg": 0.89029727263952,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            0.0016804106310628342,
            0.02591094633204416,
            0.029396194841183637
          ],
          "translation_xyz_cm": [
            0.16804106310628342,
            2.591094633204416,
            2.9396194841183636
          ],
          "translation_norm_m": 0.03922164186838554,
          "rotation_rpy_deg_xyz": [
            -0.7068245594514829,
            0.05213052697737454,
            -0.7367520989439647
          ],
          "rotation_angle_deg": 1.0220770230000462,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.016897010180928707,
            -0.04174580360786151,
            -0.02482748536383033
          ],
          "translation_xyz_cm": [
            1.6897010180928707,
            -4.174580360786151,
            -2.482748536383033
          ],
          "translation_norm_m": 0.051425918576256474,
          "rotation_rpy_deg_xyz": [
            0.2582868039923888,
            0.2934043998667456,
            -0.6383395241878062
          ],
          "rotation_angle_deg": 0.7490781928989391,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.005092433669120933,
            0.012109811185325503,
            -0.003770840993212371
          ],
          "translation_xyz_cm": [
            0.5092433669120933,
            1.2109811185325503,
            -0.3770840993212371
          ],
          "translation_norm_m": 0.013667466825082181,
          "rotation_rpy_deg_xyz": [
            0.03589061737159056,
            0.32182041291819696,
            0.1491736438789013
          ],
          "rotation_angle_deg": 0.3564816347029057,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.008234102130471044,
            -0.013345577581940993,
            -0.007720757103971659
          ],
          "translation_xyz_cm": [
            0.8234102130471044,
            -1.3345577581940993,
            -0.7720757103971659
          ],
          "translation_norm_m": 0.017478986502345112,
          "rotation_rpy_deg_xyz": [
            -1.2430584362087147,
            -0.8848678460711231,
            0.15303406598245656
          ],
          "rotation_angle_deg": 1.5325256343686569,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.009451617117289146,
            0.002270733148463905,
            0.05425283677765851
          ],
          "translation_xyz_cm": [
            0.9451617117289146,
            0.22707331484639048,
            5.425283677765851
          ],
          "translation_norm_m": 0.0551167814153423,
          "rotation_rpy_deg_xyz": [
            -0.22009894992399132,
            -0.022018695375128777,
            -0.13144135220319145
          ],
          "rotation_angle_deg": 0.2573252718256102,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.0042823969684397944,
            -0.024556983229219342,
            0.0042816766353913766
          ],
          "translation_xyz_cm": [
            -0.42823969684397944,
            -2.4556983229219345,
            0.42816766353913766
          ],
          "translation_norm_m": 0.025292629438742005,
          "rotation_rpy_deg_xyz": [
            0.7262857895340283,
            0.3059867820063376,
            -0.20004009381057433
          ],
          "rotation_angle_deg": 0.8135779073549219,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.009585249532476858,
            0.020020120210054948,
            0.025649193253141786
          ],
          "translation_xyz_cm": [
            -0.9585249532476858,
            2.002012021005495,
            2.5649193253141784
          ],
          "translation_norm_m": 0.033919954840210396,
          "rotation_rpy_deg_xyz": [
            0.24362672487551884,
            1.2983115155004061,
            -0.27552988255483607
          ],
          "rotation_angle_deg": 1.3499624655959195,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.00474423757188136,
            -0.02989429283118339,
            -0.07269746690809828
          ],
          "translation_xyz_cm": [
            0.474423757188136,
            -2.989429283118339,
            -7.269746690809828
          ],
          "translation_norm_m": 0.07874705219161564,
          "rotation_rpy_deg_xyz": [
            0.5839319721005682,
            0.6616317959527356,
            -0.0744053672041109
          ],
          "rotation_angle_deg": 0.8858708485334875,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.020000911777368735,
            0.013436484145499694,
            -0.14809099639151968
          ],
          "translation_xyz_cm": [
            2.0000911777368735,
            1.3436484145499694,
            -14.809099639151968
          ],
          "translation_norm_m": 0.15003839105492783,
          "rotation_rpy_deg_xyz": [
            -0.15533796803168565,
            1.1895792312009235,
            -0.028857051956012215
          ],
          "rotation_angle_deg": 1.199986414862301,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.006233568711064397,
            0.02806714089102158,
            -0.1423020245626673
          ],
          "translation_xyz_cm": [
            0.6233568711064397,
            2.806714089102158,
            -14.23020245626673
          ],
          "translation_norm_m": 0.14517743616452933,
          "rotation_rpy_deg_xyz": [
            -0.42198341765651226,
            1.466269951561673,
            0.21171491461165698
          ],
          "rotation_angle_deg": 1.5411407266368493,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.016525316098469744,
            0.01800655906280857,
            -0.043168467603277895
          ],
          "translation_xyz_cm": [
            -1.6525316098469744,
            1.800655906280857,
            -4.316846760327789
          ],
          "translation_norm_m": 0.0496068426394183,
          "rotation_rpy_deg_xyz": [
            0.1280803314427457,
            0.32139899349149403,
            0.08022065036519341
          ],
          "rotation_angle_deg": 0.35507680709487327,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.028372969640952372,
            0.02334221220135546,
            -0.07293590563828914
          ],
          "translation_xyz_cm": [
            -2.8372969640952372,
            2.334221220135546,
            -7.293590563828914
          ],
          "translation_norm_m": 0.08166719419679441,
          "rotation_rpy_deg_xyz": [
            0.30281490802353767,
            1.0496219755534346,
            0.32932930573176367
          ],
          "rotation_angle_deg": 1.1401877864606542,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.00785615925959171,
            0.012654500325033458,
            -0.03971085428199387
          ],
          "translation_xyz_cm": [
            -0.7856159259591711,
            1.2654500325033458,
            -3.971085428199387
          ],
          "translation_norm_m": 0.04241235155699447,
          "rotation_rpy_deg_xyz": [
            0.5027405314396843,
            0.7642908697969957,
            0.25285723494785856
          ],
          "rotation_angle_deg": 0.9482217705558498,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.012590795270947419,
            0.0015740977476244034,
            0.06068024226242286
          ],
          "translation_xyz_cm": [
            1.259079527094742,
            0.15740977476244034,
            6.068024226242286
          ],
          "translation_norm_m": 0.06199272304311464,
          "rotation_rpy_deg_xyz": [
            1.2838388210190854,
            0.2586980314758133,
            -0.2623748508220815
          ],
          "rotation_angle_deg": 1.3362344343892647,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.0057668633578953354,
            0.01299566497435567,
            -0.0009327122882002298
          ],
          "translation_xyz_cm": [
            -0.5766863357895335,
            1.299566497435567,
            -0.09327122882002298
          ],
          "translation_norm_m": 0.014248297207978584,
          "rotation_rpy_deg_xyz": [
            1.1250297399899591,
            0.6954550997893817,
            0.4154700312316388
          ],
          "rotation_angle_deg": 1.3842934534696463,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.02414791489895718,
            0.017874732227871615,
            0.10362701833809228
          ],
          "translation_xyz_cm": [
            2.414791489895718,
            1.7874732227871615,
            10.362701833809227
          ],
          "translation_norm_m": 0.1078943315277902,
          "rotation_rpy_deg_xyz": [
            2.0049131936089957,
            -0.05943821892621762,
            -0.485703199585355
          ],
          "rotation_angle_deg": 2.0635122375670973,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.009601028372025588,
            0.012360871696744269,
            0.01924842590345388
          ],
          "translation_xyz_cm": [
            0.9601028372025588,
            1.2360871696744269,
            1.924842590345388
          ],
          "translation_norm_m": 0.024808724164385565,
          "rotation_rpy_deg_xyz": [
            1.6605159980497415,
            0.7519697116324603,
            0.21490122936100178
          ],
          "rotation_angle_deg": 1.8341830627801063,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.013498938200056543,
            0.013617534886771532,
            -0.0018153090248232001
          ],
          "translation_xyz_cm": [
            1.3498938200056543,
            1.3617534886771532,
            -0.18153090248232
          ],
          "translation_norm_m": 0.019260164479489528,
          "rotation_rpy_deg_xyz": [
            0.6525841363028939,
            1.3498374643306124,
            -0.48973704842693533
          ],
          "rotation_angle_deg": 1.5796409695156886,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            0.0006212994302268182,
            -0.016817999148376173,
            0.010109239915849368
          ],
          "translation_xyz_cm": [
            0.06212994302268182,
            -1.6817999148376173,
            1.0109239915849368
          ],
          "translation_norm_m": 0.019632316216202917,
          "rotation_rpy_deg_xyz": [
            -0.6234337925394615,
            -0.16160915544313809,
            -0.6962293131506193
          ],
          "rotation_angle_deg": 0.9490739709789948,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.006813887848347022,
            0.041691034775795166,
            0.08615026037189365
          ],
          "translation_xyz_cm": [
            -0.6813887848347022,
            4.169103477579517,
            8.615026037189365
          ],
          "translation_norm_m": 0.09595018921519374,
          "rotation_rpy_deg_xyz": [
            -1.4009784771910934,
            -0.5767228112279817,
            0.6079524641453382
          ],
          "rotation_angle_deg": 1.629829664042327,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.021419292108882715,
            0.0274731295024373,
            0.07426304693289094
          ],
          "translation_xyz_cm": [
            2.1419292108882715,
            2.74731295024373,
            7.426304693289095
          ],
          "translation_norm_m": 0.0820277944288404,
          "rotation_rpy_deg_xyz": [
            -0.7491674064703252,
            -0.1949038344071203,
            0.4852401386300048
          ],
          "rotation_angle_deg": 0.9129384235196228,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.009864014653798048,
            -0.02316364562764356,
            0.030616908253622087
          ],
          "translation_xyz_cm": [
            -0.9864014653798048,
            -2.316364562764356,
            3.061690825362209
          ],
          "translation_norm_m": 0.03963897494719188,
          "rotation_rpy_deg_xyz": [
            0.5683666859487644,
            -0.7314881444565557,
            -0.13279725363511663
          ],
          "rotation_angle_deg": 0.9352979853680756,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.005233509361304733,
            0.0017130600246506034,
            0.040178879873334614
          ],
          "translation_xyz_cm": [
            -0.5233509361304733,
            0.17130600246506034,
            4.017887987333461
          ],
          "translation_norm_m": 0.04055448905804108,
          "rotation_rpy_deg_xyz": [
            0.28734904403602907,
            -1.306375348377909,
            0.23032119910383025
          ],
          "rotation_angle_deg": 1.3578427344423345,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.01455167766757759,
            0.011099530712334993,
            0.04025903785197042
          ],
          "translation_xyz_cm": [
            -1.455167766757759,
            1.1099530712334993,
            4.025903785197042
          ],
          "translation_norm_m": 0.04422376096332752,
          "rotation_rpy_deg_xyz": [
            -1.1144200334606658,
            -1.187419979950182,
            0.16632373412545948
          ],
          "rotation_angle_deg": 1.6357487985785641,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.009327574091711588,
            0.022873347622626383,
            -0.04769694329281031
          ],
          "translation_xyz_cm": [
            0.9327574091711588,
            2.2873347622626383,
            -4.769694329281031
          ],
          "translation_norm_m": 0.05371398392764625,
          "rotation_rpy_deg_xyz": [
            -0.682840221725416,
            -0.36328106706508645,
            0.0809169290041293
          ],
          "rotation_angle_deg": 0.7774570463748758,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.005962688283054796,
            0.005870392133145108,
            -0.01700452047671966
          ],
          "translation_xyz_cm": [
            -0.5962688283054796,
            0.5870392133145108,
            -1.7004520476719658
          ],
          "translation_norm_m": 0.018951751159218745,
          "rotation_rpy_deg_xyz": [
            -0.18923362632332452,
            -0.25461349024112484,
            -0.05611730080946054
          ],
          "rotation_angle_deg": 0.32223232246641503,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.011123319682821542,
            0.02638097097667913,
            -0.034481637439926244
          ],
          "translation_xyz_cm": [
            1.1123319682821542,
            2.638097097667913,
            -3.4481637439926245
          ],
          "translation_norm_m": 0.04481815693418411,
          "rotation_rpy_deg_xyz": [
            0.5855517523063751,
            0.26287741871452636,
            -0.1521004980495623
          ],
          "rotation_angle_deg": 0.6599376762552417,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.014701045946651448,
            0.014044368243739114,
            -0.04054708247477895
          ],
          "translation_xyz_cm": [
            1.4701045946651448,
            1.4044368243739114,
            -4.054708247477895
          ],
          "translation_norm_m": 0.04535891233823658,
          "rotation_rpy_deg_xyz": [
            0.7843133409749595,
            0.17971185770288187,
            -0.08518115643616422
          ],
          "rotation_angle_deg": 0.8092641869389188,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.0030447836005043083,
            0.0033624909817165927,
            0.01932921883778843
          ],
          "translation_xyz_cm": [
            0.30447836005043083,
            0.33624909817165927,
            1.932921883778843
          ],
          "translation_norm_m": 0.0198543635922973,
          "rotation_rpy_deg_xyz": [
            1.0659723254984081,
            -0.19917362622106505,
            0.016332803861987624
          ],
          "rotation_angle_deg": 1.0845705429864414,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.17961557028165398,
        "improved_pairs": 25,
        "worsened_pairs": 41,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.12394013343025478,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.300_roll_-0.100",
      "body_left_rpy_correction_deg_xyz": [
        -0.1,
        0.3,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.3015143983507484,
          0.0011901746480735614,
          0.7136919554572032
        ],
        "rotation_rpy_deg_xyz": [
          -0.8895495264961033,
          1.501168742146643,
          -0.8377113510014426
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10164837804314657,
          "median": 0.057266176816710715,
          "p90": 0.1597837531076453,
          "p95": 0.20912905335657667,
          "max": 0.335920408201603
        },
        "rotation_deg": {
          "rms": 1.1049105360171487,
          "median": 0.8906158400390636,
          "p90": 1.6982432293171923,
          "p95": 1.9151062405727775,
          "max": 2.654107606581579
        },
        "normalized_pair_score": {
          "rms": 3.0027098217989345,
          "median": 2.489905952758339,
          "p90": 4.707686979009194,
          "p95": 4.824968708498269,
          "max": 6.941070286922221
        },
        "normalized_global_rms": 3.0027098217989345
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.012419233668043428,
          0.013126146662394755,
          0.07397728431804074
        ],
        "translation_xyz_cm": [
          -1.2419233668043428,
          1.3126146662394755,
          7.397728431804074
        ],
        "translation_norm_m": 0.0761522927177928,
        "rotation_rpy_deg_xyz": [
          -0.47015582876024664,
          -0.07760383842498442,
          0.026396404936590005
        ],
        "rotation_angle_deg": 0.47723032409407057,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.6886059172123598,
          "median": 0.7291535778684739,
          "p90": 2.3232842191178094,
          "p95": 3.7417816215363167,
          "max": 5.703566170764175
        },
        "height_residual_m": {
          "rms": 0.0347139651712173,
          "median": -0.005924101606088833,
          "p90": 0.05340926734199069,
          "p95": 0.08720196104337455,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.012419233668043428,
            0.013126146662394755,
            0.07397728431804074
          ],
          "translation_xyz_cm": [
            -1.2419233668043428,
            1.3126146662394755,
            7.397728431804074
          ],
          "translation_norm_m": 0.0761522927177928,
          "rotation_rpy_deg_xyz": [
            -0.47015582876024664,
            -0.07760383842498442,
            0.026396404936590005
          ],
          "rotation_angle_deg": 0.47723032409407057,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.021184266244200556,
            -0.01623694562891087,
            0.12542129174055922
          ],
          "translation_xyz_cm": [
            2.1184266244200556,
            -1.623694562891087,
            12.54212917405592
          ],
          "translation_norm_m": 0.1282299183557872,
          "rotation_rpy_deg_xyz": [
            -0.19771040370425846,
            -0.13408915231264432,
            -0.34281707909633174
          ],
          "rotation_angle_deg": 0.41803263983275235,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03440893176205129,
            0.0068739739603926875,
            0.1010280105347148
          ],
          "translation_xyz_cm": [
            3.4408931762051287,
            0.6873973960392687,
            10.102801053471481
          ],
          "translation_norm_m": 0.10694804820853956,
          "rotation_rpy_deg_xyz": [
            -0.10616449155959552,
            -0.14941616391528942,
            -0.3968149103030593
          ],
          "rotation_angle_deg": 0.4372274949422868,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03460869076079831,
            -0.01913652342124672,
            0.04413294492525292
          ],
          "translation_xyz_cm": [
            3.460869076079831,
            -1.913652342124672,
            4.413294492525292
          ],
          "translation_norm_m": 0.05925947040434886,
          "rotation_rpy_deg_xyz": [
            0.31797599530131704,
            0.10997624846666197,
            -0.34935234414195465
          ],
          "rotation_angle_deg": 0.48524572178978786,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04680178594658846,
            0.010798103274652582,
            0.02120079672230956
          ],
          "translation_xyz_cm": [
            4.680178594658846,
            1.0798103274652582,
            2.120079672230956
          ],
          "translation_norm_m": 0.052502190276035525,
          "rotation_rpy_deg_xyz": [
            0.4898731043359302,
            0.33270954679875137,
            -0.37964989936230714
          ],
          "rotation_angle_deg": 0.7041898566394693,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.015070898720730475,
            0.00827654803150546,
            -0.035785795426210694
          ],
          "translation_xyz_cm": [
            1.5070898720730475,
            0.827654803150546,
            -3.5785795426210694
          ],
          "translation_norm_m": 0.03970209553480691,
          "rotation_rpy_deg_xyz": [
            0.6972383042059144,
            0.3179884216721907,
            0.1396934174085441
          ],
          "rotation_angle_deg": 0.7786077567447587,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.00566751402637553,
            0.020376421622713886,
            -0.010217623314503382
          ],
          "translation_xyz_cm": [
            0.566751402637553,
            2.0376421622713887,
            -1.0217623314503381
          ],
          "translation_norm_m": 0.023488701530370904,
          "rotation_rpy_deg_xyz": [
            0.32832796765544886,
            0.24373678161622353,
            -0.03203468285134926
          ],
          "rotation_angle_deg": 0.4102166137663221,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.031519899057299634,
            -0.0007796807997476618,
            -0.07204047748964844
          ],
          "translation_xyz_cm": [
            -3.1519899057299634,
            -0.07796807997476618,
            -7.204047748964844
          ],
          "translation_norm_m": 0.07863804636223103,
          "rotation_rpy_deg_xyz": [
            0.7028390759989444,
            0.6113889756994517,
            0.5393475127259789
          ],
          "rotation_angle_deg": 1.0745319358398877,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.02879543918299879,
            -0.018182993343084264,
            -0.13043862728603106
          ],
          "translation_xyz_cm": [
            -2.8795439182998788,
            -1.8182993343084264,
            -13.043862728603106
          ],
          "translation_norm_m": 0.13481110508011035,
          "rotation_rpy_deg_xyz": [
            0.813193554853031,
            0.4778422412784806,
            0.4060722121258889
          ],
          "rotation_angle_deg": 1.025548672967319,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.030686122709684335,
            -0.020923944115331772,
            -0.051487506126032166
          ],
          "translation_xyz_cm": [
            -3.0686122709684334,
            -2.092394411533177,
            -5.148750612603217
          ],
          "translation_norm_m": 0.06348553261471097,
          "rotation_rpy_deg_xyz": [
            0.5787092936959236,
            0.4076947521841255,
            0.5890867177935492
          ],
          "rotation_angle_deg": 0.9196254710001934,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03691610150837312,
            -0.03883555129640065,
            -0.07795012584219917
          ],
          "translation_xyz_cm": [
            -3.6916101508373123,
            -3.883555129640065,
            -7.795012584219917
          ],
          "translation_norm_m": 0.09458974951804534,
          "rotation_rpy_deg_xyz": [
            0.7734528516471484,
            0.8881621926582501,
            0.5068294049362794
          ],
          "rotation_angle_deg": 1.2797811340957572,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.012845059483986336,
            -0.010933651452035148,
            -0.030718232882454496
          ],
          "translation_xyz_cm": [
            -1.2845059483986336,
            -1.093365145203515,
            -3.0718232882454495
          ],
          "translation_norm_m": 0.035044972801279876,
          "rotation_rpy_deg_xyz": [
            0.3933734152775861,
            0.30641907301491916,
            -0.08542700923560093
          ],
          "rotation_angle_deg": 0.506075458723862,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.014164589266999705,
            -0.0025005542758458343,
            -0.2105644378551853
          ],
          "translation_xyz_cm": [
            1.4164589266999705,
            -0.25005542758458343,
            -21.056443785518532
          ],
          "translation_norm_m": 0.21105513699045433,
          "rotation_rpy_deg_xyz": [
            0.10199885756952803,
            0.2713184434115643,
            0.3008037156416099
          ],
          "rotation_angle_deg": 0.4175581849080869,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.011857806542527882,
            0.01755109388274949,
            -0.19557566060037046
          ],
          "translation_xyz_cm": [
            1.1857806542527882,
            1.755109388274949,
            -19.557566060037047
          ],
          "translation_norm_m": 0.19671931143574187,
          "rotation_rpy_deg_xyz": [
            0.21132942240753252,
            -0.0030475518874055686,
            0.4038957243782797
          ],
          "rotation_angle_deg": 0.45585691126526523,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.0046044491337547955,
            0.005772189947446549,
            -0.1343226472826804
          ],
          "translation_xyz_cm": [
            -0.46044491337547955,
            0.5772189947446549,
            -13.43226472826804
          ],
          "translation_norm_m": 0.13452543514756643,
          "rotation_rpy_deg_xyz": [
            0.619268866213009,
            -0.13846281487745113,
            -0.08693898709539695
          ],
          "rotation_angle_deg": 0.6403857394117293,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.009110417257375047,
            0.01538326208429952,
            -0.13954492950924077
          ],
          "translation_xyz_cm": [
            0.9110417257375047,
            1.538326208429952,
            -13.954492950924077
          ],
          "translation_norm_m": 0.14068557782053107,
          "rotation_rpy_deg_xyz": [
            -0.7265026815110706,
            0.7264000231555012,
            0.2931587247335926
          ],
          "rotation_angle_deg": 1.0696242278852288,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.00871211769984781,
            -0.00293124596012162,
            -0.06343312080889037
          ],
          "translation_xyz_cm": [
            -0.871211769984781,
            -0.293124596012162,
            -6.343312080889037
          ],
          "translation_norm_m": 0.06409566298315364,
          "rotation_rpy_deg_xyz": [
            -0.6130593636006771,
            0.3375975509047987,
            -0.208407214957789
          ],
          "rotation_angle_deg": 0.7297211852100517,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.008278730448752158,
            -0.020518204812521534,
            0.07216396724527915
          ],
          "translation_xyz_cm": [
            -0.8278730448752158,
            -2.0518204812521534,
            7.2163967245279155
          ],
          "translation_norm_m": 0.07547961496423654,
          "rotation_rpy_deg_xyz": [
            0.38163211427592636,
            -0.3085201833066701,
            -0.4808803300236558
          ],
          "rotation_angle_deg": 0.6863553779619226,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.002271082939057756,
            -0.003222014597859535,
            0.002176082269295731
          ],
          "translation_xyz_cm": [
            0.22710829390577558,
            -0.3222014597859535,
            0.2176082269295731
          ],
          "translation_norm_m": 0.004502724711509956,
          "rotation_rpy_deg_xyz": [
            0.2929147676390593,
            -0.20568025194900466,
            -0.4742402334670874
          ],
          "rotation_angle_deg": 0.5937236199068581,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.006334113981433687,
            0.01414006937034018,
            -0.07048422784411384
          ],
          "translation_xyz_cm": [
            0.6334113981433687,
            1.414006937034018,
            -7.048422784411384
          ],
          "translation_norm_m": 0.07216709039797005,
          "rotation_rpy_deg_xyz": [
            -0.5781444390744482,
            -0.20822019250473564,
            -0.3039414367583841
          ],
          "rotation_angle_deg": 0.6860206855604611,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.0107333774452667,
            0.020204832039175336,
            -0.06378142328297087
          ],
          "translation_xyz_cm": [
            1.07333774452667,
            2.0204832039175336,
            -6.378142328297088
          ],
          "translation_norm_m": 0.06776068613226512,
          "rotation_rpy_deg_xyz": [
            0.117394315264257,
            0.036560300250528,
            0.007735778504693242
          ],
          "rotation_angle_deg": 0.12319635996888008,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.01348975060603097,
            0.03963492985620953,
            -0.11387896994248202
          ],
          "translation_xyz_cm": [
            1.348975060603097,
            3.9634929856209533,
            -11.387896994248202
          ],
          "translation_norm_m": 0.12133145029744055,
          "rotation_rpy_deg_xyz": [
            -0.8208318571695001,
            -0.13446048559291,
            0.16958546422795645
          ],
          "rotation_angle_deg": 0.8486909337785505,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.007199367236066789,
            0.016262389478755246,
            -0.05452822344724287
          ],
          "translation_xyz_cm": [
            0.7199367236066789,
            1.6262389478755246,
            -5.452822344724287
          ],
          "translation_norm_m": 0.0573552382304435,
          "rotation_rpy_deg_xyz": [
            -0.8732407226275165,
            -0.04841272798119736,
            0.16675739451234076
          ],
          "rotation_angle_deg": 0.8902682474721725,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0010471899824484598,
            -0.016795448978287997,
            -0.1702140712929781
          ],
          "translation_xyz_cm": [
            -0.10471899824484598,
            -1.6795448978287997,
            -17.02140712929781
          ],
          "translation_norm_m": 0.17104389430603084,
          "rotation_rpy_deg_xyz": [
            -0.4040019179507355,
            1.7099426788442662,
            -0.3311981408610053
          ],
          "rotation_angle_deg": 1.7868407114310305,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.00292548448408686,
            0.011529644689981078,
            -0.03744314241847349
          ],
          "translation_xyz_cm": [
            -0.292548448408686,
            1.1529644689981078,
            -3.744314241847349
          ],
          "translation_norm_m": 0.03928714904792572,
          "rotation_rpy_deg_xyz": [
            0.6021089721690386,
            0.42487128301300503,
            0.2048159750967479
          ],
          "rotation_angle_deg": 0.7642536795724175,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.0148463224625357,
            0.020325664114488884,
            -0.03768336298312086
          ],
          "translation_xyz_cm": [
            1.48463224625357,
            2.0325664114488884,
            -3.768336298312086
          ],
          "translation_norm_m": 0.04531646232964635,
          "rotation_rpy_deg_xyz": [
            0.8339041745850586,
            1.0000860306347317,
            0.1983621695456838
          ],
          "rotation_angle_deg": 1.3160581889466436,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.002786212629189766,
            0.005802757290271465,
            -0.03025689256878872
          ],
          "translation_xyz_cm": [
            -0.2786212629189766,
            0.5802757290271465,
            -3.0256892568788722
          ],
          "translation_norm_m": 0.03093403499228766,
          "rotation_rpy_deg_xyz": [
            -0.43951113758236676,
            2.53518275908206,
            0.6415526684504304
          ],
          "rotation_angle_deg": 2.654107606581579,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.016754514539300436,
            0.014255584339316396,
            -0.01039293302835298
          ],
          "translation_xyz_cm": [
            1.6754514539300436,
            1.4255584339316396,
            -1.039293302835298
          ],
          "translation_norm_m": 0.024329991763969484,
          "rotation_rpy_deg_xyz": [
            0.41106506180252267,
            0.3238393937791646,
            -0.010482979295534626
          ],
          "rotation_angle_deg": 0.5234312142480787,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            0.0018361831331945577,
            0.0072541873584552885,
            0.007039442270357016
          ],
          "translation_xyz_cm": [
            0.18361831331945577,
            0.7254187358455289,
            0.7039442270357016
          ],
          "translation_norm_m": 0.010273682407388785,
          "rotation_rpy_deg_xyz": [
            0.11004639020415029,
            1.9776096103806078,
            0.4851308992001362
          ],
          "rotation_angle_deg": 2.0387581112740842,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.019066389805227457,
            0.007823637220907287,
            0.2373387127250885
          ],
          "translation_xyz_cm": [
            1.9066389805227457,
            0.7823637220907287,
            23.73387127250885
          ],
          "translation_norm_m": 0.23823182213459926,
          "rotation_rpy_deg_xyz": [
            -0.1413993143911705,
            0.24774739186599706,
            -0.28536459062305863
          ],
          "rotation_angle_deg": 0.4032751061619503,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.0070310934648918355,
            -0.008873836049567985,
            0.027542367017527727
          ],
          "translation_xyz_cm": [
            0.7031093464891836,
            -0.8873836049567985,
            2.754236701752773
          ],
          "translation_norm_m": 0.02977856985274572,
          "rotation_rpy_deg_xyz": [
            0.40981596391605035,
            1.651593713042028,
            0.5257041423097305
          ],
          "rotation_angle_deg": 1.779278938996176,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03834057915738032,
            -0.008951302280609363,
            0.22887207142941066
          ],
          "translation_xyz_cm": [
            3.8340579157380317,
            -0.8951302280609363,
            22.887207142941065
          ],
          "translation_norm_m": 0.23223382807642698,
          "rotation_rpy_deg_xyz": [
            0.2999907595514252,
            -0.01411939937262211,
            -0.23999007941474496
          ],
          "rotation_angle_deg": 0.38441016826953633,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.037984943979473274,
            0.006295396080778559,
            0.33370650677712893
          ],
          "translation_xyz_cm": [
            3.7984943979473274,
            0.6295396080778559,
            33.370650677712895
          ],
          "translation_norm_m": 0.335920408201603,
          "rotation_rpy_deg_xyz": [
            -0.22664375614571414,
            0.8116368883042351,
            -0.22575845282884138
          ],
          "rotation_angle_deg": 0.8719874525275415,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.008656833199885972,
            0.011303325713131196,
            0.1478396339326658
          ],
          "translation_xyz_cm": [
            0.8656833199885972,
            1.1303325713131196,
            14.78396339326658
          ],
          "translation_norm_m": 0.14852361190925978,
          "rotation_rpy_deg_xyz": [
            1.036743210715922,
            -1.3689873443058387,
            -0.7370443448949371
          ],
          "rotation_angle_deg": 1.8638261421190532,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.009560935506827573,
            0.022898933294352997,
            0.20183105862400014
          ],
          "translation_xyz_cm": [
            -0.9560935506827573,
            2.2898933294352997,
            20.183105862400012
          ],
          "translation_norm_m": 0.20335080245494366,
          "rotation_rpy_deg_xyz": [
            0.9390232920032411,
            -0.2313066306974258,
            -0.6872608352087699
          ],
          "rotation_angle_deg": 1.1853173459144088,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.003338637112830778,
            -0.013123144897042138,
            0.10194043917885307
          ],
          "translation_xyz_cm": [
            0.3338637112830778,
            -1.3123144897042138,
            10.194043917885306
          ],
          "translation_norm_m": 0.10283587199872123,
          "rotation_rpy_deg_xyz": [
            -0.6003323074051949,
            0.6919365436052581,
            0.007548639719645848
          ],
          "rotation_angle_deg": 0.9161235656659878,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0021805998687720596,
            -0.0054549691448917415,
            -0.05584069137681035
          ],
          "translation_xyz_cm": [
            0.21805998687720596,
            -0.5454969144891741,
            -5.584069137681035
          ],
          "translation_norm_m": 0.05614886034105761,
          "rotation_rpy_deg_xyz": [
            -0.33854956172323947,
            0.7341086429434062,
            0.09511186202152708
          ],
          "rotation_angle_deg": 0.8142410090269525,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            0.0009929261059835603,
            0.025683118873724764,
            0.0290011570425803
          ],
          "translation_xyz_cm": [
            0.09929261059835603,
            2.5683118873724764,
            2.90011570425803
          ],
          "translation_norm_m": 0.038751459419513815,
          "rotation_rpy_deg_xyz": [
            -0.6888747943185911,
            -0.003595076963295106,
            -0.7365170174724857
          ],
          "rotation_angle_deg": 1.008486005928133,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.01585300067187756,
            -0.04231642426387827,
            -0.019850286899863373
          ],
          "translation_xyz_cm": [
            1.585300067187756,
            -4.231642426387827,
            -1.9850286899863372
          ],
          "translation_norm_m": 0.049356167626650106,
          "rotation_rpy_deg_xyz": [
            0.29631409233498207,
            0.21636237946670253,
            -0.6389796436746707
          ],
          "rotation_angle_deg": 0.7373080723422089,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.004093251936198694,
            0.011714828228369,
            0.0017009229687299093
          ],
          "translation_xyz_cm": [
            0.4093251936198694,
            1.1714828228369,
            0.17009229687299093
          ],
          "translation_norm_m": 0.01252537627294839,
          "rotation_rpy_deg_xyz": [
            0.06453818798347359,
            0.2531958997818171,
            0.14873859440575485
          ],
          "rotation_angle_deg": 0.30058949640307114,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.0074382676420592375,
            -0.013496189342214915,
            -0.004648874392575081
          ],
          "translation_xyz_cm": [
            0.7438267642059238,
            -1.3496189342214915,
            -0.4648874392575081
          ],
          "translation_norm_m": 0.01609617921724784,
          "rotation_rpy_deg_xyz": [
            -1.2271551663892637,
            -0.9375514877185607,
            0.1537227666995716
          ],
          "rotation_angle_deg": 1.5509421133110688,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.008059215134474496,
            0.0013320515525209464,
            0.05659061066893641
          ],
          "translation_xyz_cm": [
            0.8059215134474496,
            0.13320515525209464,
            5.659061066893641
          ],
          "translation_norm_m": 0.05717711540297793,
          "rotation_rpy_deg_xyz": [
            -0.14423507376358805,
            -0.11762458382787115,
            -0.13071789965054312
          ],
          "rotation_angle_deg": 0.22751956500413503,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.004634430615497731,
            -0.02714760964830515,
            0.00629506689691596
          ],
          "translation_xyz_cm": [
            -0.4634430615497731,
            -2.714760964830515,
            0.629506689691596
          ],
          "translation_norm_m": 0.028250637585429124,
          "rotation_rpy_deg_xyz": [
            0.9234558485972508,
            0.28392037158155653,
            -0.19555335955970282
          ],
          "rotation_angle_deg": 0.9861616538646055,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.010514544946069071,
            0.019702237132058542,
            0.02799447185673256
          ],
          "translation_xyz_cm": [
            -1.051454494606907,
            1.9702237132058542,
            2.799447185673256
          ],
          "translation_norm_m": 0.03581095164845755,
          "rotation_rpy_deg_xyz": [
            0.2717880807331498,
            1.2301742781325742,
            -0.27621586715225116
          ],
          "rotation_angle_deg": 1.2903870167805274,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.0034688318212228175,
            -0.03130323956894021,
            -0.06699185058230833
          ],
          "translation_xyz_cm": [
            0.34688318212228175,
            -3.130323956894021,
            -6.699185058230833
          ],
          "translation_norm_m": 0.07402589848260349,
          "rotation_rpy_deg_xyz": [
            0.6860847637329365,
            0.5630848868334735,
            -0.07443749532817807
          ],
          "rotation_angle_deg": 0.8909634326059546,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.019518167940497655,
            0.01104983876197263,
            -0.1396714881379001
          ],
          "translation_xyz_cm": [
            1.9518167940497655,
            1.104983876197263,
            -13.96714881379001
          ],
          "translation_norm_m": 0.14146088652017783,
          "rotation_rpy_deg_xyz": [
            0.037423852847679684,
            1.153586342569134,
            -0.024362041491095596
          ],
          "rotation_angle_deg": 1.154458224751762,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.0063939490140809685,
            0.025666565260984875,
            -0.13547355932810853
          ],
          "translation_xyz_cm": [
            0.6393949014080968,
            2.5666565260984875,
            -13.547355932810854
          ],
          "translation_norm_m": 0.1380316646038785,
          "rotation_rpy_deg_xyz": [
            -0.2232080785933722,
            1.4836369126889792,
            0.21710701447252453
          ],
          "rotation_angle_deg": 1.5163723667562048,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.017634879400806547,
            0.01716591701079595,
            -0.04108750262152657
          ],
          "translation_xyz_cm": [
            -1.7634879400806547,
            1.716591701079595,
            -4.1087502621526575
          ],
          "translation_norm_m": 0.047894055476399966,
          "rotation_rpy_deg_xyz": [
            0.18998087893118493,
            0.23037825757725086,
            0.08009690934260924
          ],
          "rotation_angle_deg": 0.30906494904159015,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.0294912103855558,
            0.021882929854869837,
            -0.07172704354627303
          ],
          "translation_xyz_cm": [
            -2.94912103855558,
            2.1882929854869837,
            -7.172704354627303
          ],
          "translation_norm_m": 0.08058140532981052,
          "rotation_rpy_deg_xyz": [
            0.41801005413974385,
            0.9522107901338667,
            0.33013668261644724
          ],
          "rotation_angle_deg": 1.0900126378646533,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.008496837757615727,
            0.012410484191522464,
            -0.03858738168224528
          ],
          "translation_xyz_cm": [
            -0.8496837757615727,
            1.2410484191522464,
            -3.858738168224528
          ],
          "translation_norm_m": 0.04141500205044727,
          "rotation_rpy_deg_xyz": [
            0.5178850309371813,
            0.7128065945110065,
            0.2519511900034406
          ],
          "rotation_angle_deg": 0.9155050727175903,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.011499252464089782,
            -0.0003824876998570481,
            0.060462718194658746
          ],
          "translation_xyz_cm": [
            1.1499252464089782,
            -0.03824876998570481,
            6.046271819465875
          ],
          "translation_norm_m": 0.06154770016467012,
          "rotation_rpy_deg_xyz": [
            1.4379245566272494,
            0.17599667393341442,
            -0.2616578786714958
          ],
          "rotation_angle_deg": 1.4724867231348422,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.006506401211152646,
            0.010529965904201743,
            0.00404656850630819
          ],
          "translation_xyz_cm": [
            -0.6506401211152646,
            1.0529965904201743,
            0.404656850630819
          ],
          "translation_norm_m": 0.01302260171165444,
          "rotation_rpy_deg_xyz": [
            1.3084468296008804,
            0.641692409133129,
            0.41825282942558634
          ],
          "rotation_angle_deg": 1.5141272142703541,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.022948223713993077,
            0.016800143593684425,
            0.09911674316373702
          ],
          "translation_xyz_cm": [
            2.2948223713993077,
            1.6800143593684425,
            9.911674316373702
          ],
          "translation_norm_m": 0.10311641271777301,
          "rotation_rpy_deg_xyz": [
            2.1077471070101943,
            -0.1579377856914185,
            -0.4881611141442496
          ],
          "rotation_angle_deg": 2.1686349143849633,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.008404847844856178,
            0.010372673178159264,
            0.023494623647401125
          ],
          "translation_xyz_cm": [
            0.8404847844856178,
            1.0372673178159264,
            2.3494623647401127
          ],
          "translation_norm_m": 0.027022789576376237,
          "rotation_rpy_deg_xyz": [
            1.8034035496908418,
            0.6630521981477719,
            0.21449918444849755
          ],
          "rotation_angle_deg": 1.9321996067240188,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.012704405041615185,
            0.011163546426760984,
            0.0033748486252146437
          ],
          "translation_xyz_cm": [
            1.2704405041615185,
            1.1163546426760984,
            0.33748486252146437
          ],
          "translation_norm_m": 0.01724576120462586,
          "rotation_rpy_deg_xyz": [
            0.8343187439759819,
            1.2935772732676656,
            -0.4866288398791267
          ],
          "rotation_angle_deg": 1.6172075196382085,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -6.0160644302253985e-05,
            -0.016941753025082273,
            0.011704261623593865
          ],
          "translation_xyz_cm": [
            -0.0060160644302253985,
            -1.6941753025082273,
            1.1704261623593863
          ],
          "translation_norm_m": 0.020591657413125814,
          "rotation_rpy_deg_xyz": [
            -0.6098559653610494,
            -0.2104841348055634,
            -0.6961491081736637
          ],
          "rotation_angle_deg": 0.9499502926148303,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.005985735008223969,
            0.04160234367566362,
            0.08088924194935303
          ],
          "translation_xyz_cm": [
            -0.5985735008223969,
            4.160234367566362,
            8.088924194935302
          ],
          "translation_norm_m": 0.09115730078297449,
          "rotation_rpy_deg_xyz": [
            -1.388912470808575,
            -0.527612799921019,
            0.6078781707282284
          ],
          "rotation_angle_deg": 1.6028599259815544,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.02297304104359288,
            0.02669474361513835,
            0.06560673111578437
          ],
          "translation_xyz_cm": [
            2.297304104359288,
            2.669474361513835,
            6.560673111578437
          ],
          "translation_norm_m": 0.07446215897465908,
          "rotation_rpy_deg_xyz": [
            -0.6779656892448027,
            -0.09767328619455794,
            0.487488848966946
          ],
          "rotation_angle_deg": 0.8403907255004832,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.008874668818862563,
            -0.023432275277618597,
            0.027910208389937914
          ],
          "translation_xyz_cm": [
            -0.8874668818862563,
            -2.3432275277618597,
            2.7910208389937914
          ],
          "translation_norm_m": 0.03750747930347157,
          "rotation_rpy_deg_xyz": [
            0.5963737367104955,
            -0.6606106196423976,
            -0.13017922242717084
          ],
          "rotation_angle_deg": 0.8989523068464468,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.004312142517042705,
            0.001533401115344335,
            0.03740916865299525
          ],
          "translation_xyz_cm": [
            -0.4312142517042705,
            0.1533401115344335,
            3.740916865299525
          ],
          "translation_norm_m": 0.03768808553609574,
          "rotation_rpy_deg_xyz": [
            0.30824911641621877,
            -1.2436789195974014,
            0.2322245575380892
          ],
          "rotation_angle_deg": 1.3027781244375134,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.013083444477408612,
            0.009907509202872311,
            0.03568946170345781
          ],
          "translation_xyz_cm": [
            -1.3083444477408612,
            0.9907509202872311,
            3.568946170345781
          ],
          "translation_norm_m": 0.03928196704190124,
          "rotation_rpy_deg_xyz": [
            -1.0183099608795763,
            -1.0860243879665021,
            0.16861844370543996
          ],
          "rotation_angle_deg": 1.4971803658410243,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.01039056824918716,
            0.021027548433870447,
            -0.04726816658205513
          ],
          "translation_xyz_cm": [
            1.039056824918716,
            2.1027548433870447,
            -4.726816658205513
          ],
          "translation_norm_m": 0.052767426256249195,
          "rotation_rpy_deg_xyz": [
            -0.5344374778893852,
            -0.27438589861999546,
            0.08531833282420781
          ],
          "rotation_angle_deg": 0.6066063647907448,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.00494378848905197,
            0.005461333037447114,
            -0.019602928704850666
          ],
          "translation_xyz_cm": [
            -0.494378848905197,
            0.5461333037447114,
            -1.9602928704850666
          ],
          "translation_norm_m": 0.020941394819301132,
          "rotation_rpy_deg_xyz": [
            -0.1545979541873174,
            -0.17746325052671524,
            -0.054176067166299885
          ],
          "rotation_angle_deg": 0.2415671694603592,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.012270691734974859,
            0.02525920665084258,
            -0.0326791782569357
          ],
          "translation_xyz_cm": [
            1.227069173497486,
            2.525920665084258,
            -3.2679178256935697
          ],
          "translation_norm_m": 0.04308742377809712,
          "rotation_rpy_deg_xyz": [
            0.6688442153717401,
            0.36283957770697794,
            -0.14718443094951217
          ],
          "rotation_angle_deg": 0.7754289162658738,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.015308059223417825,
            0.013790358186051122,
            -0.03963449267029259
          ],
          "translation_xyz_cm": [
            1.5308059223417825,
            1.3790358186051122,
            -3.9634492670292594
          ],
          "translation_norm_m": 0.0446699414071558,
          "rotation_rpy_deg_xyz": [
            0.7980048956471144,
            0.23166125100071297,
            -0.08325283104002376
          ],
          "rotation_angle_deg": 0.8352708612617049,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.003605660117083964,
            0.0032810312248816587,
            0.018760212835223056
          ],
          "translation_xyz_cm": [
            0.3605660117083964,
            0.32810312248816587,
            1.8760212835223056
          ],
          "translation_norm_m": 0.019383279815383316,
          "rotation_rpy_deg_xyz": [
            1.075024130982001,
            -0.15612850100659434,
            0.018080934453996177
          ],
          "rotation_angle_deg": 1.0864769452132907,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.14706843035628658,
        "improved_pairs": 25,
        "worsened_pairs": 41,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.11484993145673816,
        "global_consistency_signal": false
      }
    },
    {
      "label": "pitch_+0.300_roll_+0.100",
      "body_left_rpy_correction_deg_xyz": [
        0.1,
        0.3,
        0.0
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.3015143971201475,
          -0.0013248359682619102,
          0.713691720431845
        ],
        "rotation_rpy_deg_xyz": [
          -0.6895047465055957,
          1.5040854381408757,
          -0.833512808459901
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.09942680753866891,
          "median": 0.05740183449190977,
          "p90": 0.1584915028651408,
          "p95": 0.2094337164564074,
          "max": 0.3257392780201393
        },
        "rotation_deg": {
          "rms": 1.1159092500059349,
          "median": 0.8822504771897199,
          "p90": 1.7591229803689168,
          "p95": 1.9458390054885353,
          "max": 2.453103621998225
        },
        "normalized_pair_score": {
          "rms": 2.989195517179804,
          "median": 2.4795196690607835,
          "p90": 4.738248960961586,
          "p95": 4.900551348948156,
          "max": 6.672530800967258
        },
        "normalized_global_rms": 2.989195517179804
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.013089292628538585,
          0.013303518193552799,
          0.07537496809953247
        ],
        "translation_xyz_cm": [
          -1.3089292628538585,
          1.33035181935528,
          7.537496809953247
        ],
        "translation_norm_m": 0.07765113646204569,
        "rotation_rpy_deg_xyz": [
          -0.46420951166002233,
          -0.12318592757090256,
          0.02629593916442142
        ],
        "rotation_angle_deg": 0.48096817789925783,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.6556931398905776,
          "median": 0.7038478902798858,
          "p90": 2.246336260565,
          "p95": 3.6834655103174776,
          "max": 5.511875843494262
        },
        "height_residual_m": {
          "rms": 0.034713965171217304,
          "median": -0.005924101606088833,
          "p90": 0.053409267341990724,
          "p95": 0.08720196104337455,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.013089292628538585,
            0.013303518193552799,
            0.07537496809953247
          ],
          "translation_xyz_cm": [
            -1.3089292628538585,
            1.33035181935528,
            7.537496809953247
          ],
          "translation_norm_m": 0.07765113646204569,
          "rotation_rpy_deg_xyz": [
            -0.46420951166002233,
            -0.12318592757090256,
            0.02629593916442142
          ],
          "rotation_angle_deg": 0.48096817789925783,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.019837432632139107,
            -0.016139020290202533,
            0.12710201824625125
          ],
          "translation_xyz_cm": [
            1.9837432632139107,
            -1.6139020290202533,
            12.710201824625125
          ],
          "translation_norm_m": 0.12964919880829426,
          "rotation_rpy_deg_xyz": [
            -0.1757143536058827,
            -0.22241153503700828,
            -0.34316936395109443
          ],
          "rotation_angle_deg": 0.44535539842024163,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.03238583969692399,
            0.0065294353649325565,
            0.10323305104528144
          ],
          "translation_xyz_cm": [
            3.238583969692399,
            0.6529435364932556,
            10.323305104528144
          ],
          "translation_norm_m": 0.10839067749201207,
          "rotation_rpy_deg_xyz": [
            -0.053477542941272445,
            -0.28182052328638574,
            -0.39707289457553935
          ],
          "rotation_angle_deg": 0.4899527012149992,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.033983266720985505,
            -0.019065983678909604,
            0.04502524016578025
          ],
          "translation_xyz_cm": [
            3.3983266720985505,
            -1.9065983678909604,
            4.502524016578025
          ],
          "translation_norm_m": 0.059545330653715235,
          "rotation_rpy_deg_xyz": [
            0.32384482008354293,
            0.06470587093450712,
            -0.35007582267962295
          ],
          "rotation_angle_deg": 0.48139700963600973,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.0454919768885107,
            0.010605222857977492,
            0.02273106784603056
          ],
          "translation_xyz_cm": [
            4.54919768885107,
            1.0605222857977492,
            2.2731067846030557
          ],
          "translation_norm_m": 0.0519489379921573,
          "rotation_rpy_deg_xyz": [
            0.5155559162542533,
            0.2375208628762036,
            -0.38112308388010996
          ],
          "rotation_angle_deg": 0.6843112259317502,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.012908245743412955,
            0.007052585194783134,
            -0.0343380630187217
          ],
          "translation_xyz_cm": [
            1.2908245743412956,
            0.7052585194783134,
            -3.43380630187217
          ],
          "translation_norm_m": 0.03735591436412333,
          "rotation_rpy_deg_xyz": [
            0.7928733271967247,
            0.15025099561044367,
            0.1377095209774396
          ],
          "rotation_angle_deg": 0.8184744259545885,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.004983135978955691,
            0.020276831984999466,
            -0.0095083138609501
          ],
          "translation_xyz_cm": [
            0.4983135978955691,
            2.027683198499947,
            -0.9508313860950101
          ],
          "translation_norm_m": 0.0229431818196822,
          "rotation_rpy_deg_xyz": [
            0.3363109074938519,
            0.19062529543788628,
            -0.032865210258438374
          ],
          "rotation_angle_deg": 0.3880203820695361,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.03318725764135524,
            -0.0016548034047579319,
            -0.07121911621631889
          ],
          "translation_xyz_cm": [
            -3.318725764135524,
            -0.1654803404757932,
            -7.121911621631889
          ],
          "translation_norm_m": 0.0785894074204382,
          "rotation_rpy_deg_xyz": [
            0.7624913951896787,
            0.4717664298919329,
            0.5372030284413439
          ],
          "rotation_angle_deg": 1.043629201856332,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.030865605298225962,
            -0.019713214882646768,
            -0.12914633973002076
          ],
          "translation_xyz_cm": [
            -3.086560529822596,
            -1.9713214882646768,
            -12.914633973002076
          ],
          "translation_norm_m": 0.13423886731158463,
          "rotation_rpy_deg_xyz": [
            0.9248230859935033,
            0.30129558162761494,
            0.40389011749123904
          ],
          "rotation_angle_deg": 1.0522518128951979,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.03183701523864235,
            -0.021402739118916825,
            -0.0511745115325515
          ],
          "translation_xyz_cm": [
            -3.183701523864235,
            -2.1402739118916827,
            -5.11745115325515
          ],
          "translation_norm_m": 0.06395704348774421,
          "rotation_rpy_deg_xyz": [
            0.605504263644743,
            0.3105527747182122,
            0.58744709933869
          ],
          "rotation_angle_deg": 0.8979084676293785,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.038614370341891247,
            -0.03984567058915456,
            -0.07699103065683538
          ],
          "translation_xyz_cm": [
            -3.861437034189125,
            -3.984567058915456,
            -7.699103065683538
          ],
          "translation_norm_m": 0.09490187491931817,
          "rotation_rpy_deg_xyz": [
            0.8405034123607513,
            0.7416054387442135,
            0.5045048250211195
          ],
          "rotation_angle_deg": 1.2269650496836761,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.013631978420701359,
            -0.011133638199885748,
            -0.029921060365260255
          ],
          "translation_xyz_cm": [
            -1.3631978420701358,
            -1.113363819988575,
            -2.9921060365260255
          ],
          "translation_norm_m": 0.03471395380261331,
          "rotation_rpy_deg_xyz": [
            0.404444080485733,
            0.2436396754344723,
            -0.08643879159036653
          ],
          "rotation_angle_deg": 0.48016178635002466,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.012537737931094028,
            -0.004585997481778584,
            -0.21179725453278872
          ],
          "translation_xyz_cm": [
            1.2537737931094028,
            -0.45859974817785837,
            -21.179725453278873
          ],
          "translation_norm_m": 0.21221758474018726,
          "rotation_rpy_deg_xyz": [
            0.25362038504030376,
            0.0801190392064761,
            0.30155316597167203
          ],
          "rotation_angle_deg": 0.4019571533332662,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.010429137420876144,
            0.016012663211219177,
            -0.19737123338391027
          ],
          "translation_xyz_cm": [
            1.0429137420876144,
            1.6012663211219178,
            -19.737123338391026
          ],
          "translation_norm_m": 0.198294165466222,
          "rotation_rpy_deg_xyz": [
            0.30434581689490686,
            -0.1691601559838173,
            0.40329922693347425
          ],
          "rotation_angle_deg": 0.5331544036903919,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.006662762576638559,
            0.0033421051521627665,
            -0.13233421652925653
          ],
          "translation_xyz_cm": [
            -0.6662762576638559,
            0.33421051521627665,
            -13.233421652925653
          ],
          "translation_norm_m": 0.1325439811398953,
          "rotation_rpy_deg_xyz": [
            0.8070116442024338,
            -0.3352342793745047,
            -0.08717429731943552
          ],
          "rotation_angle_deg": 0.8779724090783606,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.008280248130208667,
            0.01470277037446932,
            -0.13863341397473403
          ],
          "translation_xyz_cm": [
            0.8280248130208667,
            1.470277037446932,
            -13.863341397473402
          ],
          "translation_norm_m": 0.13965656961300524,
          "rotation_rpy_deg_xyz": [
            -0.7076095049554771,
            0.6444128042247022,
            0.2935505305988037
          ],
          "rotation_angle_deg": 1.0022374714144187,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.010593423077150554,
            -0.004098754422540818,
            -0.0594462281547542
          ],
          "translation_xyz_cm": [
            -1.0593423077150554,
            -0.4098754422540818,
            -5.9446228154754195
          ],
          "translation_norm_m": 0.06052168571788871,
          "rotation_rpy_deg_xyz": [
            -0.5307955027281175,
            0.17880444959878763,
            -0.20685250915159892
          ],
          "rotation_angle_deg": 0.5967911222445244,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.009664356318276779,
            -0.02065178566907251,
            0.07401633730193319
          ],
          "translation_xyz_cm": [
            -0.9664356318276779,
            -2.0651785669072513,
            7.401633730193319
          ],
          "translation_norm_m": 0.07744878450925793,
          "rotation_rpy_deg_xyz": [
            0.4078265518810538,
            -0.4045880920033579,
            -0.48217921935507635
          ],
          "rotation_angle_deg": 0.7490791613998786,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.0005195250018715791,
            -0.003915390368792071,
            0.00448967593256876
          ],
          "translation_xyz_cm": [
            0.05195250018715791,
            -0.3915390368792071,
            0.448967593256876
          ],
          "translation_norm_m": 0.0059797473146518945,
          "rotation_rpy_deg_xyz": [
            0.346594824257409,
            -0.33914827388516566,
            -0.4754163500468226
          ],
          "rotation_angle_deg": 0.6783753930157004,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.00430747857871594,
            0.01282220408906587,
            -0.06789370059700928
          ],
          "translation_xyz_cm": [
            0.430747857871594,
            1.282220408906587,
            -6.789370059700928
          ],
          "translation_norm_m": 0.0692280136228398,
          "rotation_rpy_deg_xyz": [
            -0.48093996663388117,
            -0.37691074111057254,
            -0.3021567529035198
          ],
          "rotation_angle_deg": 0.6823620158670933,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010184274050746955,
            0.01987258354891608,
            -0.06236450892911398
          ],
          "translation_xyz_cm": [
            1.0184274050746955,
            1.9872583548916078,
            -6.236450892911398
          ],
          "translation_norm_m": 0.06624176166753798,
          "rotation_rpy_deg_xyz": [
            0.12344951262075038,
            -0.009453270969454568,
            0.007163810121608981
          ],
          "rotation_angle_deg": 0.1240185975242474,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.012414396253178528,
            0.03890815549096027,
            -0.11090791028095685
          ],
          "translation_xyz_cm": [
            1.2414396253178528,
            3.8908155490960272,
            -11.090791028095685
          ],
          "translation_norm_m": 0.11818852042786748,
          "rotation_rpy_deg_xyz": [
            -0.7936129844267639,
            -0.23233020797690354,
            0.1703297575998999
          ],
          "rotation_angle_deg": 0.8439559383545983,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.006518677743704959,
            0.015959886045983973,
            -0.05250021745552304
          ],
          "translation_xyz_cm": [
            0.6518677743704959,
            1.5959886045983973,
            -5.250021745552304
          ],
          "translation_norm_m": 0.0552583383301043,
          "rotation_rpy_deg_xyz": [
            -0.8645934388279924,
            -0.10374963511312864,
            0.16706091542763948
          ],
          "rotation_angle_deg": 0.8865285453010793,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.0021804435424603863,
            -0.01778573575765785,
            -0.16715497210051045
          ],
          "translation_xyz_cm": [
            -0.21804435424603863,
            -1.778573575765785,
            -16.715497210051044
          ],
          "translation_norm_m": 0.168112674799985,
          "rotation_rpy_deg_xyz": [
            -0.3621576055099488,
            1.5903982223275395,
            -0.3309485894391467
          ],
          "rotation_angle_deg": 1.6633426810172527,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.0037935979256569774,
            0.011207583924450981,
            -0.03480332892982078
          ],
          "translation_xyz_cm": [
            -0.37935979256569774,
            1.1207583924450981,
            -3.480332892982078
          ],
          "translation_norm_m": 0.03675966576619625,
          "rotation_rpy_deg_xyz": [
            0.615404762728528,
            0.3560050697851942,
            0.20348406904038652
          ],
          "rotation_angle_deg": 0.738978056043892,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.013283716917913413,
            0.01953700196067376,
            -0.03616483570566817
          ],
          "translation_xyz_cm": [
            1.3283716917913413,
            1.953700196067376,
            -3.616483570566817
          ],
          "translation_norm_m": 0.04319776524757503,
          "rotation_rpy_deg_xyz": [
            0.8851650488468991,
            0.8692283649134583,
            0.19594078038254079
          ],
          "rotation_angle_deg": 1.254918378434846,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.004890641425373765,
            0.0020739764108794745,
            -0.025465593547015216
          ],
          "translation_xyz_cm": [
            -0.4890641425373765,
            0.20739764108794745,
            -2.5465593547015217
          ],
          "translation_norm_m": 0.02601376955395449,
          "rotation_rpy_deg_xyz": [
            -0.14698334332655463,
            2.3606610587543218,
            0.6477135066661399
          ],
          "rotation_angle_deg": 2.453103621998225,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.01585559623109556,
            0.01402512083567653,
            -0.009454480321850325
          ],
          "translation_xyz_cm": [
            1.585559623109556,
            1.402512083567653,
            -0.9454480321850325
          ],
          "translation_norm_m": 0.023183855254359974,
          "rotation_rpy_deg_xyz": [
            0.42531613488117326,
            0.25254077525443025,
            -0.011612030949835544
          ],
          "rotation_angle_deg": 0.4947999311257519,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.0006945444960360092,
            0.004321290862388194,
            0.011982555143209155
          ],
          "translation_xyz_cm": [
            -0.06945444960360092,
            0.4321290862388194,
            1.1982555143209155
          ],
          "translation_norm_m": 0.01275686382048432,
          "rotation_rpy_deg_xyz": [
            0.3354769208252955,
            1.7820811842419002,
            0.4875895658755844
          ],
          "rotation_angle_deg": 1.8764288083424083,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.016701568835212233,
            0.003138013825199515,
            0.23406522185102213
          ],
          "translation_xyz_cm": [
            1.6701568835212233,
            0.3138013825199515,
            23.40652218510221
          ],
          "translation_norm_m": 0.23468131074393778,
          "rotation_rpy_deg_xyz": [
            0.19226561184223334,
            0.10189052234262146,
            -0.2786863514241317
          ],
          "rotation_angle_deg": 0.35370751940467177,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.0044840965280219525,
            -0.010850748492544304,
            0.03180743625796156
          ],
          "translation_xyz_cm": [
            0.44840965280219525,
            -1.0850748492544304,
            3.1807436257961563
          ],
          "translation_norm_m": 0.033905145123201565,
          "rotation_rpy_deg_xyz": [
            0.5625757719133562,
            1.460110332130632,
            0.5254481995830794
          ],
          "rotation_angle_deg": 1.6483149272435733,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.035346675034516495,
            -0.012594154098606314,
            0.22528316943611654
          ],
          "translation_xyz_cm": [
            3.5346675034516495,
            -1.2594154098606314,
            22.528316943611653
          ],
          "translation_norm_m": 0.22838674783059798,
          "rotation_rpy_deg_xyz": [
            0.5716540713923016,
            -0.19798278411781733,
            -0.23679484600545556
          ],
          "rotation_angle_deg": 0.6492986730858225,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.03561696782899593,
            0.001193061215853941,
            0.32378401049570854
          ],
          "translation_xyz_cm": [
            3.5616967828995927,
            0.11930612158539411,
            32.378401049570854
          ],
          "translation_norm_m": 0.3257392780201393,
          "rotation_rpy_deg_xyz": [
            0.11837770230309538,
            0.6767754688554426,
            -0.2184401020168502
          ],
          "rotation_angle_deg": 0.7211512309883626,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.006846424959392472,
            0.011355869032236399,
            0.14827860983666563
          ],
          "translation_xyz_cm": [
            0.6846424959392472,
            1.1355869032236399,
            14.827860983666563
          ],
          "translation_norm_m": 0.14887033093029656,
          "rotation_rpy_deg_xyz": [
            1.0739693926911786,
            -1.482206698951081,
            -0.7397167425024477
          ],
          "rotation_angle_deg": 1.9689757378705774,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.012499805509178952,
            0.02216538421772407,
            0.19946545117454884
          ],
          "translation_xyz_cm": [
            -1.2499805509178952,
            2.216538421772407,
            19.946545117454882
          ],
          "translation_norm_m": 0.20108211160506784,
          "rotation_rpy_deg_xyz": [
            1.0419323262277784,
            -0.4032648831526395,
            -0.6899044017939143
          ],
          "rotation_angle_deg": 1.3111577676084054,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.002106439722939779,
            -0.013093497832853629,
            0.10299136530511444
          ],
          "translation_xyz_cm": [
            0.2106439722939779,
            -1.309349783285363,
            10.299136530511444
          ],
          "translation_norm_m": 0.10384169731479186,
          "rotation_rpy_deg_xyz": [
            -0.5796570700128448,
            0.6062420012796523,
            0.007792503277983368
          ],
          "rotation_angle_deg": 0.8388307719398534,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.00043435864222041154,
            -0.00632415166044531,
            -0.0503329049850736
          ],
          "translation_xyz_cm": [
            0.043435864222041154,
            -0.632415166044531,
            -5.03329049850736
          ],
          "translation_norm_m": 0.05073051237559928,
          "rotation_rpy_deg_xyz": [
            -0.27792170264485505,
            0.5935404576317737,
            0.09552138298618551
          ],
          "rotation_angle_deg": 0.6625173986072784,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            -0.00038087613815074306,
            0.02522581750565056,
            0.02820892317808868
          ],
          "translation_xyz_cm": [
            -0.038087613815074306,
            2.522581750565056,
            2.820892317808868
          ],
          "translation_norm_m": 0.03784481843434194,
          "rotation_rpy_deg_xyz": [
            -0.6529823922251429,
            -0.11504696282735678,
            -0.7358061709119335
          ],
          "rotation_angle_deg": 0.9909546407125354,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.013744697864550126,
            -0.043441115845159084,
            -0.009900731492830123
          ],
          "translation_xyz_cm": [
            1.3744697864550126,
            -4.344111584515908,
            -0.9900731492830124
          ],
          "translation_norm_m": 0.04662694231185891,
          "rotation_rpy_deg_xyz": [
            0.37236327460503577,
            0.06227225688750911,
            -0.6400071781657749
          ],
          "rotation_angle_deg": 0.7432354599498271,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.002074760319756397,
            0.010945385043760858,
            0.012640385795617298
          ],
          "translation_xyz_cm": [
            0.20747603197563969,
            1.0945385043760858,
            1.26403857956173
          ],
          "translation_norm_m": 0.01684890017783544,
          "rotation_rpy_deg_xyz": [
            0.12182808172291339,
            0.11594233654150342,
            0.1481269168367565
          ],
          "rotation_angle_deg": 0.22403069452946567,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.005837871624343016,
            -0.013783818384081992,
            0.0014922663557854488
          ],
          "translation_xyz_cm": [
            0.5837871624343016,
            -1.3783818384081992,
            0.14922663557854488
          ],
          "translation_norm_m": 0.015043312574837871,
          "rotation_rpy_deg_xyz": [
            -1.1953604085028229,
            -1.0429171941128337,
            0.15533336214253
          ],
          "rotation_angle_deg": 1.5928811760259691,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.0052626196896492505,
            -0.000542177021255863,
            0.061255363277643006
          ],
          "translation_xyz_cm": [
            0.526261968964925,
            -0.0542177021255863,
            6.1255363277643005
          ],
          "translation_norm_m": 0.061483401436455004,
          "rotation_rpy_deg_xyz": [
            0.007477904378911511,
            -0.30884380613354123,
            -0.12914460637116182
          ],
          "rotation_angle_deg": 0.3348335389911787,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.005340469899470346,
            -0.032338693895048065,
            0.0102952683994907
          ],
          "translation_xyz_cm": [
            -0.5340469899470346,
            -3.2338693895048065,
            1.02952683994907
          ],
          "translation_norm_m": 0.034355556945017206,
          "rotation_rpy_deg_xyz": [
            1.3177875359502709,
            0.2397427355720673,
            -0.18667791105911688
          ],
          "rotation_angle_deg": 1.352743300230035,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.012381646386875556,
            0.019075422433856737,
            0.03268105504500258
          ],
          "translation_xyz_cm": [
            -1.2381646386875556,
            1.9075422433856737,
            3.268105504500258
          ],
          "translation_norm_m": 0.03981492518056767,
          "rotation_rpy_deg_xyz": [
            0.32811089070650684,
            1.0938943591736778,
            -0.27732945476011156
          ],
          "rotation_angle_deg": 1.1759696908666009,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            0.0008881229455779405,
            -0.034121417668073306,
            -0.05559411589156823
          ],
          "translation_xyz_cm": [
            0.08881229455779405,
            -3.4121417668073306,
            -5.559411589156823
          ],
          "translation_norm_m": 0.06523622941135306,
          "rotation_rpy_deg_xyz": [
            0.8903794626595006,
            0.3659796465573089,
            -0.07450550998247009
          ],
          "rotation_angle_deg": 0.9657580817962326,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.018536314228892792,
            0.006235894981081458,
            -0.1228577209282559
          ],
          "translation_xyz_cm": [
            1.8536314228892792,
            0.6235894981081458,
            -12.28577209282559
          ],
          "translation_norm_m": 0.12440458561923085,
          "rotation_rpy_deg_xyz": [
            0.4229315732726078,
            1.0815575509715794,
            -0.015532767442951432
          ],
          "rotation_angle_deg": 1.1614636480675928,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.006720626406270247,
            0.020830328035098766,
            -0.12184231635171613
          ],
          "translation_xyz_cm": [
            0.6720626406270247,
            2.0830328035098766,
            -12.184231635171614
          ],
          "translation_norm_m": 0.12379264695164309,
          "rotation_rpy_deg_xyz": [
            0.17435176344098524,
            1.5183208042313727,
            0.22799608320301332
          ],
          "rotation_angle_deg": 1.5448691050288041,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.019864080627680858,
            0.015488953495032542,
            -0.03693327955855756
          ],
          "translation_xyz_cm": [
            -1.9864080627680858,
            1.5488953495032542,
            -3.693327955855756
          ],
          "translation_norm_m": 0.04470521802323363,
          "rotation_rpy_deg_xyz": [
            0.3137728508955134,
            0.04832975926921964,
            0.08003547279851742
          ],
          "rotation_angle_deg": 0.327373852272857,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.031733973655696746,
            0.01896362797171325,
            -0.06932380335701871
          ],
          "translation_xyz_cm": [
            -3.1733973655696746,
            1.8963627971713248,
            -6.932380335701871
          ],
          "translation_norm_m": 0.07856496663088834,
          "rotation_rpy_deg_xyz": [
            0.648384294535184,
            0.7573749471695294,
            0.33168223178732675
          ],
          "rotation_angle_deg": 1.049371445715633,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.009781342011499106,
            0.011927514108743709,
            -0.03634209926234475
          ],
          "translation_xyz_cm": [
            -0.9781342011499106,
            1.1927514108743709,
            -3.634209926234475
          ],
          "translation_norm_m": 0.039480228256107086,
          "rotation_rpy_deg_xyz": [
            0.5481734068618089,
            0.609832612465558,
            0.2503689284770325
          ],
          "rotation_angle_deg": 0.8565102494815371,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.009317218084279544,
            -0.004294537073065374,
            0.06000729144536707
          ],
          "translation_xyz_cm": [
            0.9317218084279544,
            -0.4294537073065374,
            6.000729144536707
          ],
          "translation_norm_m": 0.060877981472049335,
          "rotation_rpy_deg_xyz": [
            1.7460832343704367,
            0.010574718333253618,
            -0.2604472046921517
          ],
          "rotation_angle_deg": 1.7654545891487659,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.007999542677307403,
            0.005577214123312801,
            0.013980144067582079
          ],
          "translation_xyz_cm": [
            -0.7999542677307403,
            0.5577214123312801,
            1.3980144067582079
          ],
          "translation_norm_m": 0.017045305176901136,
          "rotation_rpy_deg_xyz": [
            1.6752646779127547,
            0.5341344758512746,
            0.4235966245176509
          ],
          "rotation_angle_deg": 1.8068191808797784,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.02057237918682464,
            0.014652073163449852,
            0.09008317396869707
          ],
          "translation_xyz_cm": [
            2.057237918682464,
            1.4652073163449852,
            9.008317396869707
          ],
          "translation_norm_m": 0.09355685044756543,
          "rotation_rpy_deg_xyz": [
            2.313416626502316,
            -0.35494823522324065,
            -0.49308450900475187
          ],
          "rotation_angle_deg": 2.3903764199327346,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.0059922869404802626,
            0.0063873027760019685,
            0.03196752834277708
          ],
          "translation_xyz_cm": [
            0.5992286940480263,
            0.6387302776001968,
            3.196752834277708
          ],
          "translation_norm_m": 0.03314555789054739,
          "rotation_rpy_deg_xyz": [
            2.089168632880967,
            0.4852020062560545,
            0.21350546174592167
          ],
          "rotation_angle_deg": 2.154488902325351,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.011099429758935297,
            0.006233920545627214,
            0.013730358832632558
          ],
          "translation_xyz_cm": [
            1.1099429758935297,
            0.6233920545627214,
            1.3730358832632559
          ],
          "translation_norm_m": 0.018723831339113865,
          "rotation_rpy_deg_xyz": [
            1.1977673918356821,
            1.1810234990325177,
            -0.48064029119017715
          ],
          "rotation_angle_deg": 1.7527913715890677,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.001427186960198945,
            -0.017181913808577753,
            0.014892251493493533
          ],
          "translation_xyz_cm": [
            -0.1427186960198945,
            -1.7181913808577753,
            1.4892251493493533
          ],
          "translation_norm_m": 0.022782321639600676,
          "rotation_rpy_deg_xyz": [
            -0.5827069464529321,
            -0.308234946756496,
            -0.6957665788685778
          ],
          "rotation_angle_deg": 0.959594825027969,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.004342275640175863,
            0.04140047533558422,
            0.07036478968176531
          ],
          "translation_xyz_cm": [
            -0.43422756401758633,
            4.1400475335584215,
            7.036478968176531
          ],
          "translation_norm_m": 0.08175609055420059,
          "rotation_rpy_deg_xyz": [
            -1.3647734339067032,
            -0.42939472322973293,
            0.6075044915950952
          ],
          "rotation_angle_deg": 1.5523551637824822,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.026037366631039838,
            0.025124582648961002,
            0.04828281754733797
          ],
          "translation_xyz_cm": [
            2.6037366631039838,
            2.5124582648961002,
            4.828281754733797
          ],
          "translation_norm_m": 0.06033588968991165,
          "rotation_rpy_deg_xyz": [
            -0.535540312693118,
            0.09678330005098018,
            0.4918452634142074
          ],
          "rotation_angle_deg": 0.733842794348025,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.006905779478217466,
            -0.023979684016449287,
            0.02249231854806271
          ],
          "translation_xyz_cm": [
            -0.6905779478217466,
            -2.3979684016449285,
            2.249231854806271
          ],
          "translation_norm_m": 0.033594931602818436,
          "rotation_rpy_deg_xyz": [
            0.6524079579019757,
            -0.5188491168754197,
            -0.1252082566286941
          ],
          "rotation_angle_deg": 0.8424813032456042,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.0024781986277098156,
            0.0011625194842148634,
            0.031866134386988335
          ],
          "translation_xyz_cm": [
            -0.24781986277098156,
            0.11625194842148634,
            3.1866134386988336
          ],
          "translation_norm_m": 0.03198348700125054,
          "rotation_rpy_deg_xyz": [
            0.3500676267360066,
            -1.118280813117824,
            0.23577309223122908
          ],
          "rotation_angle_deg": 1.1959487301344318,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.010170602558004838,
            0.007522471915827944,
            0.026536495305336125
          ],
          "translation_xyz_cm": [
            -1.0170602558004838,
            0.7522471915827944,
            2.6536495305336123
          ],
          "translation_norm_m": 0.029397522399131543,
          "rotation_rpy_deg_xyz": [
            -0.8260664722887483,
            -0.8832432827622727,
            0.1731945725786607
          ],
          "rotation_angle_deg": 1.2207705543911835,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.01251905151535615,
            0.01733507577041371,
            -0.046430013676781096
          ],
          "translation_xyz_cm": [
            1.251905151535615,
            1.733507577041371,
            -4.643001367678109
          ],
          "translation_norm_m": 0.05111729328550374,
          "rotation_rpy_deg_xyz": [
            -0.2376027461970587,
            -0.09662326193737912,
            0.0943577638515474
          ],
          "rotation_angle_deg": 0.27323372908576454,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.0029162396891575515,
            0.0046343371519921295,
            -0.024804725222151207
          ],
          "translation_xyz_cm": [
            -0.29162396891575515,
            0.46343371519921295,
            -2.4804725222151207
          ],
          "translation_norm_m": 0.025401888278420888,
          "rotation_rpy_deg_xyz": [
            -0.08530996634165378,
            -0.023160215819794987,
            -0.05055491465550929
          ],
          "rotation_angle_deg": 0.10184168148608404,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.0145750099555213,
            0.023017543984789945,
            -0.029084809744800086
          ],
          "translation_xyz_cm": [
            1.45750099555213,
            2.3017543984789945,
            -2.9084809744800086
          ],
          "translation_norm_m": 0.03985178043935431,
          "rotation_rpy_deg_xyz": [
            0.8354650123961268,
            0.5627588542291962,
            -0.1374332258214981
          ],
          "rotation_angle_deg": 1.0172064079567749,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.0165245320233125,
            0.013286485311736373,
            -0.037810734839921686
          ],
          "translation_xyz_cm": [
            1.65245320233125,
            1.3286485311736373,
            -3.7810734839921687
          ],
          "translation_norm_m": 0.04335023090668993,
          "rotation_rpy_deg_xyz": [
            0.8253977382847336,
            0.33556692276050415,
            -0.07962983462481771
          ],
          "rotation_angle_deg": 0.8947683295914634,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.004726190427944754,
            0.0031154019323061943,
            0.017620733093272334
          ],
          "translation_xyz_cm": [
            0.4726190427944754,
            0.31154019323061943,
            1.7620733093272334
          ],
          "translation_norm_m": 0.01850764274307662,
          "rotation_rpy_deg_xyz": [
            1.0931367712721838,
            -0.07003121661570053,
            0.021372931860724517
          ],
          "rotation_angle_deg": 1.095599182282767,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.13355412573715597,
        "improved_pairs": 28,
        "worsened_pairs": 38,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.07166839723602836,
        "global_consistency_signal": false
      }
    },
    {
      "label": "yaw_-0.200_diagnostic",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.0,
        -0.2
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2977515508234834,
          -0.004597357058808013,
          0.7204978345266887
        ],
        "rotation_rpy_deg_xyz": [
          -0.7851511464150315,
          1.2026608220810582,
          -1.035510052785851
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10053142254152782,
          "median": 0.05554308417185303,
          "p90": 0.1588767029058682,
          "p95": 0.21936106228007995,
          "max": 0.3324257904109372
        },
        "rotation_deg": {
          "rms": 1.0152957563636194,
          "median": 0.8242769110324839,
          "p90": 1.539611636411224,
          "p95": 1.7217363975309565,
          "max": 2.182305990196691
        },
        "normalized_pair_score": {
          "rms": 2.8576089058597884,
          "median": 2.412009941338595,
          "p90": 4.395172056188768,
          "p95": 4.906500775589421,
          "max": 6.699738172693263
        },
        "normalized_global_rms": 2.8576089058597884
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.011748910217794173,
          0.012585336235598654,
          0.0774522090436308
        ],
        "translation_xyz_cm": [
          -1.1748910217794173,
          1.2585336235598654,
          7.74522090436308
        ],
        "translation_norm_m": 0.07934275181267124,
        "rotation_rpy_deg_xyz": [
          -0.5355339443982134,
          -0.10930893417334092,
          0.02466830083713769
        ],
        "rotation_angle_deg": 0.5471090190705757,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.6662748432297787,
          "median": 0.752893333210111,
          "p90": 2.3672634656614586,
          "p95": 3.9662750686570956,
          "max": 5.529555209905641
        },
        "height_residual_m": {
          "rms": 0.0347139651712173,
          "median": -0.005924101606088833,
          "p90": 0.053409267341990724,
          "p95": 0.08720196104337455,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.011748910217794173,
            0.012585336235598654,
            0.0774522090436308
          ],
          "translation_xyz_cm": [
            -1.1748910217794173,
            1.2585336235598654,
            7.74522090436308
          ],
          "translation_norm_m": 0.07934275181267124,
          "rotation_rpy_deg_xyz": [
            -0.5355339443982134,
            -0.10930893417334092,
            0.02466830083713769
          ],
          "rotation_angle_deg": 0.5471090190705757,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.02209223460543952,
            -0.018020726700241907,
            0.13305462993191253
          ],
          "translation_xyz_cm": [
            2.209223460543952,
            -1.8020726700241907,
            13.305462993191252
          ],
          "translation_norm_m": 0.13607478813867316,
          "rotation_rpy_deg_xyz": [
            -0.31914652144259936,
            -0.21122341614483142,
            -0.34646275641837543
          ],
          "rotation_angle_deg": 0.5166365681634414,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.034782737187538104,
            0.006203266958609177,
            0.10972025668372652
          ],
          "translation_xyz_cm": [
            3.4782737187538104,
            0.6203266958609177,
            10.972025668372652
          ],
          "translation_norm_m": 0.1152686169517096,
          "rotation_rpy_deg_xyz": [
            -0.27833863014259475,
            -0.2946203532968976,
            -0.4025139229771166
          ],
          "rotation_angle_deg": 0.5717221816616094,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.034811865315541035,
            -0.02063602145204535,
            0.0483641294919513
          ],
          "translation_xyz_cm": [
            3.4811865315541035,
            -2.063602145204535,
            4.83641294919513
          ],
          "translation_norm_m": 0.06306187730817152,
          "rotation_rpy_deg_xyz": [
            0.25301234431144376,
            0.07856507161125245,
            -0.35150133642727194
          ],
          "rotation_angle_deg": 0.4402983357286551,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04646087619157224,
            0.010172194661397183,
            0.02634250593874724
          ],
          "translation_xyz_cm": [
            4.646087619157225,
            1.0172194661397183,
            2.634250593874724
          ],
          "translation_norm_m": 0.054369239279678135,
          "rotation_rpy_deg_xyz": [
            0.35993676811464986,
            0.24664765969644997,
            -0.3846128678940171
          ],
          "rotation_angle_deg": 0.5821611725015248,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.012274334959605893,
            0.00793477278401089,
            -0.029521317730994805
          ],
          "translation_xyz_cm": [
            1.2274334959605893,
            0.7934772784010891,
            -2.9521317730994805
          ],
          "translation_norm_m": 0.032941282889541984,
          "rotation_rpy_deg_xyz": [
            0.49350043746978545,
            0.09079480892185002,
            0.12920228121145672
          ],
          "rotation_angle_deg": 0.5180525169080188,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.0047454701110814235,
            0.02112711836433176,
            -0.009517598854441556
          ],
          "translation_xyz_cm": [
            0.47454701110814235,
            2.112711836433176,
            -0.9517598854441556
          ],
          "translation_norm_m": 0.023652892104554967,
          "rotation_rpy_deg_xyz": [
            0.2526567759620954,
            0.20523572243396423,
            -0.034578606886677916
          ],
          "rotation_angle_deg": 0.3273897544800289,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.03547722980418585,
            -0.00023510086484124226,
            -0.07014046073675319
          ],
          "translation_xyz_cm": [
            -3.547722980418585,
            -0.023510086484124226,
            -7.014046073675319
          ],
          "translation_norm_m": 0.07860262934126108,
          "rotation_rpy_deg_xyz": [
            0.5232134708787115,
            0.45218792670014574,
            0.5310776539185691
          ],
          "rotation_angle_deg": 0.8706732532310362,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03400394410147545,
            -0.017996844189704708,
            -0.12735147486993081
          ],
          "translation_xyz_cm": [
            -3.4003944101475447,
            -1.7996844189704708,
            -12.735147486993082
          ],
          "translation_norm_m": 0.13303590780985183,
          "rotation_rpy_deg_xyz": [
            0.6042176970972334,
            0.22227025318415516,
            0.3942421887159937
          ],
          "rotation_angle_deg": 0.7543101544010228,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.033518858483133754,
            -0.020542953718810042,
            -0.05028630971691779
          ],
          "translation_xyz_cm": [
            -3.3518858483133753,
            -2.054295371881004,
            -5.028630971691779
          ],
          "translation_norm_m": 0.06382977178755458,
          "rotation_rpy_deg_xyz": [
            0.4463900452974913,
            0.318991530825338,
            0.5838735792541094
          ],
          "rotation_angle_deg": 0.8002960897011372,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.04099366374647419,
            -0.03844922721926747,
            -0.07566593743095464
          ],
          "translation_xyz_cm": [
            -4.099366374647419,
            -3.844922721926747,
            -7.5665937430954635
          ],
          "translation_norm_m": 0.09425580952080881,
          "rotation_rpy_deg_xyz": [
            0.5870852895990375,
            0.7143924390784686,
            0.4978279478250881
          ],
          "rotation_angle_deg": 1.0484294819479305,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.014134104373278597,
            -0.009970248604019571,
            -0.030147293449747342
          ],
          "translation_xyz_cm": [
            -1.4134104373278598,
            -0.9970248604019571,
            -3.014729344974734
          ],
          "translation_norm_m": 0.034756842002775026,
          "rotation_rpy_deg_xyz": [
            0.30474184819580336,
            0.25845828464587195,
            -0.08851206912855256
          ],
          "rotation_angle_deg": 0.40941928556312285,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.006177434996041731,
            -0.0058268135832307555,
            -0.21048436620985722
          ],
          "translation_xyz_cm": [
            0.6177434996041731,
            -0.5826813583230755,
            -21.048436620985722
          ],
          "translation_norm_m": 0.21065559778564946,
          "rotation_rpy_deg_xyz": [
            -0.10886326738779831,
            -0.05166856778838729,
            0.2911260770113835
          ],
          "rotation_angle_deg": 0.3150343350961785,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.005018049906427735,
            0.014779253068970679,
            -0.19504332819115258
          ],
          "translation_xyz_cm": [
            0.5018049906427735,
            1.477925306897068,
            -19.50433281911526
          ],
          "translation_norm_m": 0.19566682656501008,
          "rotation_rpy_deg_xyz": [
            0.008783200158708518,
            -0.22556277911163353,
            0.39543493496895893
          ],
          "rotation_angle_deg": 0.4553437938897104,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.012739039831569654,
            0.005306737252583349,
            -0.1322742186952278
          ],
          "translation_xyz_cm": [
            -1.2739039831569654,
            0.5306737252583349,
            -13.227421869522779
          ],
          "translation_norm_m": 0.13299215588722224,
          "rotation_rpy_deg_xyz": [
            0.41824380852496823,
            -0.5183159728890546,
            -0.1006787201382111
          ],
          "rotation_angle_deg": 0.6733003074377573,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.009084596052393312,
            0.011008964553714806,
            -0.13038656635979554
          ],
          "translation_xyz_cm": [
            0.9084596052393312,
            1.1008964553714806,
            -13.038656635979553
          ],
          "translation_norm_m": 0.13116548278063658,
          "rotation_rpy_deg_xyz": [
            -0.840037090330152,
            0.6570642011967021,
            0.29041448129309333
          ],
          "rotation_angle_deg": 1.106582027992288,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.009871890828461571,
            -0.0014957793035517142,
            -0.05615069708980904
          ],
          "translation_xyz_cm": [
            -0.9871890828461571,
            -0.14957793035517142,
            -5.615069708980904
          ],
          "translation_norm_m": 0.05703150329357878,
          "rotation_rpy_deg_xyz": [
            -0.8100617809077636,
            0.1347822057482451,
            -0.21350123200693003
          ],
          "rotation_angle_deg": 0.8482577323638306,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.011156508412904609,
            -0.015244501202385147,
            0.06810370903294502
          ],
          "translation_xyz_cm": [
            -1.1156508412904609,
            -1.5244501202385148,
            6.810370903294502
          ],
          "translation_norm_m": 0.07067515603747027,
          "rotation_rpy_deg_xyz": [
            0.2506843576111673,
            -0.39577345967054717,
            -0.4857289455081575
          ],
          "rotation_angle_deg": 0.67421749256899,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.0016665222487272091,
            0.000302369273450509,
            0.0014459179335448193
          ],
          "translation_xyz_cm": [
            -0.1666522248727209,
            0.0302369273450509,
            0.1445917933544819
          ],
          "translation_norm_m": 0.0022269715430548957,
          "rotation_rpy_deg_xyz": [
            0.11964371567764986,
            -0.35285794691723626,
            -0.48101201637706753
          ],
          "rotation_angle_deg": 0.608145233254483,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.0021093383660201193,
            0.015705360038618776,
            -0.06703348713894236
          ],
          "translation_xyz_cm": [
            0.21093383660201193,
            1.5705360038618776,
            -6.703348713894236
          ],
          "translation_norm_m": 0.0688810281593688,
          "rotation_rpy_deg_xyz": [
            -0.7824538874847704,
            -0.43842269799839084,
            -0.3093948954996361
          ],
          "rotation_angle_deg": 0.9497479873876222,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.010691310859906933,
            0.019432172695561523,
            -0.0606605333230603
          ],
          "translation_xyz_cm": [
            1.0691310859906933,
            1.9432172695561523,
            -6.06605333230603
          ],
          "translation_norm_m": 0.06458803114054028,
          "rotation_rpy_deg_xyz": [
            0.05141503904963398,
            0.00449354092149435,
            0.005662578035081809
          ],
          "rotation_angle_deg": 0.051920517173624496,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.014054342035886513,
            0.03834393454603746,
            -0.10654760316415678
          ],
          "translation_xyz_cm": [
            1.4054342035886513,
            3.834393454603746,
            -10.654760316415677
          ],
          "translation_norm_m": 0.11410597524476587,
          "rotation_rpy_deg_xyz": [
            -0.9539751542468863,
            -0.22424719955596317,
            0.16652151636587267
          ],
          "rotation_angle_deg": 0.9937108406424441,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.0075852997877216555,
            0.015708647987240587,
            -0.050730680236009656
          ],
          "translation_xyz_cm": [
            0.7585299787721655,
            1.5708647987240587,
            -5.073068023600966
          ],
          "translation_norm_m": 0.05364606520207152,
          "rotation_rpy_deg_xyz": [
            -0.9518976051817746,
            -0.08906146713718438,
            0.1649544244010011
          ],
          "rotation_angle_deg": 0.970054673754125,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.0020806016522596504,
            -0.021621418126227532,
            -0.1555936675834115
          ],
          "translation_xyz_cm": [
            0.20806016522596504,
            -2.162141812622753,
            -15.55936675834115
          ],
          "translation_norm_m": 0.15710252708687314,
          "rotation_rpy_deg_xyz": [
            -0.5624711770128453,
            1.5874171543552886,
            -0.33569411857993225
          ],
          "rotation_angle_deg": 1.7157208115256655,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.0020691642430539225,
            0.011131937774707112,
            -0.03279092164813225
          ],
          "translation_xyz_cm": [
            -0.20691642430539225,
            1.1131937774707112,
            -3.279092164813225
          ],
          "translation_norm_m": 0.03469071953446098,
          "rotation_rpy_deg_xyz": [
            0.5054479062183199,
            0.37053727338806464,
            0.20121515514486524
          ],
          "rotation_angle_deg": 0.657726366657615,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.01646526990365227,
            0.015907898886068805,
            -0.024997057111626572
          ],
          "translation_xyz_cm": [
            1.6465269903652269,
            1.5907898886068805,
            -2.4997057111626573
          ],
          "translation_norm_m": 0.03389718608102193,
          "rotation_rpy_deg_xyz": [
            0.6631716668254954,
            0.8578341641824542,
            0.19039500522721647
          ],
          "rotation_angle_deg": 1.100012107447725,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.005749609255651489,
            0.00981813121814712,
            -0.011528589843174137
          ],
          "translation_xyz_cm": [
            -0.5749609255651489,
            0.9818131218147119,
            -1.1528589843174137
          ],
          "translation_norm_m": 0.016197595222179315,
          "rotation_rpy_deg_xyz": [
            -0.5552161207845999,
            2.009421266253433,
            0.6357031086241702
          ],
          "rotation_angle_deg": 2.182305990196691,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.01730742819920117,
            0.009930629965015925,
            -0.0012538299766535616
          ],
          "translation_xyz_cm": [
            1.730742819920117,
            0.9930629965015925,
            -0.12538299766535616
          ],
          "translation_norm_m": 0.019993413214929836,
          "rotation_rpy_deg_xyz": [
            0.31124513246765945,
            0.2668531437532043,
            -0.014031036738193366
          ],
          "rotation_angle_deg": 0.410245251568496,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.001417177958336513,
            0.010278608573110137,
            0.02064514149799443
          ],
          "translation_xyz_cm": [
            -0.1417177958336513,
            1.0278608573110137,
            2.064514149799443
          ],
          "translation_norm_m": 0.023105844607739828,
          "rotation_rpy_deg_xyz": [
            -0.07069970480496512,
            1.5418459142259642,
            0.47434907172896096
          ],
          "rotation_angle_deg": 1.6149869587730064,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.014508837017172538,
            0.00379210170019606,
            0.24608409874515946
          ],
          "translation_xyz_cm": [
            1.4508837017172538,
            0.379210170019606,
            24.608409874515946
          ],
          "translation_norm_m": 0.24654060526029561,
          "rotation_rpy_deg_xyz": [
            -0.19311360273658235,
            -0.3257197603704734,
            -0.2932923739515135
          ],
          "rotation_angle_deg": 0.47929971160952933,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.00040765859320579523,
            -0.005370934206996636,
            0.02979232131826145
          ],
          "translation_xyz_cm": [
            -0.04076585932057952,
            -0.5370934206996636,
            2.9792321318261448
          ],
          "translation_norm_m": 0.030275328723484353,
          "rotation_rpy_deg_xyz": [
            0.198825597238105,
            1.3268006810040451,
            0.5142543825749741
          ],
          "rotation_angle_deg": 1.43596923674241,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.030619780130571983,
            -0.014642186475313679,
            0.23067352639628064
          ],
          "translation_xyz_cm": [
            3.0619780130571983,
            -1.4642186475313679,
            23.067352639628062
          ],
          "translation_norm_m": 0.2331571151393798,
          "rotation_rpy_deg_xyz": [
            0.16034369761383052,
            -0.5134999386071942,
            -0.25259308482191417
          ],
          "rotation_angle_deg": 0.5939965715201474,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.03395811086541589,
            -0.006118990331226648,
            0.33063017223797775
          ],
          "translation_xyz_cm": [
            3.395811086541589,
            -0.6118990331226648,
            33.06301722379777
          ],
          "translation_norm_m": 0.3324257904109372,
          "rotation_rpy_deg_xyz": [
            -0.2563013940830722,
            0.22672202245265619,
            -0.2325405141945881
          ],
          "rotation_angle_deg": 0.41343957554542377,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.009800785582382732,
            0.006496368501754279,
            0.16021999448673158
          ],
          "translation_xyz_cm": [
            0.9800785582382732,
            0.6496368501754279,
            16.021999448673157
          ],
          "translation_norm_m": 0.16065087872486325,
          "rotation_rpy_deg_xyz": [
            0.8856777756756926,
            -1.4812056342085482,
            -0.7441413425210676
          ],
          "rotation_angle_deg": 1.8748380811355037,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.005669142096515589,
            0.015348355392785784,
            0.22165982567898568
          ],
          "translation_xyz_cm": [
            -0.5669142096515589,
            1.5348355392785784,
            22.165982567898567
          ],
          "translation_norm_m": 0.22226288377822345,
          "rotation_rpy_deg_xyz": [
            0.7326830017201675,
            -0.4714411171372534,
            -0.6991490251757558
          ],
          "rotation_angle_deg": 1.1151964340680316,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0045640458821787355,
            -0.01703721302446559,
            0.11212040617203739
          ],
          "translation_xyz_cm": [
            0.45640458821787355,
            -1.7037213024465592,
            11.212040617203739
          ],
          "translation_norm_m": 0.11349926265239917,
          "rotation_rpy_deg_xyz": [
            -0.718534259765166,
            0.6180768996940113,
            0.004530359058897863
          ],
          "rotation_angle_deg": 0.9478191646739258,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0065056973829920595,
            -0.00651425315022891,
            -0.04070987050354279
          ],
          "translation_xyz_cm": [
            0.650569738299206,
            -0.651425315022891,
            -4.0709870503542795
          ],
          "translation_norm_m": 0.041737910213133105,
          "rotation_rpy_deg_xyz": [
            -0.5190787323237712,
            0.5728926682292592,
            0.08970289125554257
          ],
          "rotation_angle_deg": 0.7785618518380146,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            0.003047158440480313,
            0.01612423201090185,
            0.047277027296241496
          ],
          "translation_xyz_cm": [
            0.3047158440480313,
            1.612423201090185,
            4.727702729624149
          ],
          "translation_norm_m": 0.050043914140206355,
          "rotation_rpy_deg_xyz": [
            -0.8380523330945313,
            -0.11317732429063847,
            -0.7401789685625001
          ],
          "rotation_angle_deg": 1.124375763416719,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.01506677562722869,
            -0.03303247254013719,
            -0.01681280025847893
          ],
          "translation_xyz_cm": [
            1.506677562722869,
            -3.303247254013719,
            -1.6812800258478928
          ],
          "translation_norm_m": 0.04001027646052548,
          "rotation_rpy_deg_xyz": [
            0.10326906176616632,
            0.025313967913603432,
            -0.6469944518488367
          ],
          "rotation_angle_deg": 0.6556954445211132,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.004301167868860922,
            0.02315246656537262,
            0.0017386993148900132
          ],
          "translation_xyz_cm": [
            0.43011678688609223,
            2.315246656537262,
            0.17386993148900132
          ],
          "translation_norm_m": 0.02361270480915767,
          "rotation_rpy_deg_xyz": [
            -0.11264639000956143,
            0.09867563901568227,
            0.14236359183674593
          ],
          "rotation_angle_deg": 0.20669080105969642,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.002681014467468934,
            0.0015153298205303756,
            -0.021051384127350137
          ],
          "translation_xyz_cm": [
            0.2681014467468934,
            0.15153298205303756,
            -2.1051384127350135
          ],
          "translation_norm_m": 0.021275451504422078,
          "rotation_rpy_deg_xyz": [
            -1.3692173141255308,
            -1.0380162284583052,
            0.15117668573593138
          ],
          "rotation_angle_deg": 1.7237415928660536,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            -0.0007294237001627124,
            0.0059449168002362884,
            0.056399786770500164
          ],
          "translation_xyz_cm": [
            -0.07294237001627124,
            0.5944916800236288,
            5.639978677050016
          ],
          "translation_norm_m": 0.05671692906402793,
          "rotation_rpy_deg_xyz": [
            -0.35502558456679695,
            -0.4408120377458715,
            -0.13900903227030736
          ],
          "rotation_angle_deg": 0.5831473606925559,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.01560892776380296,
            -0.02711371383790917,
            0.023855427044536623
          ],
          "translation_xyz_cm": [
            -1.560892776380296,
            -2.711371383790917,
            2.385542704453662
          ],
          "translation_norm_m": 0.03934302356831329,
          "rotation_rpy_deg_xyz": [
            1.0548655620257106,
            -0.3294414859193639,
            -0.2120103820291368
          ],
          "rotation_angle_deg": 1.1246915495033547,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.0048724388638325955,
            0.016555725748206296,
            0.04570196729823925
          ],
          "translation_xyz_cm": [
            -0.48724388638325955,
            1.6555725748206296,
            4.570196729823925
          ],
          "translation_norm_m": 0.048851842651643516,
          "rotation_rpy_deg_xyz": [
            0.09546623284033684,
            1.0775827775049782,
            -0.28309517022880515
          ],
          "rotation_angle_deg": 1.118457401217174,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.0028301573949613967,
            -0.022330318830221074,
            -0.0556838307011613
          ],
          "translation_xyz_cm": [
            -0.2830157394961397,
            -2.2330318830221074,
            -5.56838307011613
          ],
          "translation_norm_m": 0.06006115159980846,
          "rotation_rpy_deg_xyz": [
            0.49268288279378014,
            0.15825199914177118,
            -0.08908409912480704
          ],
          "rotation_angle_deg": 0.5252019728243343,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.0022757930111132474,
            0.014543032548259838,
            -0.11953391143381428
          ],
          "translation_xyz_cm": [
            -0.22757930111132474,
            1.4543032548259838,
            -11.953391143381427
          ],
          "translation_norm_m": 0.12043685072350628,
          "rotation_rpy_deg_xyz": [
            0.12223918632624664,
            0.5394939332637073,
            -0.03218937106782452
          ],
          "rotation_angle_deg": 0.554138258694884,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.014126014428800016,
            0.01731979971752029,
            -0.11961246320644903
          ],
          "translation_xyz_cm": [
            -1.4126014428800016,
            1.731979971752029,
            -11.961246320644904
          ],
          "translation_norm_m": 0.12168262447947038,
          "rotation_rpy_deg_xyz": [
            0.0276493173995964,
            0.9049016731683907,
            0.21555739065093418
          ],
          "rotation_angle_deg": 0.9305812158627091,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.02853954413988813,
            0.022752825419550704,
            -0.04726765181828505
          ],
          "translation_xyz_cm": [
            -2.853954413988813,
            2.2752825419550704,
            -4.7267651818285055
          ],
          "translation_norm_m": 0.05971957428431487,
          "rotation_rpy_deg_xyz": [
            -0.02108664689711348,
            -0.04627392585907875,
            0.07066423048105784
          ],
          "rotation_angle_deg": 0.08705258513789994,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.04181611136879804,
            0.020626640433104915,
            -0.07395128074428872
          ],
          "translation_xyz_cm": [
            -4.181611136879804,
            2.0626640433104915,
            -7.3951280744288725
          ],
          "translation_norm_m": 0.08742332291376785,
          "rotation_rpy_deg_xyz": [
            0.24098676691704196,
            0.5093600460816013,
            0.316941031122525
          ],
          "rotation_angle_deg": 0.6459827373704318,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.008705213993577876,
            0.012057603039119735,
            -0.03315699913695252
          ],
          "translation_xyz_cm": [
            -0.8705213993577876,
            1.2057603039119735,
            -3.315699913695252
          ],
          "translation_norm_m": 0.03633941570101043,
          "rotation_rpy_deg_xyz": [
            0.37854407785868566,
            0.6159343431432545,
            0.2464891649407497
          ],
          "rotation_angle_deg": 0.7631660358041191,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.00712107026679365,
            -0.011127561567771949,
            0.04433844629578218
          ],
          "translation_xyz_cm": [
            -0.712107026679365,
            -1.1127561567771949,
            4.433844629578218
          ],
          "translation_norm_m": 0.04626478237399511,
          "rotation_rpy_deg_xyz": [
            1.3442838020239756,
            -0.36852185435075824,
            -0.28505939336063874
          ],
          "rotation_angle_deg": 1.4218618784137353,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.02157445571594785,
            0.012375879779870536,
            0.01887161887767151
          ],
          "translation_xyz_cm": [
            -2.157445571594785,
            1.2375879779870536,
            1.8871618877671512
          ],
          "translation_norm_m": 0.031221107264626135,
          "rotation_rpy_deg_xyz": [
            1.3308726929538792,
            0.03812900618091576,
            0.396052252285909
          ],
          "rotation_angle_deg": 1.3889476012857715,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.0043192737444002205,
            0.006686296338488162,
            0.07897205914858062
          ],
          "translation_xyz_cm": [
            0.43192737444002205,
            0.6686296338488162,
            7.897205914858062
          ],
          "translation_norm_m": 0.07937221686819677,
          "rotation_rpy_deg_xyz": [
            1.9153211457929256,
            -0.5642927668743174,
            -0.5129336418772029
          ],
          "rotation_angle_deg": 2.0591868076103896,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.006700159996405386,
            0.012759275287178351,
            0.026413834674712214
          ],
          "translation_xyz_cm": [
            -0.6700159996405386,
            1.275927528717835,
            2.6413834674712215
          ],
          "translation_norm_m": 0.030089564836575163,
          "rotation_rpy_deg_xyz": [
            1.6796519267758923,
            0.14604200808447562,
            0.18829326127872464
          ],
          "rotation_angle_deg": 1.6962319982758776,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            -0.00416672114207417,
            0.011585463148090946,
            0.01381971771250444
          ],
          "translation_xyz_cm": [
            -0.416672114207417,
            1.1585463148090946,
            1.381971771250444
          ],
          "translation_norm_m": 0.018508622830586022,
          "rotation_rpy_deg_xyz": [
            0.8472824533054352,
            0.6924972699468647,
            -0.5039284014781138
          ],
          "rotation_angle_deg": 1.2068669805108514,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0021140550844855888,
            -0.011122111731391326,
            0.008040120808944284
          ],
          "translation_xyz_cm": [
            -0.21140550844855888,
            -1.1122111731391326,
            0.8040120808944284
          ],
          "translation_norm_m": 0.01388575316243994,
          "rotation_rpy_deg_xyz": [
            -0.7428475785243821,
            -0.3000926755847766,
            -0.699539870012595
          ],
          "rotation_angle_deg": 1.0648693173338326,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.005822859443569861,
            0.05539872553156422,
            0.05584562954024054
          ],
          "translation_xyz_cm": [
            -0.5822859443569861,
            5.539872553156422,
            5.5845629540240544
          ],
          "translation_norm_m": 0.07887749248909313,
          "rotation_rpy_deg_xyz": [
            -1.2295910627015747,
            -0.5146874739254865,
            0.6115327195593028
          ],
          "rotation_angle_deg": 1.4642363140494419,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.035159258025379,
            0.03980201884486867,
            0.036218321770759135
          ],
          "translation_xyz_cm": [
            3.5159258025379003,
            3.980201884486867,
            3.6218321770759134
          ],
          "translation_norm_m": 0.06428173115989258,
          "rotation_rpy_deg_xyz": [
            -0.31513998336533705,
            -0.2141940157510921,
            0.4953590423367671
          ],
          "rotation_angle_deg": 0.6244903967618446,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.006551094106074018,
            -0.02065967419229031,
            0.019057592907733324
          ],
          "translation_xyz_cm": [
            -0.6551094106074018,
            -2.065967419229031,
            1.9057592907733325
          ],
          "translation_norm_m": 0.028860540867334965,
          "rotation_rpy_deg_xyz": [
            0.8370618070321812,
            -0.6739925190910833,
            -0.12485818713744735
          ],
          "rotation_angle_deg": 1.0813371239331713,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.0022791100855710233,
            0.00574611144449011,
            0.027007479579891774
          ],
          "translation_xyz_cm": [
            -0.22791100855710233,
            0.574611144449011,
            2.7007479579891776
          ],
          "translation_norm_m": 0.0277058855258756,
          "rotation_rpy_deg_xyz": [
            0.5172047347275823,
            -1.243920438445153,
            0.23715544796713608
          ],
          "rotation_angle_deg": 1.3688430767407767,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.009553308095984203,
            0.00994974232273993,
            0.02916989939244939
          ],
          "translation_xyz_cm": [
            -0.9553308095984203,
            0.994974232273993,
            2.916989939244939
          ],
          "translation_norm_m": 0.03226679560215639,
          "rotation_rpy_deg_xyz": [
            -0.6182568414692499,
            -1.2732199342731065,
            0.17800383183508972
          ],
          "rotation_angle_deg": 1.425676324367976,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.012349733788234896,
            0.0071781819150057435,
            -0.05136054253506888
          ],
          "translation_xyz_cm": [
            1.2349733788234896,
            0.7178181915005744,
            -5.136054253506888
          ],
          "translation_norm_m": 0.053309919806184346,
          "rotation_rpy_deg_xyz": [
            -0.11937661233725183,
            -0.6309937842808361,
            0.09193837926716758
          ],
          "rotation_angle_deg": 0.6486412679040614,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.005762500776254731,
            0.00413490082301915,
            -0.021210233278927904
          ],
          "translation_xyz_cm": [
            -0.5762500776254731,
            0.413490082301915,
            -2.1210233278927904
          ],
          "translation_norm_m": 0.02236465550280356,
          "rotation_rpy_deg_xyz": [
            0.11147341198359811,
            -0.20435563963405623,
            -0.04827864446295908
          ],
          "rotation_angle_deg": 0.2376955301690939,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.009564601078873913,
            0.012008259673859545,
            -0.02269152436915197
          ],
          "translation_xyz_cm": [
            0.9564601078873913,
            1.2008259673859545,
            -2.269152436915197
          ],
          "translation_norm_m": 0.02739680952937139,
          "rotation_rpy_deg_xyz": [
            1.0522317952095899,
            0.21279800583519293,
            -0.14258070238539514
          ],
          "rotation_angle_deg": 1.0832171246083169,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.01388283017172709,
            0.0010030126428202113,
            -0.024074285482610144
          ],
          "translation_xyz_cm": [
            1.388283017172709,
            0.10030126428202113,
            -2.4074285482610143
          ],
          "translation_norm_m": 0.027808456077907072,
          "rotation_rpy_deg_xyz": [
            0.9676191955684412,
            0.24244576185523073,
            -0.07892468324294306
          ],
          "rotation_angle_deg": 1.0008084532584136,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.002720793239309627,
            -0.0027614729398491855,
            0.024810968227723804
          ],
          "translation_xyz_cm": [
            0.2720793239309627,
            -0.27614729398491855,
            2.4810968227723804
          ],
          "translation_norm_m": 0.02511200097653933,
          "rotation_rpy_deg_xyz": [
            1.2132782648708806,
            -0.1403570137683193,
            0.021891548334274723
          ],
          "rotation_angle_deg": 1.2215923174512227,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.0019675144171404924,
        "improved_pairs": 35,
        "worsened_pairs": 31,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": -0.0004636456605737749,
        "global_consistency_signal": false
      }
    },
    {
      "label": "yaw_+0.200_diagnostic",
      "body_left_rpy_correction_deg_xyz": [
        0.0,
        0.0,
        0.2
      ],
      "candidate_extrinsic": {
        "translation_m": [
          1.2977520208799274,
          0.004462696353922578,
          0.7204978345266887
        ],
        "rotation_rpy_deg_xyz": [
          -0.7851511464150318,
          1.2026608220810453,
          -0.635510052785851
        ]
      },
      "all_pairs": {
        "count": 66,
        "translation_m": {
          "rms": 0.10091495789660097,
          "median": 0.057072007424743,
          "p90": 0.15889742979161348,
          "p95": 0.22209343844560625,
          "max": 0.3322636772561496
        },
        "rotation_deg": {
          "rms": 1.0152957563636194,
          "median": 0.824276911032482,
          "p90": 1.5396116364112238,
          "p95": 1.721736397530956,
          "max": 2.182305990196691
        },
        "normalized_pair_score": {
          "rms": 2.8630112438600364,
          "median": 2.423863113519335,
          "p90": 4.451968500308658,
          "p95": 4.918003097359537,
          "max": 6.696520710041911
        },
        "normalized_global_rms": 2.8630112438600364
      },
      "selected_pair": {
        "translation_xyz_m": [
          -0.013314657207546154,
          0.015730856142696426,
          0.07743008820926582
        ],
        "translation_xyz_cm": [
          -1.3314657207546154,
          1.5730856142696426,
          7.743008820926582
        ],
        "translation_norm_m": 0.08012589151848082,
        "rotation_rpy_deg_xyz": [
          -0.5355339443982136,
          -0.10930893417334092,
          0.024668300837139976
        ],
        "rotation_angle_deg": 0.547109019070576,
        "pair_index": 0,
        "i": 0,
        "j": 1
      },
      "ground": {
        "normal_tilt_deg": {
          "rms": 1.6662748432297787,
          "median": 0.7528933332101111,
          "p90": 2.3672634656614586,
          "p95": 3.9662750686570947,
          "max": 5.529555209905641
        },
        "height_residual_m": {
          "rms": 0.0347139651712173,
          "median": -0.005924101606088833,
          "p90": 0.053409267341990724,
          "p95": 0.08720196104337455,
          "max": 0.12336745254185402
        }
      },
      "per_pair": [
        {
          "translation_xyz_m": [
            -0.013314657207546154,
            0.015730856142696426,
            0.07743008820926582
          ],
          "translation_xyz_cm": [
            -1.3314657207546154,
            1.5730856142696426,
            7.743008820926582
          ],
          "translation_norm_m": 0.08012589151848082,
          "rotation_rpy_deg_xyz": [
            -0.5355339443982136,
            -0.10930893417334092,
            0.024668300837139976
          ],
          "rotation_angle_deg": 0.547109019070576,
          "pair_index": 0,
          "i": 0,
          "j": 1
        },
        {
          "translation_xyz_m": [
            0.018977957315627902,
            -0.010544419632784852,
            0.13303730622105003
          ],
          "translation_xyz_cm": [
            1.8977957315627902,
            -1.0544419632784852,
            13.303730622105004
          ],
          "translation_norm_m": 0.13479715314434312,
          "rotation_rpy_deg_xyz": [
            -0.31914652144259953,
            -0.21122341614483142,
            -0.34646275641837704
          ],
          "rotation_angle_deg": 0.5166365681634427,
          "pair_index": 1,
          "i": 0,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.030691964249830894,
            0.012971647483750681,
            0.10967170978793495
          ],
          "translation_xyz_cm": [
            3.0691964249830894,
            1.2971647483750681,
            10.967170978793494
          ],
          "translation_norm_m": 0.11462174416647401,
          "rotation_rpy_deg_xyz": [
            -0.27833863014259486,
            -0.2946203532968976,
            -0.40251392297711336
          ],
          "rotation_angle_deg": 0.5717221816616073,
          "pair_index": 2,
          "i": 0,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.03391863028449604,
            -0.01588307165538083,
            0.04843205429211943
          ],
          "translation_xyz_cm": [
            3.3918630284496043,
            -1.5883071655380832,
            4.843205429211943
          ],
          "translation_norm_m": 0.061224254413925684,
          "rotation_rpy_deg_xyz": [
            0.25301234431144376,
            0.07856507161125245,
            -0.3515013364272742
          ],
          "rotation_angle_deg": 0.4402983357286569,
          "pair_index": 3,
          "i": 1,
          "j": 2
        },
        {
          "translation_xyz_m": [
            0.04523170697930379,
            0.014903086563413659,
            0.026415847253910878
          ],
          "translation_xyz_cm": [
            4.523170697930379,
            1.490308656341366,
            2.6415847253910876
          ],
          "translation_norm_m": 0.054459216772922384,
          "rotation_rpy_deg_xyz": [
            0.35993676811464986,
            0.24664765969644997,
            -0.3846128678940189
          ],
          "rotation_angle_deg": 0.582161172501526,
          "pair_index": 4,
          "i": 1,
          "j": 3
        },
        {
          "translation_xyz_m": [
            0.01195925579552179,
            0.013541565982868153,
            -0.029402031699740358
          ],
          "translation_xyz_cm": [
            1.195925579552179,
            1.3541565982868153,
            -2.9402031699740356
          ],
          "translation_norm_m": 0.034509089766663364,
          "rotation_rpy_deg_xyz": [
            0.49350043746978545,
            0.09079480892185002,
            0.12920228121145672
          ],
          "rotation_angle_deg": 0.518052516908019,
          "pair_index": 5,
          "i": 1,
          "j": 4
        },
        {
          "translation_xyz_m": [
            0.00563711988352532,
            0.02151812222751026,
            -0.009494983823284823
          ],
          "translation_xyz_cm": [
            0.563711988352532,
            2.151812222751026,
            -0.9494983823284823
          ],
          "translation_norm_m": 0.02418597574181675,
          "rotation_rpy_deg_xyz": [
            0.25265677596209546,
            0.20523572243396423,
            -0.034578606886678666
          ],
          "rotation_angle_deg": 0.32738975448002894,
          "pair_index": 6,
          "i": 2,
          "j": 3
        },
        {
          "translation_xyz_m": [
            -0.031814771562302405,
            0.002674096563466233,
            -0.07002645810745761
          ],
          "translation_xyz_cm": [
            -3.1814771562302404,
            0.2674096563466233,
            -7.002645810745761
          ],
          "translation_norm_m": 0.07696125854654239,
          "rotation_rpy_deg_xyz": [
            0.5232134708787116,
            0.45218792670014574,
            0.5310776539185676
          ],
          "rotation_angle_deg": 0.8706732532310353,
          "pair_index": 7,
          "i": 2,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.030201713700173966,
            -0.01390517428999638,
            -0.12718731006789621
          ],
          "translation_xyz_cm": [
            -3.0201713700173967,
            -1.390517428999638,
            -12.718731006789621
          ],
          "translation_norm_m": 0.131461436264669,
          "rotation_rpy_deg_xyz": [
            0.6042176970972332,
            0.22227025318415516,
            0.39424218871599054
          ],
          "rotation_angle_deg": 0.7543101544010211,
          "pair_index": 8,
          "i": 2,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.030438639522814517,
            -0.018412648389471042,
            -0.05019333745378557
          ],
          "translation_xyz_cm": [
            -3.043863952281452,
            -1.8412648389471042,
            -5.019333745378557
          ],
          "translation_norm_m": 0.0615216020716604,
          "rotation_rpy_deg_xyz": [
            0.4463900452974913,
            0.318991530825338,
            0.5838735792541047
          ],
          "rotation_angle_deg": 0.8002960897011339,
          "pair_index": 9,
          "i": 3,
          "j": 4
        },
        {
          "translation_xyz_m": [
            -0.03750265148312712,
            -0.03527515584616375,
            -0.07556064123872656
          ],
          "translation_xyz_cm": [
            -3.750265148312712,
            -3.527515584616375,
            -7.556064123872656
          ],
          "translation_norm_m": 0.09143410738145576,
          "rotation_rpy_deg_xyz": [
            0.5870852895990378,
            0.7143924390784686,
            0.4978279478250889
          ],
          "rotation_angle_deg": 1.0484294819479314,
          "pair_index": 10,
          "i": 3,
          "j": 5
        },
        {
          "translation_xyz_m": [
            -0.012899492642063706,
            -0.009796543052902063,
            -0.030123604990322298
          ],
          "translation_xyz_cm": [
            -1.2899492642063706,
            -0.9796543052902063,
            -3.01236049903223
          ],
          "translation_norm_m": 0.03420234997515507,
          "rotation_rpy_deg_xyz": [
            0.3047418481958034,
            0.25845828464587195,
            -0.08851206912854949
          ],
          "rotation_angle_deg": 0.40941928556312224,
          "pair_index": 11,
          "i": 4,
          "j": 5
        },
        {
          "translation_xyz_m": [
            0.014231699011879373,
            0.0036358380633595005,
            -0.21019573556432383
          ],
          "translation_xyz_cm": [
            1.4231699011879373,
            0.36358380633595005,
            -21.019573556432384
          ],
          "translation_norm_m": 0.21070834778103797,
          "rotation_rpy_deg_xyz": [
            -0.10886326738779825,
            -0.05166856778838729,
            0.2911260770113835
          ],
          "rotation_angle_deg": 0.3150343350961785,
          "pair_index": 12,
          "i": 4,
          "j": 7
        },
        {
          "translation_xyz_m": [
            0.012534416215775668,
            0.02312276106239165,
            -0.19473957064999006
          ],
          "translation_xyz_cm": [
            1.2534416215775668,
            2.312276106239165,
            -19.473957064999006
          ],
          "translation_norm_m": 0.19650769462278372,
          "rotation_rpy_deg_xyz": [
            0.00878320015870842,
            -0.22556277911163353,
            0.39543493496896004
          ],
          "rotation_angle_deg": 0.4553437938897115,
          "pair_index": 13,
          "i": 5,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.005720664906388673,
            0.009705636407000673,
            -0.1319708615762251
          ],
          "translation_xyz_cm": [
            -0.5720664906388673,
            0.9705636407000673,
            -13.19708615762251
          ],
          "translation_norm_m": 0.13245087274233888,
          "rotation_rpy_deg_xyz": [
            0.4182438085249681,
            -0.5183159728890546,
            -0.10067872013821087
          ],
          "rotation_angle_deg": 0.6733003074377572,
          "pair_index": 14,
          "i": 5,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.006159832747686389,
            0.021566597251051922,
            -0.13042403409930997
          ],
          "translation_xyz_cm": [
            0.6159832747686389,
            2.156659725105192,
            -13.042403409930998
          ],
          "translation_norm_m": 0.13233854437467008,
          "rotation_rpy_deg_xyz": [
            -0.840037090330152,
            0.6570642011967021,
            0.2904144812930932
          ],
          "rotation_angle_deg": 1.106582027992288,
          "pair_index": 15,
          "i": 6,
          "j": 7
        },
        {
          "translation_xyz_m": [
            -0.01310277010557609,
            -0.00011120966029154467,
            -0.05621161364978675
          ],
          "translation_xyz_cm": [
            -1.310277010557609,
            -0.011120966029154467,
            -5.621161364978676
          ],
          "translation_norm_m": 0.05771863183705079,
          "rotation_rpy_deg_xyz": [
            -0.8100617809077636,
            0.1347822057482451,
            -0.21350123200692803
          ],
          "rotation_angle_deg": 0.8482577323638302,
          "pair_index": 16,
          "i": 6,
          "j": 8
        },
        {
          "translation_xyz_m": [
            -0.006835575118559145,
            -0.021786642432970398,
            0.0681082039207915
          ],
          "translation_xyz_cm": [
            -0.6835575118559145,
            -2.17866424329704,
            6.81082039207915
          ],
          "translation_norm_m": 0.0718339078501211,
          "rotation_rpy_deg_xyz": [
            0.2506843576111672,
            -0.39577345967054717,
            -0.4857289455081561
          ],
          "rotation_angle_deg": 0.674217492568989,
          "pair_index": 17,
          "i": 7,
          "j": 8
        },
        {
          "translation_xyz_m": [
            0.0025865182084413574,
            -0.002358377205291584,
            0.0015205636432725246
          ],
          "translation_xyz_cm": [
            0.25865182084413574,
            -0.2358377205291584,
            0.15205636432725245
          ],
          "translation_norm_m": 0.0038162983738538898,
          "rotation_rpy_deg_xyz": [
            0.1196437156776497,
            -0.35285794691723626,
            -0.48101201637706864
          ],
          "rotation_angle_deg": 0.6081452332544839,
          "pair_index": 18,
          "i": 7,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.004478298086699917,
            0.017086883626611926,
            -0.06696576517050482
          ],
          "translation_xyz_cm": [
            0.44782980866999167,
            1.7086883626611926,
            -6.696576517050482
          ],
          "translation_norm_m": 0.06925626650848221,
          "rotation_rpy_deg_xyz": [
            -0.7824538874847704,
            -0.43842269799839084,
            -0.3093948954996378
          ],
          "rotation_angle_deg": 0.9497479873876226,
          "pair_index": 19,
          "i": 7,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.009209302112873963,
            0.022128900702910848,
            -0.0606521479458286
          ],
          "translation_xyz_cm": [
            0.9209302112873963,
            2.2128900702910848,
            -6.06521479458286
          ],
          "translation_norm_m": 0.06521642846835568,
          "rotation_rpy_deg_xyz": [
            0.05141503904963385,
            0.00449354092149435,
            0.00566257803508329
          ],
          "rotation_angle_deg": 0.051920517173624524,
          "pair_index": 20,
          "i": 8,
          "j": 9
        },
        {
          "translation_xyz_m": [
            0.009395879099145299,
            0.04323951223129208,
            -0.1066777543289318
          ],
          "translation_xyz_cm": [
            0.9395879099145299,
            4.323951223129208,
            -10.66777543289318
          ],
          "translation_norm_m": 0.11549061100673828,
          "rotation_rpy_deg_xyz": [
            -0.9539751542468863,
            -0.22424719955596317,
            0.1665215163658755
          ],
          "rotation_angle_deg": 0.9937108406424446,
          "pair_index": 21,
          "i": 8,
          "j": 10
        },
        {
          "translation_xyz_m": [
            0.005104107111166767,
            0.018430765010071015,
            -0.05079439415628105
          ],
          "translation_xyz_cm": [
            0.5104107111166767,
            1.8430765010071015,
            -5.079439415628105
          ],
          "translation_norm_m": 0.05427536721167679,
          "rotation_rpy_deg_xyz": [
            -0.9518976051817746,
            -0.08906146713718438,
            0.16495442440099967
          ],
          "rotation_angle_deg": 0.9700546737541248,
          "pair_index": 22,
          "i": 9,
          "j": 10
        },
        {
          "translation_xyz_m": [
            -0.007982667970121149,
            -0.009565836663702587,
            -0.15547900242423568
          ],
          "translation_xyz_cm": [
            -0.7982667970121149,
            -0.9565836663702587,
            -15.547900242423568
          ],
          "translation_norm_m": 0.15597739712481842,
          "rotation_rpy_deg_xyz": [
            -0.5624711770128454,
            1.5874171543552886,
            -0.3356941185799336
          ],
          "rotation_angle_deg": 1.7157208115256655,
          "pair_index": 23,
          "i": 10,
          "j": 11
        },
        {
          "translation_xyz_m": [
            -0.005508540781188009,
            0.013942437585313106,
            -0.03277716863225703
          ],
          "translation_xyz_cm": [
            -0.5508540781188009,
            1.3942437585313106,
            -3.2777168632257028
          ],
          "translation_norm_m": 0.036042729792647187,
          "rotation_rpy_deg_xyz": [
            0.5054479062183199,
            0.37053727338806464,
            0.20121515514486518
          ],
          "rotation_angle_deg": 0.657726366657615,
          "pair_index": 24,
          "i": 11,
          "j": 12
        },
        {
          "translation_xyz_m": [
            0.009349980520264367,
            0.028036837808086856,
            -0.024732490027187637
          ],
          "translation_xyz_cm": [
            0.9349980520264367,
            2.8036837808086856,
            -2.473249002718764
          ],
          "translation_norm_m": 0.038538065246600375,
          "rotation_rpy_deg_xyz": [
            0.6631716668254954,
            0.8578341641824542,
            0.19039500522721486
          ],
          "rotation_angle_deg": 1.100012107447725,
          "pair_index": 25,
          "i": 11,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.01259055479506932,
            0.004507192169358465,
            -0.01145244114524217
          ],
          "translation_xyz_cm": [
            -1.259055479506932,
            0.4507192169358465,
            -1.145244114524217
          ],
          "translation_norm_m": 0.01760668223954772,
          "rotation_rpy_deg_xyz": [
            -0.5552161207845997,
            2.009421266253433,
            0.6357031086241705
          ],
          "rotation_angle_deg": 2.182305990196691,
          "pair_index": 26,
          "i": 11,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.014444091240686019,
            0.02067447541943057,
            -0.0010950697256473588
          ],
          "translation_xyz_cm": [
            1.444409124068602,
            2.067447541943057,
            -0.10950697256473588
          ],
          "translation_norm_m": 0.025244105912904317,
          "rotation_rpy_deg_xyz": [
            0.31124513246765956,
            0.2668531437532043,
            -0.014031036738192223
          ],
          "rotation_angle_deg": 0.41024525156849595,
          "pair_index": 27,
          "i": 12,
          "j": 13
        },
        {
          "translation_xyz_m": [
            -0.005887579430009948,
            0.008734099703983977,
            0.02065287929130492
          ],
          "translation_xyz_cm": [
            -0.5887579430009948,
            0.8734099703983977,
            2.065287929130492
          ],
          "translation_norm_m": 0.023183820052032428,
          "rotation_rpy_deg_xyz": [
            -0.07069970480496522,
            1.5418459142259642,
            0.4743490717289602
          ],
          "rotation_angle_deg": 1.6149869587730064,
          "pair_index": 28,
          "i": 12,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.006586519657956202,
            0.01433644396588507,
            0.24597982514289274
          ],
          "translation_xyz_cm": [
            0.6586519657956202,
            1.433644396588507,
            24.597982514289274
          ],
          "translation_norm_m": 0.24648527388896824,
          "rotation_rpy_deg_xyz": [
            -0.19311360273658223,
            -0.3257197603704734,
            -0.2932923739515119
          ],
          "rotation_angle_deg": 0.47929971160952844,
          "pair_index": 29,
          "i": 12,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.006241245438570964,
            -0.006731203696555832,
            0.029753581260433586
          ],
          "translation_xyz_cm": [
            0.6241245438570964,
            -0.6731203696555832,
            2.9753581260433584
          ],
          "translation_norm_m": 0.03113740267989985,
          "rotation_rpy_deg_xyz": [
            0.198825597238105,
            1.3268006810040451,
            0.5142543825749741
          ],
          "rotation_angle_deg": 1.4359692367424095,
          "pair_index": 30,
          "i": 13,
          "j": 14
        },
        {
          "translation_xyz_m": [
            0.03180599006725193,
            0.002253261740986945,
            0.23098581957600497
          ],
          "translation_xyz_cm": [
            3.1805990067251932,
            0.2253261740986945,
            23.098581957600498
          ],
          "translation_norm_m": 0.23317621456278564,
          "rotation_rpy_deg_xyz": [
            0.16034369761383055,
            -0.5134999386071942,
            -0.2525930848219163
          ],
          "rotation_angle_deg": 0.5939965715201482,
          "pair_index": 31,
          "i": 13,
          "j": 15
        },
        {
          "translation_xyz_m": [
            0.024093282302957153,
            0.021175127018938866,
            0.33071177627562726
          ],
          "translation_xyz_cm": [
            2.4093282302957153,
            2.1175127018938866,
            33.071177627562726
          ],
          "translation_norm_m": 0.3322636772561496,
          "rotation_rpy_deg_xyz": [
            -0.2563013940830721,
            0.22672202245265619,
            -0.23254051419459038
          ],
          "rotation_angle_deg": 0.4134395755454248,
          "pair_index": 32,
          "i": 13,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.004831525194124664,
            0.020852594550161863,
            0.16039550125020202
          ],
          "translation_xyz_cm": [
            0.4831525194124664,
            2.0852594550161863,
            16.039550125020202
          ],
          "translation_norm_m": 0.16181746245840856,
          "rotation_rpy_deg_xyz": [
            0.8856777756756927,
            -1.4812056342085482,
            -0.744141342521069
          ],
          "rotation_angle_deg": 1.8748380811355045,
          "pair_index": 33,
          "i": 14,
          "j": 15
        },
        {
          "translation_xyz_m": [
            -0.019908010036874924,
            0.037727357918623916,
            0.2218240696534807
          ],
          "translation_xyz_cm": [
            -1.9908010036874924,
            3.7727357918623916,
            22.18240696534807
          ],
          "translation_norm_m": 0.22588846866712903,
          "rotation_rpy_deg_xyz": [
            0.7326830017201675,
            -0.4714411171372534,
            -0.6991490251757558
          ],
          "rotation_angle_deg": 1.1151964340680316,
          "pair_index": 34,
          "i": 14,
          "j": 16
        },
        {
          "translation_xyz_m": [
            0.0008463432152936434,
            -0.005524821453267714,
            0.11209586605890914
          ],
          "translation_xyz_cm": [
            0.08463432152936434,
            -0.5524821453267714,
            11.209586605890914
          ],
          "translation_norm_m": 0.11223512434360938,
          "rotation_rpy_deg_xyz": [
            -0.718534259765166,
            0.6180768996940113,
            0.004530359058899552
          ],
          "rotation_angle_deg": 0.947819164673926,
          "pair_index": 35,
          "i": 15,
          "j": 16
        },
        {
          "translation_xyz_m": [
            -0.006621797638338478,
            -0.00028191046255754415,
            -0.04082503010634827
          ],
          "translation_xyz_cm": [
            -0.6621797638338478,
            -0.028191046255754415,
            -4.082503010634827
          ],
          "translation_norm_m": 0.041359530469484866,
          "rotation_rpy_deg_xyz": [
            -0.5190787323237712,
            0.5728926682292592,
            0.08970289125554348
          ],
          "rotation_angle_deg": 0.7785618518380149,
          "pair_index": 36,
          "i": 17,
          "j": 18
        },
        {
          "translation_xyz_m": [
            -0.004530864092607612,
            0.03905345872700372,
            0.04707509343384675
          ],
          "translation_xyz_cm": [
            -0.45308640926076116,
            3.905345872700372,
            4.707509343384675
          ],
          "translation_norm_m": 0.06133323560495456,
          "rotation_rpy_deg_xyz": [
            -0.8380523330945314,
            -0.11317732429063847,
            -0.7401789685624982
          ],
          "rotation_angle_deg": 1.124375763416718,
          "pair_index": 37,
          "i": 18,
          "j": 19
        },
        {
          "translation_xyz_m": [
            0.011689147147424972,
            -0.04699249176355669,
            -0.017096034617821897
          ],
          "translation_xyz_cm": [
            1.1689147147424972,
            -4.699249176355669,
            -1.7096034617821898
          ],
          "translation_norm_m": 0.05135372277484721,
          "rotation_rpy_deg_xyz": [
            0.10326906176616613,
            0.025313967913603432,
            -0.6469944518488367
          ],
          "rotation_angle_deg": 0.6556954445211132,
          "pair_index": 38,
          "i": 20,
          "j": 21
        },
        {
          "translation_xyz_m": [
            0.0001254436290074601,
            0.005017668284408527,
            0.0014446208443782554
          ],
          "translation_xyz_cm": [
            0.012544362900746009,
            0.5017668284408527,
            0.14446208443782554
          ],
          "translation_norm_m": 0.0052229934425030555,
          "rotation_rpy_deg_xyz": [
            -0.11264639000956135,
            0.09867563901568227,
            0.14236359183674502
          ],
          "rotation_angle_deg": 0.2066908010596958,
          "pair_index": 39,
          "i": 21,
          "j": 22
        },
        {
          "translation_xyz_m": [
            0.010923372997102554,
            -0.025197399588075542,
            -0.02045894923264921
          ],
          "translation_xyz_cm": [
            1.0923372997102554,
            -2.519739958807554,
            -2.045894923264921
          ],
          "translation_norm_m": 0.034246133027527305,
          "rotation_rpy_deg_xyz": [
            -1.3692173141255308,
            -1.0380162284583052,
            0.15117668573592818
          ],
          "rotation_angle_deg": 1.7237415928660529,
          "pair_index": 40,
          "i": 22,
          "j": 23
        },
        {
          "translation_xyz_m": [
            0.008692432957752017,
            0.0028009215659136055,
            0.05664690565726294
          ],
          "translation_xyz_cm": [
            0.8692432957752017,
            0.28009215659136055,
            5.6646905657262945
          ],
          "translation_norm_m": 0.05737835369620029,
          "rotation_rpy_deg_xyz": [
            -0.355025584566797,
            -0.4408120377458715,
            -0.13900903227030892
          ],
          "rotation_angle_deg": 0.5831473606925561,
          "pair_index": 41,
          "i": 22,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.01040412406327551,
            -0.03158056569172929,
            0.023852236259414197
          ],
          "translation_xyz_cm": [
            -1.040412406327551,
            -3.158056569172929,
            2.38522362594142
          ],
          "translation_norm_m": 0.04092074170281584,
          "rotation_rpy_deg_xyz": [
            1.0548655620257106,
            -0.3294414859193639,
            -0.21201038202913441
          ],
          "rotation_angle_deg": 1.1246915495033545,
          "pair_index": 42,
          "i": 22,
          "j": 25
        },
        {
          "translation_xyz_m": [
            -0.019667955088666478,
            0.027372494125847524,
            0.045834616794996084
          ],
          "translation_xyz_cm": [
            -1.9667955088666478,
            2.7372494125847524,
            4.583461679499608
          ],
          "translation_norm_m": 0.056893707813636965,
          "rotation_rpy_deg_xyz": [
            0.09546623284033685,
            1.0775827775049782,
            -0.28309517022880676
          ],
          "rotation_angle_deg": 1.1184574012171737,
          "pair_index": 43,
          "i": 23,
          "j": 24
        },
        {
          "translation_xyz_m": [
            -0.000680810561117795,
            -0.03623345147140078,
            -0.05595427497908071
          ],
          "translation_xyz_cm": [
            -0.0680810561117795,
            -3.623345147140078,
            -5.595427497908071
          ],
          "translation_norm_m": 0.06666488878701488,
          "rotation_rpy_deg_xyz": [
            0.49268288279378025,
            0.15825199914177118,
            -0.08908409912480708
          ],
          "rotation_angle_deg": 0.5252019728243343,
          "pair_index": 44,
          "i": 24,
          "j": 25
        },
        {
          "translation_xyz_m": [
            0.02641353367191801,
            0.0047012850090752956,
            -0.11935729119007542
          ],
          "translation_xyz_cm": [
            2.641353367191801,
            0.47012850090752956,
            -11.935729119007542
          ],
          "translation_norm_m": 0.12233535793876829,
          "rotation_rpy_deg_xyz": [
            0.12223918632624643,
            0.5394939332637073,
            -0.03218937106782316
          ],
          "rotation_angle_deg": 0.5541382586948838,
          "pair_index": 45,
          "i": 24,
          "j": 26
        },
        {
          "translation_xyz_m": [
            0.013258474469764359,
            0.027687038572386413,
            -0.11932430129158512
          ],
          "translation_xyz_cm": [
            1.3258474469764359,
            2.7687038572386413,
            -11.932430129158513
          ],
          "translation_norm_m": 0.12320977286278548,
          "rotation_rpy_deg_xyz": [
            0.0276493173995964,
            0.9049016731683907,
            0.21555739065093543
          ],
          "rotation_angle_deg": 0.9305812158627096,
          "pair_index": 46,
          "i": 24,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.013469928515111196,
            0.01643375152725446,
            -0.04702377587971042
          ],
          "translation_xyz_cm": [
            -1.3469928515111196,
            1.6433751527254459,
            -4.702377587971042
          ],
          "translation_norm_m": 0.051601769944905757,
          "rotation_rpy_deg_xyz": [
            -0.02108664689711353,
            -0.04627392585907875,
            0.07066423048106227
          ],
          "rotation_angle_deg": 0.08705258513790355,
          "pair_index": 47,
          "i": 25,
          "j": 26
        },
        {
          "translation_xyz_m": [
            -0.027899363202186556,
            0.026903034247490853,
            -0.07367138796561233
          ],
          "translation_xyz_cm": [
            -2.7899363202186556,
            2.6903034247490853,
            -7.367138796561233
          ],
          "translation_norm_m": 0.08324434589561598,
          "rotation_rpy_deg_xyz": [
            0.2409867669170421,
            0.5093600460816013,
            0.3169410311225238
          ],
          "rotation_angle_deg": 0.6459827373704309,
          "pair_index": 48,
          "i": 25,
          "j": 27
        },
        {
          "translation_xyz_m": [
            -0.010939616274875219,
            0.015885292939296303,
            -0.03310178794161495
          ],
          "translation_xyz_cm": [
            -1.093961627487522,
            1.5885292939296303,
            -3.3101787941614953
          ],
          "translation_norm_m": 0.038311174622300694,
          "rotation_rpy_deg_xyz": [
            0.3785440778586856,
            0.6159343431432545,
            0.24648916494074977
          ],
          "rotation_angle_deg": 0.7631660358041191,
          "pair_index": 49,
          "i": 26,
          "j": 27
        },
        {
          "translation_xyz_m": [
            0.017135985512061636,
            0.014004140600095916,
            0.04593979842553299
          ],
          "translation_xyz_cm": [
            1.7135985512061636,
            1.4004140600095916,
            4.593979842553299
          ],
          "translation_norm_m": 0.050992382105520866,
          "rotation_rpy_deg_xyz": [
            1.3442838020239756,
            -0.36852185435074547,
            -0.2850593933606435
          ],
          "rotation_angle_deg": 1.4218618784137365,
          "pair_index": 50,
          "i": 26,
          "j": 28
        },
        {
          "translation_xyz_m": [
            -0.007055871333362607,
            0.006861152080546606,
            0.0189587133841662
          ],
          "translation_xyz_cm": [
            -0.7055871333362607,
            0.6861152080546606,
            1.8958713384166201
          ],
          "translation_norm_m": 0.02136102856438144,
          "rotation_rpy_deg_xyz": [
            1.3308726929538792,
            0.03812900618091576,
            0.3960522522859098
          ],
          "rotation_angle_deg": 1.3889476012857718,
          "pair_index": 51,
          "i": 26,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.03249051026845562,
            0.03393818241124302,
            0.08113176989810686
          ],
          "translation_xyz_cm": [
            3.249051026845562,
            3.3938182411243023,
            8.113176989810686
          ],
          "translation_norm_m": 0.09375392028967527,
          "rotation_rpy_deg_xyz": [
            1.915321145792926,
            -0.5642927668743174,
            -0.5129336418772031
          ],
          "rotation_angle_deg": 2.05918680761039,
          "pair_index": 52,
          "i": 27,
          "j": 28
        },
        {
          "translation_xyz_m": [
            0.01035165580528874,
            0.010808984589524284,
            0.026642183836709077
          ],
          "translation_xyz_cm": [
            1.035165580528874,
            1.0808984589524284,
            2.6642183836709075
          ],
          "translation_norm_m": 0.030558090342113067,
          "rotation_rpy_deg_xyz": [
            1.6796519267758923,
            0.14604200808447562,
            0.18829326127872514
          ],
          "rotation_angle_deg": 1.6962319982758776,
          "pair_index": 53,
          "i": 27,
          "j": 29
        },
        {
          "translation_xyz_m": [
            0.014017420625256793,
            0.010008825009426792,
            0.013941540696733937
          ],
          "translation_xyz_cm": [
            1.4017420625256793,
            1.0008825009426792,
            1.3941540696733936
          ],
          "translation_norm_m": 0.022159224175349424,
          "rotation_rpy_deg_xyz": [
            0.8472824533054352,
            0.6924972699468647,
            -0.5039284014781155
          ],
          "rotation_angle_deg": 1.206866980510852,
          "pair_index": 54,
          "i": 27,
          "j": 30
        },
        {
          "translation_xyz_m": [
            0.00015260487801693756,
            -0.019185702762060775,
            0.008096229162797612
          ],
          "translation_xyz_cm": [
            0.015260487801693756,
            -1.9185702762060775,
            0.8096229162797612
          ],
          "translation_norm_m": 0.020824586559628874,
          "rotation_rpy_deg_xyz": [
            -0.7428475785243823,
            -0.3000926755847766,
            -0.6995398700125965
          ],
          "rotation_angle_deg": 1.0648693173338337,
          "pair_index": 55,
          "i": 29,
          "j": 30
        },
        {
          "translation_xyz_m": [
            -0.0038331907039319546,
            0.02340287336025282,
            0.05614344570681083
          ],
          "translation_xyz_cm": [
            -0.38331907039319546,
            2.340287336025282,
            5.614344570681083
          ],
          "translation_norm_m": 0.060946487415784324,
          "rotation_rpy_deg_xyz": [
            -1.2295910627015747,
            -0.5146874739254865,
            0.6115327195593013
          ],
          "rotation_angle_deg": 1.4642363140494412,
          "pair_index": 56,
          "i": 30,
          "j": 31
        },
        {
          "translation_xyz_m": [
            0.009690735530324623,
            0.004653170314430355,
            0.035294328624991586
          ],
          "translation_xyz_cm": [
            0.9690735530324623,
            0.4653170314430355,
            3.5294328624991587
          ],
          "translation_norm_m": 0.036895148491132165,
          "rotation_rpy_deg_xyz": [
            -0.31513998336533716,
            -0.2141940157510921,
            0.4953590423367678
          ],
          "rotation_angle_deg": 0.6244903967618453,
          "pair_index": 57,
          "i": 30,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.010947220180813622,
            -0.03170718966340019,
            0.0186010629192054
          ],
          "translation_xyz_cm": [
            -1.0947220180813622,
            -3.1707189663400195,
            1.86010629192054
          ],
          "translation_norm_m": 0.0383560562071009,
          "rotation_rpy_deg_xyz": [
            0.8370618070321811,
            -0.6739925190910833,
            -0.12485818713744094
          ],
          "rotation_angle_deg": 1.0813371239331708,
          "pair_index": 58,
          "i": 31,
          "j": 32
        },
        {
          "translation_xyz_m": [
            -0.0053865347058952295,
            -0.007425116242552987,
            0.026573012796881706
          ],
          "translation_xyz_cm": [
            -0.538653470589523,
            -0.7425116242552987,
            2.6573012796881708
          ],
          "translation_norm_m": 0.028111778962856066,
          "rotation_rpy_deg_xyz": [
            0.5172047347275823,
            -1.243920438445153,
            0.237155447967133
          ],
          "rotation_angle_deg": 1.3688430767407762,
          "pair_index": 59,
          "i": 32,
          "j": 33
        },
        {
          "translation_xyz_m": [
            -0.020732733130354397,
            1.4957174660823469e-05,
            0.028656318943141107
          ],
          "translation_xyz_cm": [
            -2.0732733130354397,
            0.001495717466082347,
            2.865631894314111
          ],
          "translation_norm_m": 0.03536991747435377,
          "rotation_rpy_deg_xyz": [
            -0.6182568414692499,
            -1.2732199342731065,
            0.17800383183508972
          ],
          "rotation_angle_deg": 1.425676324367976,
          "pair_index": 60,
          "i": 32,
          "j": 34
        },
        {
          "translation_xyz_m": [
            -0.00010639052652550163,
            0.024898921500229765,
            -0.051552206983603015
          ],
          "translation_xyz_cm": [
            -0.010639052652550163,
            2.4898921500229765,
            -5.155220698360301
          ],
          "translation_norm_m": 0.05725030703584904,
          "rotation_rpy_deg_xyz": [
            -0.11937661233725184,
            -0.6309937842808361,
            0.0919383792671678
          ],
          "rotation_angle_deg": 0.6486412679040614,
          "pair_index": 61,
          "i": 32,
          "j": 35
        },
        {
          "translation_xyz_m": [
            -0.00486040978797142,
            0.0002558414003355214,
            -0.02124869507791763
          ],
          "translation_xyz_cm": [
            -0.48604097879714203,
            0.02558414003355214,
            -2.1248695077917628
          ],
          "translation_norm_m": 0.021798992652034516,
          "rotation_rpy_deg_xyz": [
            0.11147341198359842,
            -0.20435563963405623,
            -0.048278644462965606
          ],
          "rotation_angle_deg": 0.23769553016909534,
          "pair_index": 62,
          "i": 33,
          "j": 34
        },
        {
          "translation_xyz_m": [
            0.010668777398309404,
            0.028608197246107858,
            -0.02214058432095123
          ],
          "translation_xyz_cm": [
            1.0668777398309404,
            2.860819724610786,
            -2.214058432095123
          ],
          "translation_norm_m": 0.03771547739218002,
          "rotation_rpy_deg_xyz": [
            1.0522317952095899,
            0.21279800583519293,
            -0.14258070238539514
          ],
          "rotation_angle_deg": 1.0832171246083169,
          "pair_index": 63,
          "i": 33,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.01620790570293229,
            0.021387586214915655,
            -0.023411925030935348
          ],
          "translation_xyz_cm": [
            1.620790570293229,
            2.1387586214915655,
            -2.3411925030935348
          ],
          "translation_norm_m": 0.0356124035278403,
          "rotation_rpy_deg_xyz": [
            0.9676191955684417,
            0.24244576185523073,
            -0.07892468324294306
          ],
          "rotation_angle_deg": 1.0008084532584136,
          "pair_index": 64,
          "i": 34,
          "j": 35
        },
        {
          "translation_xyz_m": [
            0.004724714533978824,
            0.005398902444147535,
            0.025142779046231058
          ],
          "translation_xyz_cm": [
            0.47247145339788243,
            0.5398902444147535,
            2.5142779046231056
          ],
          "translation_norm_m": 0.026146326954213064,
          "rotation_rpy_deg_xyz": [
            1.2132782648708806,
            -0.1403570137683193,
            0.021891548334274723
          ],
          "rotation_angle_deg": 1.2215923174512227,
          "pair_index": 65,
          "i": 35,
          "j": 36
        }
      ],
      "comparison_to_baseline": {
        "normalized_global_rms_change": 0.007369852417388412,
        "improved_pairs": 18,
        "worsened_pairs": 48,
        "unchanged_pairs": 0,
        "median_per_pair_score_change": 0.00446840177433383,
        "global_consistency_signal": false
      }
    }
  ]
}