vizKitti.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import torch\n",
    "import numpy as np"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## kitti转换世界坐标系脚本"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 20,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import os\n",
    "\n",
    "def read_pose(pose_file):\n",
    "    poses = []\n",
    "    with open(pose_file, 'r') as f:\n",
    "        for line in f:\n",
    "            parts = line.strip().split()\n",
    "            if len(parts) == 12:  \n",
    "                matrix = np.array([float(part) for part in parts] + [0, 0, 0, 1]).reshape(4, 4)\n",
    "                poses.append(matrix)\n",
    "    return poses\n",
    "\n",
    "def transform_points(points, matrix):\n",
    "    points_hom = np.hstack((points[:, :3], np.ones((points.shape[0], 1))))\n",
    "    points_world = matrix @ points_hom.T\n",
    "    return points_world.T[:, :3]"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### **转换坐标**"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "metadata": {},
   "outputs": [],
   "source": [
    "velodyne_dir = \"./dataset/sequences/00/velodyne\"\n",
    "pose_file = \"./dataset/sequences/00/poses.txt\"\n",
    "output_dir = \"./output\"\n",
    "os.makedirs(output_dir, exist_ok=True)\n",
    "\n",
    "poses = read_pose(pose_file)\n",
    "\n",
    "for i, matrix in enumerate(poses):\n",
    "  \n",
    "    bin_path = os.path.join(velodyne_dir, f\"{i:06d}.bin\")\n",
    "    points = np.fromfile(bin_path, dtype=np.float32).reshape(-1, 4)[:, :3]\n",
    "\n",
    "    points_world = transform_points(points, matrix)\n",
    "\n",
    "    output_path = os.path.join(output_dir, f\"{i:06d}.txt\")\n",
    "    np.savetxt(output_path, points_world[:, :3], fmt='%f', delimiter=',')\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### **计算最大最小值**"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 30,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Global min XYZ: [-352.736161  -87.301469  -98.42608 ]\n",
      "Global max XYZ: [362.363345  84.200387 555.831885]\n"
     ]
    }
   ],
   "source": [
    "directory = \"./output\"\n",
    "\n",
    "global_min = np.array([np.inf, np.inf, np.inf]) \n",
    "global_max = np.array([-np.inf, -np.inf, -np.inf]) \n",
    "\n",
    "\n",
    "for filename in os.listdir(directory):\n",
    "    if filename.endswith(\".txt\"):\n",
    "        file_path = os.path.join(directory, filename)\n",
    "\n",
    "        data = np.loadtxt(file_path, delimiter=',')\n",
    "        \n",
    "        file_min = np.min(data, axis=0)\n",
    "        file_max = np.max(data, axis=0)\n",
    "        \n",
    "        global_min = np.minimum(global_min, file_min)\n",
    "        global_max = np.maximum(global_max, file_max)\n",
    "\n",
    "print(\"Global min XYZ:\", global_min)\n",
    "print(\"Global max XYZ:\", global_max)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### **相关函数测试**"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 27,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       " array([[ 1.57117e-01,  1.43672e-02,  9.87476e-01,  2.63720e+00],\n",
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       " array([[ 1.38798e-01,  1.54856e-02,  9.90200e-01,  3.08370e+00],\n",
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       " array([[ 1.23779e-01,  1.11737e-02,  9.92247e-01,  3.52695e+00],\n",
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       " array([[ 1.09491e-01,  7.60446e-03,  9.93959e-01,  4.00236e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74816e-02,  5.21331e-03,  9.95224e-01,  4.47877e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 8.71236e-02,  3.96934e-03,  9.96190e-01,  4.96748e+00],\n",
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       "        [-9.95677e-01,  3.26711e-02,  8.69485e-02,  8.79355e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 7.81231e-02,  4.25174e-03,  9.96935e-01,  5.46213e+00],\n",
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       "        [-9.96339e-01,  3.51612e-02,  7.79265e-02,  8.79633e+01],\n",
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       " array([[ 7.03411e-02,  4.73627e-03,  9.97512e-01,  6.00551e+00],\n",
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       "        [-9.96838e-01,  3.73977e-02,  7.01160e-02,  8.79934e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 6.39518e-02,  5.06125e-03,  9.97940e-01,  6.54778e+00],\n",
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       "        [-9.97202e-01,  3.91253e-02,  6.37061e-02,  8.80239e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 5.82039e-02,  5.73328e-03,  9.98288e-01,  7.09629e+00],\n",
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       "        [-9.97527e-01,  3.98017e-02,  5.79309e-02,  8.80519e+01],\n",
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       " array([[ 5.36310e-02,  6.48449e-03,  9.98540e-01,  7.68337e+00],\n",
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       "        [-9.97793e-01,  3.95481e-02,  5.33341e-02,  8.80769e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 4.87311e-02,  6.58956e-03,  9.98790e-01,  8.29390e+00],\n",
       "        [ 4.20536e-02,  9.99078e-01, -8.64326e-03, -1.79032e+00],\n",
       "        [-9.97926e-01,  4.24240e-02,  4.84090e-02,  8.81033e+01],\n",
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       " array([[ 4.46779e-02,  6.40852e-03,  9.98981e-01,  8.89450e+00],\n",
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       "        [-9.98057e-01,  4.37599e-02,  4.43558e-02,  8.81372e+01],\n",
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       " array([[ 4.20335e-02,  5.84603e-03,  9.99099e-01,  9.52289e+00],\n",
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       " array([[ 3.96185e-02,  5.37494e-03,  9.99200e-01,  1.01743e+01],\n",
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       "        [-9.98117e-01,  4.70843e-02,  3.93223e-02,  8.81799e+01],\n",
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       " array([[ 3.83608e-02,  4.71689e-03,  9.99253e-01,  1.08463e+01],\n",
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       "        [-9.97987e-01,  5.07287e-02,  3.80728e-02,  8.82072e+01],\n",
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       " array([[ 3.89282e-02,  4.08681e-03,  9.99234e-01,  1.15657e+01],\n",
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       "        [-9.97765e-01,  5.45068e-02,  3.86481e-02,  8.82256e+01],\n",
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       " array([[ 4.11324e-02,  3.97690e-03,  9.99146e-01,  1.22575e+01],\n",
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       "        [-9.97600e-01,  5.59144e-02,  4.08462e-02,  8.82535e+01],\n",
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       " array([[ 4.52356e-02,  3.94453e-03,  9.98969e-01,  1.29854e+01],\n",
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       "        [-9.97292e-01,  5.82193e-02,  4.49298e-02,  8.82871e+01],\n",
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       " array([[ 4.78948e-02,  3.25204e-03,  9.98847e-01,  1.37092e+01],\n",
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       "        [-9.97128e-01,  5.88914e-02,  4.76206e-02,  8.83288e+01],\n",
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       " array([[ 5.24574e-02,  1.93208e-03,  9.98621e-01,  1.44785e+01],\n",
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       " array([[ 5.57862e-02,  2.07640e-04,  9.98443e-01,  1.52300e+01],\n",
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       "        [-9.96602e-01,  6.06989e-02,  5.56707e-02,  8.84096e+01],\n",
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       " array([[ 6.27355e-02, -2.92596e-03,  9.98026e-01,  1.68180e+01],\n",
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       " array([[ 7.12266e-02,  1.64676e-03,  9.97459e-01,  1.84527e+01],\n",
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       " array([[ 7.19308e-02,  6.82957e-03,  9.97386e-01,  1.92535e+01],\n",
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       " array([[ 7.15774e-02,  1.00623e-02,  9.97384e-01,  2.00677e+01],\n",
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       " array([[ 7.04988e-02,  5.70872e-03,  9.97496e-01,  2.33437e+01],\n",
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       " array([[ 3.64804e-02,  2.35186e-03,  9.99332e-01,  3.06112e+01],\n",
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       " array([[ 4.98029e-03,  9.22183e-04,  9.99987e-01,  3.29918e+01],\n",
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       " array([[-6.00058e-03,  1.10141e-04,  9.99982e-01,  3.37871e+01],\n",
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       "        [-9.99775e-01,  2.03442e-02, -6.00158e-03,  8.95625e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.70830e-02,  8.09878e-06,  9.99854e-01,  3.45597e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.95735e-02,  8.72573e-04,  9.99562e-01,  3.53517e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.96984e-02,  1.68246e-03,  9.99210e-01,  3.61281e+01],\n",
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       "        [-9.99001e-01,  2.04680e-02, -3.97245e-02,  8.94918e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.10583e-02,  2.52274e-03,  9.98693e-01,  3.68976e+01],\n",
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       "        [-9.98491e-01,  2.01268e-02, -5.10989e-02,  8.94456e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.09894e-02,  3.22852e-03,  9.98133e-01,  3.76512e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.06936e-02,  3.60973e-03,  9.97492e-01,  3.83778e+01],\n",
       "        [ 2.20543e-02,  9.99755e-01, -2.05490e-03, -2.49034e+00],\n",
       "        [-9.97254e-01,  2.18537e-02, -7.07559e-02,  8.93468e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.08940e-02,  3.91849e-03,  9.96715e-01,  3.91293e+01],\n",
       "        [ 2.16232e-02,  9.99764e-01, -2.17552e-03, -2.51267e+00],\n",
       "        [-9.96488e-01,  2.13762e-02, -8.09596e-02,  8.92882e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.87399e-02,  3.39207e-03,  9.96049e-01,  3.98560e+01],\n",
       "        [ 2.32331e-02,  9.99729e-01, -1.33473e-03, -2.52975e+00],\n",
       "        [-9.95784e-01,  2.30228e-02, -8.87946e-02,  8.92228e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.65627e-02,  2.33352e-03,  9.95324e-01,  4.05749e+01],\n",
       "        [ 2.54137e-02,  9.99677e-01,  1.21815e-04, -2.54478e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.02483e-01,  7.65431e-04,  9.94735e-01,  4.13166e+01],\n",
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       "        [-9.94345e-01,  2.79219e-02, -1.02464e-01,  8.90718e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.06432e-01, -1.11991e-03,  9.94319e-01,  4.20119e+01],\n",
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       "        [-9.93825e-01,  3.16676e-02, -1.06343e-01,  8.89953e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.08734e-01, -2.43746e-03,  9.94068e-01,  4.27061e+01],\n",
       "        [ 3.26030e-02,  9.99450e-01,  6.01688e-03, -2.59330e+00],\n",
       "        [-9.93536e-01,  3.30638e-02, -1.08595e-01,  8.89152e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.10585e-01, -3.07483e-03,  9.93862e-01,  4.34027e+01],\n",
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       "        [-9.93295e-01,  3.42657e-02, -1.10416e-01,  8.88377e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.11428e-01, -2.95876e-03,  9.93768e-01,  4.40728e+01],\n",
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       "        [-9.93209e-01,  3.40098e-02, -1.11264e-01,  8.87610e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.10092e-01, -1.84337e-03,  9.93920e-01,  4.47152e+01],\n",
       "        [ 3.49574e-02,  9.99372e-01,  5.72555e-03, -2.63017e+00],\n",
       "        [-9.93307e-01,  3.53752e-02, -1.09958e-01,  8.86886e+01],\n",
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       " array([[-1.08217e-01, -6.87943e-04,  9.94127e-01,  4.53652e+01],\n",
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       "        [-9.93497e-01,  3.56768e-02, -1.08124e-01,  8.86269e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.02200e-01,  9.89591e-05,  9.94764e-01,  4.59694e+01],\n",
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       "        [-9.94100e-01,  3.65223e-02, -1.02136e-01,  8.85686e+01],\n",
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       " array([[-9.52716e-02,  7.47145e-04,  9.95451e-01,  4.65857e+01],\n",
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       "        [-9.94833e-01,  3.51806e-02, -9.52388e-02,  8.85166e+01],\n",
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       " array([[-8.25116e-02,  8.37011e-04,  9.96590e-01,  4.71624e+01],\n",
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       "        [-9.95998e-01,  3.44055e-02, -8.24915e-02,  8.84790e+01],\n",
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       " array([[-6.91089e-02,  8.53206e-04,  9.97609e-01,  4.77222e+01],\n",
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       "        [-9.97030e-01,  3.40084e-02, -6.90978e-02,  8.84520e+01],\n",
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       " array([[-5.30012e-02,  2.46894e-03,  9.98592e-01,  4.82694e+01],\n",
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       " array([[-3.17047e-02,  4.81187e-03,  9.99486e-01,  4.87932e+01],\n",
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       " array([[-7.06520e-03,  8.00677e-03,  9.99943e-01,  4.93195e+01],\n",
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       " array([[ 2.15986e-02,  9.91998e-03,  9.99718e-01,  4.98348e+01],\n",
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       " array([[ 9.34355e-02,  6.93446e-03,  9.95601e-01,  5.08674e+01],\n",
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       " array([[ 1.33369e-01,  3.29112e-03,  9.91061e-01,  5.13522e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 1.77982e-01, -9.20925e-04,  9.84034e-01,  5.18744e+01],\n",
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       " array([[ 2.27080e-01, -4.49552e-03,  9.73866e-01,  5.23436e+01],\n",
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       " array([[ 2.79567e-01, -6.09348e-03,  9.60107e-01,  5.28294e+01],\n",
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       " array([[ 3.33991e-01, -6.09446e-03,  9.42557e-01,  5.32894e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 3.92477e-01, -5.60549e-03,  9.19745e-01,  5.37261e+01],\n",
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       " array([[ 5.12043e-01,  1.03381e-03,  8.58959e-01,  5.45160e+01],\n",
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       " array([[ 5.70067e-01,  5.53579e-03,  8.21580e-01,  5.48769e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 6.25140e-01,  8.77583e-03,  7.80463e-01,  5.52197e+01],\n",
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       " array([[ 6.76220e-01,  1.01364e-02,  7.36630e-01,  5.55309e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.67232e-01,  5.70458e-03,  2.53831e-01,  5.74874e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.71161e-01,  2.70227e-03,  2.38409e-01,  5.75969e+01],\n",
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       "        [-2.38386e-01, -6.82512e-03,  9.71147e-01,  9.64185e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74373e-01,  6.29050e-03,  2.24851e-01,  5.77026e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.76275e-01,  1.19270e-02,  2.16208e-01,  5.77885e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.77602e-01,  1.85452e-02,  2.09644e-01,  5.78811e+01],\n",
       "        [-1.99024e-02,  9.99792e-01,  4.36563e-03, -3.07931e+00],\n",
       "        [-2.09520e-01, -8.44027e-03,  9.77768e-01,  9.79447e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.78028e-01,  2.55143e-02,  2.06909e-01,  5.79737e+01],\n",
       "        [-2.62440e-02,  9.99655e-01,  7.82297e-04, -3.08527e+00],\n",
       "        [-2.06818e-01, -6.19522e-03,  9.78360e-01,  9.84614e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.78214e-01,  2.69447e-02,  2.05844e-01,  5.80818e+01],\n",
       "        [-2.71950e-02,  9.99629e-01, -1.61403e-03, -3.09743e+00],\n",
       "        [-2.05811e-01, -4.01904e-03,  9.78584e-01,  9.89888e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.77770e-01,  2.54752e-02,  2.08127e-01,  5.82046e+01],\n",
       "        [-2.49257e-02,  9.99676e-01, -5.26283e-03, -3.10706e+00],\n",
       "        [-2.08194e-01, -4.18811e-05,  9.78088e-01,  9.95342e+01],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.76884e-01,  2.45400e-02,  2.12358e-01,  5.83287e+01],\n",
       "        [-2.26498e-02,  9.99679e-01, -1.13297e-02, -3.12025e+00],\n",
       "        [-2.12568e-01,  6.25796e-03,  9.77126e-01,  1.00077e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.75891e-01,  2.62420e-02,  2.16675e-01,  5.84537e+01],\n",
       "        [-2.33469e-02,  9.99601e-01, -1.59110e-02, -3.13331e+00],\n",
       "        [-2.17006e-01,  1.04687e-02,  9.76114e-01,  1.00638e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74873e-01,  2.95870e-02,  2.20789e-01,  5.85837e+01],\n",
       "        [-2.67921e-02,  9.99519e-01, -1.56430e-02, -3.14183e+00],\n",
       "        [-2.21145e-01,  9.33456e-03,  9.75196e-01,  1.01224e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.73415e-01,  3.20052e-02,  2.26802e-01,  5.87071e+01],\n",
       "        [-3.00891e-02,  9.99476e-01, -1.19013e-02, -3.15310e+00],\n",
       "        [-2.27064e-01,  4.76062e-03,  9.73868e-01,  1.01813e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.72443e-01,  2.99977e-02,  2.31202e-01,  5.88593e+01],\n",
       "        [-2.90696e-02,  9.99550e-01, -7.42100e-03, -3.17141e+00],\n",
       "        [-2.31321e-01,  4.95567e-04,  9.72878e-01,  1.02425e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.71584e-01,  2.56081e-02,  2.35308e-01,  5.90110e+01],\n",
       "        [-2.59254e-02,  9.99662e-01, -1.74543e-03, -3.18374e+00],\n",
       "        [-2.35273e-01, -4.40463e-03,  9.71919e-01,  1.03030e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.70787e-01,  2.24927e-02,  2.38888e-01,  5.91661e+01],\n",
       "        [-2.39537e-02,  9.99708e-01,  3.21420e-03, -3.19386e+00],\n",
       "        [-2.38746e-01, -8.84257e-03,  9.71042e-01,  1.03654e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.70112e-01,  1.81967e-02,  2.41975e-01,  5.93336e+01],\n",
       "        [-1.97789e-02,  9.99796e-01,  4.11082e-03, -3.20333e+00],\n",
       "        [-2.41851e-01, -8.77395e-03,  9.70274e-01,  1.04299e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.69938e-01,  1.52750e-02,  2.42871e-01,  5.94982e+01],\n",
       "        [-1.60448e-02,  9.99871e-01,  1.19169e-03, -3.21419e+00],\n",
       "        [-2.42821e-01, -5.05268e-03,  9.70058e-01,  1.04935e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.70124e-01,  1.35891e-02,  2.42231e-01,  5.96607e+01],\n",
       "        [-1.25813e-02,  9.99905e-01, -5.70679e-03, -3.22641e+00],\n",
       "        [-2.42285e-01,  2.48871e-03,  9.70202e-01,  1.05569e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.70250e-01,  1.80008e-02,  2.41437e-01,  5.98188e+01],\n",
       "        [-1.55566e-02,  9.99807e-01, -1.20263e-02, -3.24105e+00],\n",
       "        [-2.41607e-01,  7.91262e-03,  9.70342e-01,  1.06230e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.70812e-01,  2.12366e-02,  2.38899e-01,  5.99803e+01],\n",
       "        [-1.81406e-02,  9.99721e-01, -1.51509e-02, -3.25249e+00],\n",
       "        [-2.39154e-01,  1.03749e-02,  9.70926e-01,  1.06891e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.71471e-01,  1.98477e-02,  2.36328e-01,  6.01464e+01],\n",
       "        [-1.75945e-02,  9.99777e-01, -1.16397e-02, -3.26441e+00],\n",
       "        [-2.36506e-01,  7.14956e-03,  9.71604e-01,  1.07589e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.71828e-01,  1.54781e-02,  2.35182e-01,  6.03196e+01],\n",
       "        [-1.48401e-02,  9.99880e-01, -4.48259e-03, -3.28136e+00],\n",
       "        [-2.35224e-01,  8.66176e-04,  9.71941e-01,  1.08301e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.72472e-01,  1.41989e-02,  2.32586e-01,  6.04826e+01],\n",
       "        [-1.48944e-02,  9.99888e-01,  1.23451e-03, -3.29808e+00],\n",
       "        [-2.32542e-01, -4.66476e-03,  9.72575e-01,  1.09009e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.72803e-01,  1.79914e-02,  2.30937e-01,  6.06468e+01],\n",
       "        [-1.87334e-02,  9.99824e-01,  1.02043e-03, -3.31280e+00],\n",
       "        [-2.30878e-01, -5.31891e-03,  9.72968e-01,  1.09740e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.73176e-01,  2.35782e-02,  2.28852e-01,  6.08049e+01],\n",
       "        [-2.33983e-02,  9.99720e-01, -3.49981e-03, -3.32209e+00],\n",
       "        [-2.28871e-01, -1.94882e-03,  9.73455e-01,  1.10470e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.73957e-01,  2.54349e-02,  2.25303e-01,  6.09736e+01],\n",
       "        [-2.41253e-02,  9.99672e-01, -8.56430e-03, -3.33648e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74880e-01,  2.58054e-02,  2.21231e-01,  6.11370e+01],\n",
       "        [-2.39142e-02,  9.99651e-01, -1.12230e-02, -3.34461e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.75771e-01,  2.24261e-02,  2.17644e-01,  6.13075e+01],\n",
       "        [-2.06941e-02,  9.99734e-01, -1.02343e-02, -3.36348e+00],\n",
       "        [-2.17815e-01,  5.48236e-03,  9.75975e-01,  1.12737e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.76655e-01,  1.93162e-02,  2.13946e-01,  6.14819e+01],\n",
       "        [-1.80120e-02,  9.99805e-01, -8.04373e-03, -3.38581e+00],\n",
       "        [-2.14060e-01,  4.00234e-03,  9.76812e-01,  1.13530e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.77155e-01,  1.66069e-02,  2.11877e-01,  6.16531e+01],\n",
       "        [-1.57939e-02,  9.99860e-01, -5.52946e-03, -3.40356e+00],\n",
       "        [-2.11939e-01,  2.05678e-03,  9.77281e-01,  1.14333e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.77378e-01,  1.34830e-02,  2.11072e-01,  6.18249e+01],\n",
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       "        [-2.11097e-01,  4.00816e-04,  9.77465e-01,  1.15120e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.77613e-01,  9.91889e-03,  2.10178e-01,  6.20021e+01],\n",
       "        [-9.79898e-03,  9.99951e-01, -1.61193e-03, -3.43523e+00],\n",
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       " array([[ 9.77652e-01,  9.36457e-03,  2.10021e-01,  6.21687e+01],\n",
       "        [-9.53031e-03,  9.99955e-01, -2.22917e-04, -3.44555e+00],\n",
       "        [-2.10013e-01, -1.78363e-03,  9.77697e-01,  1.16729e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.77646e-01,  1.45889e-02,  2.09750e-01,  6.23403e+01],\n",
       "        [-1.45275e-02,  9.99893e-01, -1.83338e-03, -3.46375e+00],\n",
       "        [-2.09754e-01, -1.25474e-03,  9.77753e-01,  1.17553e+02],\n",
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       " array([[ 9.77333e-01,  2.01739e-02,  2.10744e-01,  6.25006e+01],\n",
       "        [-1.95743e-02,  9.99796e-01, -4.93116e-03, -3.47868e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.76882e-01,  2.87059e-02,  2.11842e-01,  6.26649e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.76102e-01,  3.48097e-02,  2.14506e-01,  6.28351e+01],\n",
       "        [-3.44875e-02,  9.99391e-01, -5.24539e-03, -3.51160e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.75311e-01,  3.66758e-02,  2.17769e-01,  6.30052e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74769e-01,  3.68062e-02,  2.20163e-01,  6.31889e+01],\n",
       "        [-3.66687e-02,  9.99316e-01, -4.71269e-03, -3.54709e+00],\n",
       "        [-2.20186e-01, -3.47928e-03,  9.75452e-01,  1.21691e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74206e-01,  3.84654e-02,  2.22359e-01,  6.33742e+01],\n",
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       "        [-2.22447e-01, -2.03324e-03,  9.74943e-01,  1.22512e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [-2.89313e-02,  9.99561e-01, -6.46710e-03, -3.58609e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74417e-01,  2.42072e-02,  2.23441e-01,  6.37730e+01],\n",
       "        [-2.33831e-02,  9.99707e-01, -6.33372e-03, -3.60898e+00],\n",
       "        [-2.23529e-01,  9.46935e-04,  9.74697e-01,  1.24175e+02],\n",
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       " array([[ 9.74182e-01,  2.27925e-02,  2.24610e-01,  6.39660e+01],\n",
       "        [-2.19002e-02,  9.99739e-01, -6.46336e-03, -3.63894e+00],\n",
       "        [-2.24699e-01,  1.37748e-03,  9.74427e-01,  1.25026e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.73605e-01,  2.56293e-02,  2.26795e-01,  6.41538e+01],\n",
       "        [-2.53732e-02,  9.99670e-01, -4.04488e-03, -3.65352e+00],\n",
       "        [-2.26824e-01, -1.81640e-03,  9.73934e-01,  1.25854e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.73359e-01,  2.76370e-02,  2.27615e-01,  6.43400e+01],\n",
       "        [-2.87612e-02,  9.99585e-01,  1.62310e-03, -3.66968e+00],\n",
       "        [-2.27476e-01, -8.12636e-03,  9.73750e-01,  1.26692e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.72985e-01,  2.97110e-02,  2.28950e-01,  6.45254e+01],\n",
       "        [-3.17158e-02,  9.99484e-01,  5.08082e-03, -3.68414e+00],\n",
       "        [-2.28681e-01, -1.22049e-02,  9.73425e-01,  1.27535e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.72820e-01,  2.95827e-02,  2.29664e-01,  6.47242e+01],\n",
       "        [-3.02455e-02,  9.99542e-01, -6.34456e-04, -3.70507e+00],\n",
       "        [-2.29578e-01, -6.32910e-03,  9.73270e-01,  1.28378e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.72891e-01,  2.56233e-02,  2.29842e-01,  6.49176e+01],\n",
       "        [-2.28354e-02,  9.99630e-01, -1.47821e-02, -3.72737e+00],\n",
       "        [-2.30135e-01,  9.13285e-03,  9.73116e-01,  1.29179e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.73089e-01,  2.44501e-02,  2.29128e-01,  6.51111e+01],\n",
       "        [-1.96901e-02,  9.99541e-01, -2.30382e-02, -3.76255e+00],\n",
       "        [-2.29586e-01,  1.79066e-02,  9.73124e-01,  1.29989e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.73233e-01,  2.27937e-02,  2.28690e-01,  6.53107e+01],\n",
       "        [-1.98785e-02,  9.99689e-01, -1.50430e-02, -3.77871e+00],\n",
       "        [-2.28961e-01,  1.00944e-02,  9.73383e-01,  1.30836e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.73687e-01,  1.49299e-02,  2.27400e-01,  6.55065e+01],\n",
       "        [-1.65234e-02,  9.99850e-01,  5.10531e-03, -3.79503e+00],\n",
       "        [-2.27290e-01, -8.72841e-03,  9.73788e-01,  1.31675e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.73973e-01,  7.25273e-03,  2.26548e-01,  6.57052e+01],\n",
       "        [-1.25266e-02,  9.99683e-01,  2.18501e-02, -3.81379e+00],\n",
       "        [-2.26318e-01, -2.41193e-02,  9.73755e-01,  1.32531e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74158e-01,  1.28014e-02,  2.25505e-01,  6.58829e+01],\n",
       "        [-1.68004e-02,  9.99734e-01,  1.58230e-02, -3.82381e+00],\n",
       "        [-2.25242e-01, -1.92027e-02,  9.74114e-01,  1.33336e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74211e-01,  2.41613e-02,  2.24343e-01,  6.60546e+01],\n",
       "        [-2.49963e-02,  9.99687e-01,  8.82075e-04, -3.83992e+00],\n",
       "        [-2.24252e-01, -6.46708e-03,  9.74510e-01,  1.34135e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74324e-01,  2.55546e-02,  2.23697e-01,  6.62299e+01],\n",
       "        [-2.43752e-02,  9.99671e-01, -8.03257e-03, -3.84219e+00],\n",
       "        [-2.23828e-01,  2.37367e-03,  9.74626e-01,  1.34940e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.74912e-01,  2.16626e-02,  2.21535e-01,  6.64151e+01],\n",
       "        [-2.01769e-02,  9.99756e-01, -8.96741e-03, -3.86791e+00],\n",
       "        [-2.21675e-01,  4.27254e-03,  9.75111e-01,  1.35745e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.75595e-01,  1.91840e-02,  2.18740e-01,  6.65943e+01],\n",
       "        [-1.80000e-02,  9.99811e-01, -7.40435e-03, -3.89478e+00],\n",
       "        [-2.18841e-01,  3.28631e-03,  9.75755e-01,  1.36545e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.76295e-01,  2.02201e-02,  2.15497e-01,  6.67658e+01],\n",
       "        [-1.89551e-02,  9.99789e-01, -7.93560e-03, -3.91862e+00],\n",
       "        [-2.15612e-01,  3.66273e-03,  9.76472e-01,  1.37372e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.77363e-01,  2.29871e-02,  2.10318e-01,  6.69352e+01],\n",
       "        [-2.14632e-02,  9.99724e-01, -9.52591e-03, -3.94120e+00],\n",
       "        [-2.10479e-01,  4.79617e-03,  9.77587e-01,  1.38167e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.77806e-01,  2.62449e-02,  2.07861e-01,  6.70919e+01],\n",
       "        [-2.47757e-02,  9.99646e-01, -9.66911e-03, -3.96619e+00],\n",
       "        [-2.08041e-01,  4.30463e-03,  9.78111e-01,  1.38968e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.78132e-01,  3.41943e-02,  2.05154e-01,  6.72425e+01],\n",
       "        [-3.28526e-02,  9.99411e-01, -9.94349e-03, -3.98399e+00],\n",
       "        [-2.05373e-01,  2.98621e-03,  9.78679e-01,  1.39771e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.78321e-01,  3.58552e-02,  2.03966e-01,  6.73913e+01],\n",
       "        [-3.50003e-02,  9.99357e-01, -7.79853e-03, -4.00802e+00],\n",
       "        [-2.04114e-01,  4.90607e-04,  9.78947e-01,  1.40559e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.78735e-01,  3.25009e-02,  2.02538e-01,  6.75561e+01],\n",
       "        [-3.24426e-02,  9.99467e-01, -3.60871e-03, -4.03042e+00],\n",
       "        [-2.02547e-01, -3.03888e-03,  9.79268e-01,  1.41361e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.79099e-01,  3.13835e-02,  2.00950e-01,  6.77160e+01],\n",
       "        [-3.14102e-02,  9.99502e-01, -3.05646e-03, -4.05226e+00],\n",
       "        [-2.00946e-01, -3.31931e-03,  9.79597e-01,  1.42156e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.79590e-01,  3.04950e-02,  1.98681e-01,  6.78731e+01],\n",
       "        [-2.99741e-02,  9.99535e-01, -5.62963e-03, -4.07258e+00],\n",
       "        [-1.98760e-01, -4.40551e-04,  9.80048e-01,  1.42956e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.80591e-01,  2.61989e-02,  1.94308e-01,  6.80300e+01],\n",
       "        [-2.49230e-02,  9.99649e-01, -9.00881e-03, -4.09494e+00],\n",
       "        [-1.94476e-01,  3.99121e-03,  9.80899e-01,  1.43739e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.81880e-01,  2.47524e-02,  1.87881e-01,  6.81820e+01],\n",
       "        [-2.32597e-02,  9.99678e-01, -1.01458e-02, -4.11434e+00],\n",
       "        [-1.88072e-01,  5.59185e-03,  9.82139e-01,  1.44532e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.83193e-01,  2.28782e-02,  1.81128e-01,  6.83253e+01],\n",
       "        [-2.23000e-02,  9.99738e-01, -5.22814e-03, -4.12572e+00],\n",
       "        [-1.81200e-01,  1.10113e-03,  9.83446e-01,  1.45330e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.84307e-01,  1.80821e-02,  1.75538e-01,  6.84618e+01],\n",
       "        [-1.89661e-02,  9.99815e-01,  3.35991e-03, -4.14929e+00],\n",
       "        [-1.75445e-01, -6.63646e-03,  9.84467e-01,  1.46120e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.85051e-01,  1.77237e-02,  1.71352e-01,  6.85957e+01],\n",
       "        [-2.02610e-02,  9.99709e-01,  1.30697e-02, -4.16911e+00],\n",
       "        [-1.71070e-01, -1.63461e-02,  9.85123e-01,  1.46922e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.85690e-01,  2.00434e-02,  1.67374e-01,  6.87158e+01],\n",
       "        [-2.30129e-02,  9.99610e-01,  1.58209e-02, -4.16939e+00],\n",
       "        [-1.66992e-01, -1.94462e-02,  9.85767e-01,  1.47699e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.86407e-01,  2.43381e-02,  1.62509e-01,  6.88412e+01],\n",
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       "        [-1.62175e-01, -1.51471e-02,  9.86646e-01,  1.48511e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.87500e-01,  2.56006e-02,  1.55527e-01,  6.89541e+01],\n",
       "        [-2.61310e-02,  9.99658e-01,  1.36640e-03, -4.19319e+00],\n",
       "        [-1.55439e-01, -5.41340e-03,  9.87831e-01,  1.49280e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.88496e-01,  2.59097e-02,  1.49011e-01,  6.90721e+01],\n",
       "        [-2.55142e-02,  9.99664e-01, -4.56517e-03, -4.19712e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.89613e-01,  2.16022e-02,  1.42124e-01,  6.91788e+01],\n",
       "        [-2.13350e-02,  9.99767e-01, -3.40369e-03, -4.21749e+00],\n",
       "        [-1.42164e-01,  3.36131e-04,  9.89843e-01,  1.50883e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.90559e-01,  2.72726e-02,  1.34347e-01,  6.92764e+01],\n",
       "        [-2.74783e-02,  9.99622e-01, -3.23520e-04, -4.23287e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.91385e-01,  3.26189e-02,  1.26852e-01,  6.93593e+01],\n",
       "        [-3.26911e-02,  9.99464e-01, -1.51374e-03, -4.24969e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.92475e-01,  3.65660e-02,  1.16865e-01,  6.94402e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.93495e-01,  3.60970e-02,  1.08002e-01,  6.95269e+01],\n",
       "        [-3.52490e-02,  9.99331e-01, -9.75058e-03, -4.28495e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.94271e-01,  3.60984e-02,  1.00613e-01,  6.95988e+01],\n",
       "        [-3.55701e-02,  9.99343e-01, -7.03994e-03, -4.30192e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.94963e-01,  3.81538e-02,  9.26995e-02,  6.96624e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.95567e-01,  4.06085e-02,  8.48363e-02,  6.97164e+01],\n",
       "        [-4.12626e-02,  9.99131e-01,  5.97046e-03, -4.33259e+00],\n",
       "        [-8.45201e-02, -9.44457e-03,  9.96377e-01,  1.56596e+02],\n",
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       " array([[ 9.96255e-01,  4.02400e-02,  7.65262e-02,  6.97736e+01],\n",
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       " array([[ 9.96674e-01,  4.05380e-02,  7.06922e-02,  6.98255e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.96952e-01,  4.02871e-02,  6.68108e-02,  6.98715e+01],\n",
       "        [-4.10197e-02,  9.99112e-01,  9.62961e-03, -4.36332e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.97011e-01,  5.08178e-02,  5.82031e-02,  6.99422e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.97016e-01,  5.39982e-02,  5.51603e-02,  6.99724e+01],\n",
       "        [-5.38150e-02,  9.98539e-01, -4.80159e-03, -4.39904e+00],\n",
       "        [-5.53390e-02,  1.81881e-03,  9.98466e-01,  1.61535e+02],\n",
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       " array([[ 9.97129e-01,  5.45872e-02,  5.24745e-02,  7.00040e+01],\n",
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       "        [-5.23203e-02, -4.25093e-03,  9.98621e-01,  1.62375e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.97137e-01,  5.64642e-02,  5.03065e-02,  7.00351e+01],\n",
       "        [-5.70757e-02,  9.98311e-01,  1.08034e-02, -4.41573e+00],\n",
       "        [-4.96115e-02, -1.36437e-02,  9.98676e-01,  1.63213e+02],\n",
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       " array([[ 9.97299e-01,  5.63765e-02,  4.70720e-02,  7.00630e+01],\n",
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       "        [-4.59037e-02, -2.18439e-02,  9.98707e-01,  1.64039e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [-4.09413e-02, -1.79864e-02,  9.99000e-01,  1.64855e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98363e-01,  4.37647e-02,  3.68259e-02,  7.01304e+01],\n",
       "        [-4.40678e-02,  9.99001e-01,  7.45898e-03, -4.44990e+00],\n",
       "        [-3.64627e-02, -9.06961e-03,  9.99294e-01,  1.65681e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98679e-01,  4.21451e-02,  2.93962e-02,  7.01518e+01],\n",
       "        [-4.22241e-02,  9.99106e-01,  2.07340e-03, -4.45447e+00],\n",
       "        [-2.92825e-02, -3.31189e-03,  9.99566e-01,  1.66482e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98608e-01,  4.77189e-02,  2.24671e-02,  7.01578e+01],\n",
       "        [-4.78041e-02,  9.98851e-01,  3.27225e-03, -4.45754e+00],\n",
       "        [-2.22852e-02, -4.34172e-03,  9.99742e-01,  1.67298e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98969e-01,  4.27366e-02,  1.53416e-02,  7.01665e+01],\n",
       "        [-4.28752e-02,  9.99042e-01,  8.82144e-03, -4.46422e+00],\n",
       "        [-1.49499e-02, -9.47011e-03,  9.99843e-01,  1.68129e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99322e-01,  3.60060e-02,  7.70522e-03,  7.01745e+01],\n",
       "        [-3.61077e-02,  9.99257e-01,  1.34975e-02, -4.47334e+00],\n",
       "        [-7.21350e-03, -1.37665e-02,  9.99879e-01,  1.68965e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99577e-01,  2.90359e-02,  1.98095e-03,  7.01808e+01],\n",
       "        [-2.90655e-02,  9.99432e-01,  1.70595e-02, -4.46974e+00],\n",
       "        [-1.48448e-03, -1.71099e-02,  9.99853e-01,  1.69792e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99715e-01,  2.35447e-02, -3.92228e-03,  7.01769e+01],\n",
       "        [-2.34720e-02,  9.99569e-01,  1.76325e-02, -4.48131e+00],\n",
       "        [ 4.33574e-03, -1.75354e-02,  9.99837e-01,  1.70638e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99738e-01,  2.01416e-02, -1.08540e-02,  7.01696e+01],\n",
       "        [-2.00141e-02,  9.99731e-01,  1.17276e-02, -4.49300e+00],\n",
       "        [ 1.10873e-02, -1.15073e-02,  9.99872e-01,  1.71461e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99743e-01,  1.40008e-02, -1.78438e-02,  7.01590e+01],\n",
       "        [-1.39799e-02,  9.99901e-01,  1.29175e-03, -4.49463e+00],\n",
       "        [ 1.78601e-02, -1.04196e-03,  9.99840e-01,  1.72267e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99671e-01,  6.10158e-03, -2.49085e-02,  7.01554e+01],\n",
       "        [-6.17259e-03,  9.99977e-01, -2.77480e-03, -4.50534e+00],\n",
       "        [ 2.48910e-02,  2.92764e-03,  9.99686e-01,  1.73095e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99477e-01,  7.68445e-03, -3.14099e-02,  7.01183e+01],\n",
       "        [-7.54396e-03,  9.99961e-01,  4.58875e-03, -4.51208e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99204e-01,  1.67955e-02, -3.61970e-02,  7.00715e+01],\n",
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       "        [ 3.64779e-02, -1.67306e-02,  9.99194e-01,  1.74809e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98935e-01,  2.15435e-02, -4.07932e-02,  7.00197e+01],\n",
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       "        [ 4.13204e-02, -2.46227e-02,  9.98843e-01,  1.75647e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98794e-01,  2.09382e-02, -4.44122e-02,  6.99723e+01],\n",
       "        [-1.99268e-02,  9.99535e-01,  2.30955e-02, -4.52293e+00],\n",
       "        [ 4.48751e-02, -2.21826e-02,  9.98746e-01,  1.76490e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98627e-01,  2.36263e-02, -4.67619e-02,  6.99278e+01],\n",
       "        [-2.30546e-02,  9.99653e-01,  1.27284e-02, -4.53530e+00],\n",
       "        [ 4.70464e-02, -1.16328e-02,  9.98825e-01,  1.77326e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98201e-01,  3.35749e-02, -4.96728e-02,  6.98627e+01],\n",
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       "        [ 4.97482e-02, -1.41341e-03,  9.98761e-01,  1.78161e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98101e-01,  3.32635e-02, -5.18518e-02,  6.98118e+01],\n",
       "        [-3.33358e-02,  9.99444e-01, -5.28162e-04, -4.53856e+00],\n",
       "        [ 5.18054e-02,  2.25568e-03,  9.98655e-01,  1.79016e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98162e-01,  2.81939e-02, -5.36414e-02,  6.97675e+01],\n",
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       "        [ 5.37516e-02, -3.16382e-03,  9.98549e-01,  1.79857e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98196e-01,  2.63904e-02, -5.39389e-02,  6.97222e+01],\n",
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       "        [ 5.42535e-02, -1.13535e-02,  9.98463e-01,  1.80715e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98168e-01,  2.78145e-02, -5.37240e-02,  6.96710e+01],\n",
       "        [-2.68641e-02,  9.99471e-01,  1.83318e-02, -4.56097e+00],\n",
       "        [ 5.42055e-02, -1.68550e-02,  9.98388e-01,  1.81599e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98097e-01,  2.78657e-02, -5.50091e-02,  6.96138e+01],\n",
       "        [-2.69269e-02,  9.99480e-01,  1.77352e-02, -4.56982e+00],\n",
       "        [ 5.54747e-02, -1.62202e-02,  9.98328e-01,  1.82433e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98090e-01,  2.33012e-02, -5.72073e-02,  6.95630e+01],\n",
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       "        [ 5.73922e-02, -7.34335e-03,  9.98325e-01,  1.83271e+02],\n",
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       " array([[ 9.98085e-01,  1.60432e-02, -5.97373e-02,  6.95259e+01],\n",
       "        [-1.61879e-02,  9.99867e-01, -1.93833e-03, -4.58935e+00],\n",
       "        [ 5.96982e-02,  2.90164e-03,  9.98212e-01,  1.84102e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [-6.70312e-03,  9.99959e-01, -6.12357e-03, -4.60632e+00],\n",
       "        [ 6.16950e-02,  6.52559e-03,  9.98074e-01,  1.84953e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 6.23374e-02,  2.29657e-03,  9.98053e-01,  1.85808e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 6.39877e-02, -6.85313e-03,  9.97927e-01,  1.86673e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 6.47236e-02, -1.07458e-02,  9.97845e-01,  1.87513e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 6.54652e-02, -2.11647e-03,  9.97853e-01,  1.89180e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 6.58191e-02, -8.93400e-04,  9.97831e-01,  1.90020e+02],\n",
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       "        [ 6.63195e-02, -3.42497e-03,  9.97793e-01,  1.90854e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       " array([[ 9.97050e-01,  3.36602e-02, -6.89752e-02,  6.87278e+01],\n",
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       " array([[ 9.96849e-01,  3.75454e-02, -6.98803e-02,  6.86604e+01],\n",
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       "        [ 7.36131e-02, -3.53631e-04,  9.97287e-01,  2.01058e+02],\n",
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       "        [ 7.12593e-02,  3.52489e-03,  9.97452e-01,  2.01719e+02],\n",
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       "        [ 6.11465e-02, -3.76639e-04,  9.98129e-01,  2.03067e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98144e-01,  2.61456e-02, -5.49934e-02,  6.80848e+01],\n",
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       "        [ 5.52496e-02, -9.17948e-03,  9.98430e-01,  2.03738e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 4.92324e-02, -1.35161e-02,  9.98696e-01,  2.04405e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98569e-01,  3.24904e-02, -4.24735e-02,  6.80120e+01],\n",
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       "        [ 4.28502e-02, -1.09865e-02,  9.99021e-01,  2.05062e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98928e-01,  2.93040e-02, -3.58510e-02,  6.79907e+01],\n",
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       "        [ 3.59567e-02, -3.08847e-03,  9.99349e-01,  2.05722e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99143e-01,  2.96047e-02, -2.89358e-02,  6.79820e+01],\n",
       "        [-2.97562e-02,  9.99546e-01, -4.81894e-03, -4.91161e+00],\n",
       "        [ 2.87800e-02,  5.67583e-03,  9.99570e-01,  2.06360e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99168e-01,  3.44911e-02, -2.17904e-02,  6.79565e+01],\n",
       "        [-3.46942e-02,  9.99357e-01, -9.01220e-03, -4.93046e+00],\n",
       "        [ 2.14655e-02,  9.76069e-03,  9.99722e-01,  2.07000e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99293e-01,  3.46932e-02, -1.45249e-02,  6.79517e+01],\n",
       "        [-3.48117e-02,  9.99362e-01, -7.98400e-03, -4.94016e+00],\n",
       "        [ 1.42386e-02,  8.48399e-03,  9.99863e-01,  2.07638e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99503e-01,  3.03755e-02, -8.42489e-03,  6.79516e+01],\n",
       "        [-3.04033e-02,  9.99533e-01, -3.19488e-03, -4.95518e+00],\n",
       "        [ 8.32391e-03,  3.44943e-03,  9.99959e-01,  2.08286e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99756e-01,  2.19972e-02, -1.86226e-03,  6.79631e+01],\n",
       "        [-2.19929e-02,  9.99756e-01,  2.31222e-03, -4.97270e+00],\n",
       "        [ 1.91267e-03, -2.27070e-03,  9.99996e-01,  2.08947e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99847e-01,  1.70659e-02,  3.93539e-03,  6.79755e+01],\n",
       "        [-1.70840e-02,  9.99843e-01,  4.61004e-03, -4.99395e+00],\n",
       "        [-3.85610e-03, -4.67657e-03,  9.99982e-01,  2.09575e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99814e-01,  1.77213e-02,  7.64306e-03,  6.79834e+01],\n",
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       "        [-7.54482e-03, -5.60381e-03,  9.99956e-01,  2.10225e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99743e-01,  2.10620e-02,  8.41732e-03,  6.79846e+01],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.99695e-01,  2.32915e-02,  8.19019e-03,  6.79868e+01],\n",
       "        [-2.33950e-02,  9.99645e-01,  1.27747e-02, -5.02774e+00],\n",
       "        [-7.88973e-03, -1.29624e-02,  9.99885e-01,  2.12800e+02],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 2.39979e-01, -2.21943e-02,  9.70524e-01,  2.38831e+02],\n",
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       " array([[ 9.59252e-01, -3.55541e-02, -2.80307e-01,  6.66461e+01],\n",
       "        [ 3.90112e-02,  9.99216e-01,  6.76147e-03, -5.25605e+00],\n",
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       " array([[ 9.46083e-01, -3.11069e-02, -3.22426e-01,  6.64567e+01],\n",
       "        [ 3.37877e-02,  9.99425e-01,  2.71982e-03, -5.26511e+00],\n",
       "        [ 3.22156e-01, -1.34672e-02,  9.46591e-01,  2.39703e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.29531e-01, -2.60634e-02, -3.67821e-01,  6.62495e+01],\n",
       "        [ 2.84242e-02,  9.99595e-01,  1.00124e-03, -5.27038e+00],\n",
       "        [ 3.67646e-01, -1.13857e-02,  9.29896e-01,  2.40117e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.09915e-01, -1.57091e-02, -4.14498e-01,  6.60232e+01],\n",
       "        [ 1.69439e-02,  9.99856e-01, -6.97869e-04, -5.27770e+00],\n",
       "        [ 4.14449e-01, -6.38823e-03,  9.10050e-01,  2.40502e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 8.87385e-01, -2.37979e-03, -4.61022e-01,  6.57535e+01],\n",
       "        [ 2.07054e-03,  9.99997e-01, -1.17656e-03, -5.29005e+00],\n",
       "        [ 4.61024e-01,  8.94917e-05,  8.87388e-01,  2.40863e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 8.60909e-01,  9.91725e-03, -5.08662e-01,  6.54731e+01],\n",
       "        [-1.15705e-02,  9.99933e-01, -8.76412e-05, -5.29685e+00],\n",
       "        [ 5.08627e-01,  5.96093e-03,  8.60967e-01,  2.41215e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 8.30046e-01,  1.98207e-02, -5.57343e-01,  6.51982e+01],\n",
       "        [-2.20896e-02,  9.99753e-01,  2.65622e-03, -5.30355e+00],\n",
       "        [ 5.57257e-01,  1.01067e-02,  8.30278e-01,  2.41547e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 7.96408e-01,  2.70355e-02, -6.04155e-01,  6.48773e+01],\n",
       "        [-2.92942e-02,  9.99552e-01,  6.11311e-03, -5.30285e+00],\n",
       "        [ 6.04050e-01,  1.28297e-02,  7.96843e-01,  2.41847e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 7.59138e-01,  3.50086e-02, -6.49988e-01,  6.45724e+01],\n",
       "        [-3.39025e-02,  9.99324e-01,  1.42285e-02, -5.30176e+00],\n",
       "        [ 6.50046e-01,  1.12348e-02,  7.59812e-01,  2.42142e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 7.19654e-01,  4.69808e-02, -6.92742e-01,  6.42485e+01],\n",
       "        [-3.82406e-02,  9.98876e-01,  2.80161e-02, -5.29945e+00],\n",
       "        [ 6.93279e-01,  6.32895e-03,  7.20641e-01,  2.42421e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 6.78463e-01,  5.96106e-02, -7.32212e-01,  6.38839e+01],\n",
       "        [-4.35043e-02,  9.98213e-01,  4.09555e-02, -5.29362e+00],\n",
       "        [ 7.33346e-01,  4.06764e-03,  6.79844e-01,  2.42669e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 6.35822e-01,  6.81413e-02, -7.68822e-01,  6.35340e+01],\n",
       "        [-4.71252e-02,  9.97664e-01,  4.94508e-02, -5.27611e+00],\n",
       "        [ 7.70396e-01,  4.78900e-03,  6.37548e-01,  2.42890e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 5.91651e-01,  7.32047e-02, -8.02864e-01,  6.31861e+01],\n",
       "        [-4.76467e-02,  9.97303e-01,  5.58216e-02, -5.27224e+00],\n",
       "        [ 8.04785e-01,  5.22687e-03,  5.93544e-01,  2.43092e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 5.45426e-01,  7.54584e-02, -8.34755e-01,  6.27985e+01],\n",
       "        [-4.65842e-02,  9.97129e-01,  5.96984e-02, -5.25273e+00],\n",
       "        [ 8.36863e-01,  6.32534e-03,  5.47375e-01,  2.43270e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 4.96463e-01,  7.39687e-02, -8.64901e-01,  6.24332e+01],\n",
       "        [-4.03381e-02,  9.97252e-01,  6.21332e-02, -5.24062e+00],\n",
       "        [ 8.67120e-01,  4.04162e-03,  4.98083e-01,  2.43436e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 4.46224e-01,  6.80438e-02, -8.92331e-01,  6.20705e+01],\n",
       "        [-3.20824e-02,  9.97681e-01,  6.00339e-02, -5.22210e+00],\n",
       "        [ 8.94346e-01,  1.83950e-03,  4.47372e-01,  2.43588e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 3.95271e-01,  6.13796e-02, -9.16512e-01,  6.16711e+01],\n",
       "        [-2.40915e-02,  9.98115e-01,  5.64545e-02, -5.20458e+00],\n",
       "        [ 9.18249e-01, -2.34676e-04,  3.96004e-01,  2.43702e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 3.40412e-01,  5.61659e-02, -9.38598e-01,  6.12910e+01],\n",
       "        [-2.02285e-02,  9.98421e-01,  5.24092e-02, -5.17945e+00],\n",
       "        [ 9.40059e-01,  1.14569e-03,  3.41010e-01,  2.43828e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.88765e-01,  5.40408e-02, -9.55874e-01,  6.08487e+01],\n",
       "        [-1.89168e-02,  9.98533e-01,  5.07379e-02, -5.15770e+00],\n",
       "        [ 9.57213e-01,  3.43070e-03,  2.89364e-01,  2.43910e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.38890e-01,  5.41722e-02, -9.69535e-01,  6.04088e+01],\n",
       "        [-1.94440e-02,  9.98509e-01,  5.10003e-02, -5.13535e+00],\n",
       "        [ 9.70852e-01,  6.66823e-03,  2.39587e-01,  2.43976e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 1.91860e-01,  5.54106e-02, -9.79857e-01,  5.99601e+01],\n",
       "        [-1.72703e-02,  9.98441e-01,  5.30799e-02, -5.11707e+00],\n",
       "        [ 9.81270e-01,  6.73855e-03,  1.92518e-01,  2.44034e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 1.47785e-01,  5.52926e-02, -9.87473e-01,  5.94753e+01],\n",
       "        [-1.52915e-02,  9.98444e-01,  5.36184e-02, -5.09960e+00],\n",
       "        [ 9.88901e-01,  7.17593e-03,  1.48401e-01,  2.44073e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 1.07139e-01,  5.41303e-02, -9.92770e-01,  5.90020e+01],\n",
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       "        [ 9.94142e-01,  8.46400e-03,  1.07748e-01,  2.44098e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 7.28013e-02,  5.28111e-02, -9.95947e-01,  5.85210e+01],\n",
       "        [-1.32194e-02,  9.98560e-01,  5.19833e-02, -5.06202e+00],\n",
       "        [ 9.97259e-01,  9.38141e-03,  7.33947e-02,  2.44102e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 4.25283e-02,  4.99359e-02, -9.97847e-01,  5.80070e+01],\n",
       "        [-1.41722e-02,  9.98680e-01,  4.93736e-02, -5.03867e+00],\n",
       "        [ 9.98995e-01,  1.20419e-02,  4.31798e-02,  2.44102e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 1.68204e-02,  4.79443e-02, -9.98708e-01,  5.75057e+01],\n",
       "        [-1.48956e-02,  9.98751e-01,  4.76954e-02, -5.01995e+00],\n",
       "        [ 9.99748e-01,  1.40741e-02,  1.75135e-02,  2.44089e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.58297e-03,  4.64822e-02, -9.98897e-01,  5.69790e+01],\n",
       "        [-1.54983e-02,  9.98794e-01,  4.65795e-02, -5.00041e+00],\n",
       "        [ 9.99858e-01,  1.57878e-02, -5.85464e-03,  2.44064e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.57922e-02,  4.49519e-02, -9.98656e-01,  5.64407e+01],\n",
       "        [-1.77051e-02,  9.98811e-01,  4.54162e-02, -4.98430e+00],\n",
       "        [ 9.99511e-01,  1.88527e-02, -2.49657e-02,  2.44031e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.02052e-02,  4.39350e-02, -9.98225e-01,  5.58983e+01],\n",
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       "        [ 9.98984e-01,  2.21269e-02, -3.92618e-02,  2.43987e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.08495e-02,  4.22616e-02, -9.97812e-01,  5.53226e+01],\n",
       "        [-2.23793e-02,  9.98805e-01,  4.34441e-02, -4.94656e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.56817e-02,  4.03205e-02, -9.97634e-01,  5.47488e+01],\n",
       "        [-2.31695e-02,  9.98863e-01,  4.16633e-02, -4.92487e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.99219e-02,  4.00453e-02, -9.97400e-01,  5.41473e+01],\n",
       "        [-2.40983e-02,  9.98846e-01,  4.15512e-02, -4.90666e+00],\n",
       "        [ 9.97912e-01,  2.65254e-02, -5.88877e-02,  2.43856e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.29360e-02,  4.02105e-02, -9.97207e-01,  5.35471e+01],\n",
       "        [-2.28205e-02,  9.98869e-01,  4.17177e-02, -4.88753e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.36442e-02,  4.08465e-02, -9.97137e-01,  5.29204e+01],\n",
       "        [-2.23133e-02,  9.98854e-01,  4.23410e-02, -4.86872e+00],\n",
       "        [ 9.97723e-01,  2.49442e-02, -6.26598e-02,  2.43772e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.27811e-02,  4.14752e-02, -9.97165e-01,  5.22500e+01],\n",
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       "        [ 9.97777e-01,  2.49806e-02, -6.17806e-02,  2.43724e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.18747e-02,  4.17396e-02, -9.97211e-01,  5.15785e+01],\n",
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       "        [ 9.97855e-01,  2.39753e-02, -6.09112e-02,  2.43678e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.19668e-02,  3.96646e-02, -9.97290e-01,  5.08871e+01],\n",
       "        [-1.99936e-02,  9.98960e-01,  4.09733e-02, -4.80503e+00],\n",
       "        [ 9.97878e-01,  2.24784e-02, -6.11093e-02,  2.43636e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.14408e-02,  3.69840e-02, -9.97425e-01,  5.01782e+01],\n",
       "        [-1.94606e-02,  9.99079e-01,  3.82440e-02, -4.78832e+00],\n",
       "        [ 9.97921e-01,  2.17603e-02, -6.06645e-02,  2.43588e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.96747e-02,  3.58137e-02, -9.97575e-01,  4.94469e+01],\n",
       "        [-1.81390e-02,  9.99152e-01,  3.69554e-02, -4.76329e+00],\n",
       "        [ 9.98053e-01,  2.03003e-02, -5.89745e-02,  2.43546e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.95148e-02,  3.50970e-02, -9.97610e-01,  4.86883e+01],\n",
       "        [-1.86378e-02,  9.99169e-01,  3.62637e-02, -4.74128e+00],\n",
       "        [ 9.98053e-01,  2.07515e-02, -5.88111e-02,  2.43495e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.75541e-02,  3.51151e-02, -9.97725e-01,  4.79056e+01],\n",
       "        [-1.96223e-02,  9.99148e-01,  3.62971e-02, -4.72044e+00],\n",
       "        [ 9.98150e-01,  2.16667e-02, -5.68161e-02,  2.43441e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.59461e-02,  3.60643e-02, -9.97782e-01,  4.71039e+01],\n",
       "        [-1.77050e-02,  9.99155e-01,  3.71066e-02, -4.69926e+00],\n",
       "        [ 9.98277e-01,  1.97418e-02, -5.52603e-02,  2.43391e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.39441e-02,  3.63813e-02, -9.97881e-01,  4.62903e+01],\n",
       "        [-1.46336e-02,  9.99200e-01,  3.72205e-02, -4.67642e+00],\n",
       "        [ 9.98437e-01,  1.66104e-02, -5.33686e-02,  2.43351e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.22889e-02,  3.63718e-02, -9.97970e-01,  4.54369e+01],\n",
       "        [-1.22048e-02,  9.99239e-01,  3.70575e-02, -4.65826e+00],\n",
       "        [ 9.98557e-01,  1.41177e-02, -5.18052e-02,  2.43302e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.06714e-02,  3.70904e-02, -9.98027e-01,  4.45853e+01],\n",
       "        [-1.08889e-02,  9.99230e-01,  3.76880e-02, -4.63282e+00],\n",
       "        [ 9.98656e-01,  1.27771e-02, -5.02285e-02,  2.43248e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.95542e-02,  3.92176e-02, -9.98001e-01,  4.37203e+01],\n",
       "        [-9.51847e-03,  9.99165e-01,  3.97359e-02, -4.60676e+00],\n",
       "        [ 9.98726e-01,  1.14685e-02, -4.91395e-02,  2.43200e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.73844e-02,  4.39933e-02, -9.97908e-01,  4.28434e+01],\n",
       "        [-8.09485e-03,  9.98980e-01,  4.44249e-02, -4.58271e+00],\n",
       "        [ 9.98844e-01,  1.01830e-02, -4.69800e-02,  2.43156e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.73305e-02,  4.86296e-02, -9.97695e-01,  4.19500e+01],\n",
       "        [-6.54394e-03,  9.98778e-01,  4.89929e-02, -4.55527e+00],\n",
       "        [ 9.98858e-01,  8.84771e-03, -4.69544e-02,  2.43125e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.75664e-02,  4.96979e-02, -9.97631e-01,  4.10732e+01],\n",
       "        [-5.85729e-03,  9.98731e-01,  5.00320e-02, -4.53013e+00],\n",
       "        [ 9.98851e-01,  8.22325e-03, -4.72149e-02,  2.43075e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.85154e-02,  4.66094e-02, -9.97735e-01,  4.01864e+01],\n",
       "        [-6.56360e-03,  9.98874e-01,  4.69818e-02, -4.50710e+00],\n",
       "        [ 9.98801e-01,  8.82807e-03, -4.81548e-02,  2.43029e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.97347e-02,  4.22893e-02, -9.97867e-01,  3.93102e+01],\n",
       "        [-5.95827e-03,  9.99073e-01,  4.26374e-02, -4.48206e+00],\n",
       "        [ 9.98745e-01,  8.06611e-03, -4.94366e-02,  2.42980e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.10260e-02,  4.16512e-02, -9.97829e-01,  3.84359e+01],\n",
       "        [-4.34055e-03,  9.99111e-01,  4.19267e-02, -4.46129e+00],\n",
       "        [ 9.98688e-01,  6.47048e-03, -5.07999e-02,  2.42933e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.41344e-02,  4.60664e-02, -9.97471e-01,  3.75613e+01],\n",
       "        [-1.06872e-03,  9.98932e-01,  4.61919e-02, -4.43594e+00],\n",
       "        [ 9.98533e-01,  3.56659e-03, -5.40274e-02,  2.42887e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.68011e-02,  5.24880e-02, -9.97005e-01,  3.66633e+01],\n",
       "        [ 4.91448e-04,  9.98619e-01,  5.25450e-02, -4.41283e+00],\n",
       "        [ 9.98385e-01,  2.49463e-03, -5.67484e-02,  2.42837e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.92287e-02,  5.66460e-02, -9.96636e-01,  3.57814e+01],\n",
       "        [ 3.83576e-03,  9.98394e-01,  5.65180e-02, -4.38361e+00],\n",
       "        [ 9.98237e-01, -4.75374e-04, -5.93509e-02,  2.42782e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.27100e-02,  5.66986e-02, -9.96420e-01,  3.49054e+01],\n",
       "        [ 5.37563e-03,  9.98390e-01,  5.64724e-02, -4.35593e+00],\n",
       "        [ 9.98017e-01, -1.81500e-03, -6.29138e-02,  2.42729e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.53019e-02,  5.57786e-02, -9.96306e-01,  3.40284e+01],\n",
       "        [ 5.00372e-03,  9.98442e-01,  5.55702e-02, -4.32481e+00],\n",
       "        [ 9.97853e-01, -1.35640e-03, -6.54793e-02,  2.42670e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.76647e-02,  5.26392e-02, -9.96319e-01,  3.31588e+01],\n",
       "        [ 3.24400e-03,  9.98614e-01,  5.25401e-02, -4.29374e+00],\n",
       "        [ 9.97703e-01,  3.23056e-04, -6.77417e-02,  2.42603e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.06499e-02,  5.08319e-02, -9.96205e-01,  3.22867e+01],\n",
       "        [ 2.11088e-03,  9.98706e-01,  5.08098e-02, -4.26585e+00],\n",
       "        [ 9.97499e-01,  1.48683e-03, -7.06658e-02,  2.42533e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.19846e-02,  5.02160e-02, -9.96141e-01,  3.14309e+01],\n",
       "        [ 1.20755e-03,  9.98736e-01,  5.02595e-02, -4.24037e+00],\n",
       "        [ 9.97405e-01,  2.41502e-03, -7.19542e-02,  2.42467e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.41713e-02,  4.89535e-02, -9.96043e-01,  3.05602e+01],\n",
       "        [-1.95126e-03,  9.98785e-01,  4.92335e-02, -4.21451e+00],\n",
       "        [ 9.97244e-01,  5.59525e-03, -7.39857e-02,  2.42397e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.48011e-02,  4.56494e-02, -9.96153e-01,  2.97043e+01],\n",
       "        [-6.58823e-03,  9.98907e-01,  4.62703e-02, -4.19076e+00],\n",
       "        [ 9.97177e-01,  1.00240e-02, -7.44187e-02,  2.42319e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.44703e-02,  4.21688e-02, -9.96331e-01,  2.88544e+01],\n",
       "        [-9.34496e-03,  9.99032e-01,  4.29815e-02, -4.17032e+00],\n",
       "        [ 9.97180e-01,  1.25115e-02, -7.40042e-02,  2.42249e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.36597e-02,  4.12088e-02, -9.96432e-01,  2.79916e+01],\n",
       "        [-1.10012e-02,  9.99052e-01,  4.21304e-02, -4.14932e+00],\n",
       "        [ 9.97223e-01,  1.40652e-02, -7.31365e-02,  2.42175e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.22346e-02,  4.14623e-02, -9.96526e-01,  2.71479e+01],\n",
       "        [-1.02983e-02,  9.99051e-01,  4.23138e-02, -4.13078e+00],\n",
       "        [ 9.97335e-01,  1.33190e-02, -7.17390e-02,  2.42106e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.98274e-02,  4.19436e-02, -9.96677e-01,  2.62847e+01],\n",
       "        [-9.52374e-03,  9.99042e-01,  4.27103e-02, -4.11191e+00],\n",
       "        [ 9.97514e-01,  1.24744e-02, -6.93610e-02,  2.42043e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.86357e-02,  4.29148e-02, -9.96719e-01,  2.54501e+01],\n",
       "        [-8.71609e-03,  9.99011e-01,  4.36137e-02, -4.09244e+00],\n",
       "        [ 9.97604e-01,  1.16809e-02, -6.81937e-02,  2.41990e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.61204e-02,  4.42376e-02, -9.96831e-01,  2.45990e+01],\n",
       "        [-6.72554e-03,  9.98974e-01,  4.47788e-02, -4.07296e+00],\n",
       "        [ 9.97789e-01,  9.66501e-03, -6.57550e-02,  2.41930e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.27995e-02,  4.59505e-02, -9.96968e-01,  2.37461e+01],\n",
       "        [-1.19799e-03,  9.98935e-01,  4.61166e-02, -4.05394e+00],\n",
       "        [ 9.98025e-01,  4.09045e-03, -6.26776e-02,  2.41878e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.06406e-02,  4.63145e-02, -9.97085e-01,  2.29132e+01],\n",
       "        [ 4.86267e-03,  9.98925e-01,  4.61043e-02, -4.03606e+00],\n",
       "        [ 9.98148e-01, -2.05270e-03, -6.08006e-02,  2.41837e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.78839e-02,  4.45134e-02, -9.97331e-01,  2.20744e+01],\n",
       "        [ 3.10740e-03,  9.99009e-01,  4.44080e-02, -4.01720e+00],\n",
       "        [ 9.98318e-01, -5.28600e-04, -5.79648e-02,  2.41789e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.63682e-02,  4.38226e-02, -9.97448e-01,  2.12552e+01],\n",
       "        [ 3.21736e-03,  9.99039e-01,  4.37107e-02, -3.99454e+00],\n",
       "        [ 9.98405e-01, -7.45262e-04, -5.64550e-02,  2.41741e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.51249e-02,  4.45899e-02, -9.97483e-01,  2.04282e+01],\n",
       "        [ 4.10822e-03,  9.99004e-01,  4.44308e-02, -3.97840e+00],\n",
       "        [ 9.98471e-01, -1.64863e-03, -5.52532e-02,  2.41697e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.53415e-02,  4.76768e-02, -9.97329e-01,  1.96039e+01],\n",
       "        [ 1.00862e-02,  9.98835e-01,  4.71892e-02, -3.95657e+00],\n",
       "        [ 9.98417e-01, -7.44777e-03, -5.57579e-02,  2.41651e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.63113e-02,  5.18156e-02, -9.97068e-01,  1.88014e+01],\n",
       "        [ 8.03865e-03,  9.98644e-01,  5.14434e-02, -3.93035e+00],\n",
       "        [ 9.98381e-01, -5.11824e-03, -5.66514e-02,  2.41608e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.83160e-02,  5.41043e-02, -9.96831e-01,  1.79771e+01],\n",
       "        [ 6.75526e-03,  9.98529e-01,  5.38012e-02, -3.90806e+00],\n",
       "        [ 9.98275e-01, -3.59638e-03, -5.85957e-02,  2.41552e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.01232e-02,  5.23001e-02, -9.96820e-01,  1.71570e+01],\n",
       "        [ 5.97534e-03,  9.98627e-01,  5.20345e-02, -3.88613e+00],\n",
       "        [ 9.98173e-01, -2.82786e-03, -6.03531e-02,  2.41499e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.28816e-02,  4.90210e-02, -9.96816e-01,  1.63651e+01],\n",
       "        [ 4.58799e-03,  9.98797e-01,  4.88289e-02, -3.86467e+00],\n",
       "        [ 9.98011e-01, -1.50295e-03, -6.30308e-02,  2.41442e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.65450e-02,  4.60996e-02, -9.96718e-01,  1.55575e+01],\n",
       "        [ 3.66214e-03,  9.98937e-01,  4.59577e-02, -3.84258e+00],\n",
       "        [ 9.97777e-01, -5.91870e-04, -6.66430e-02,  2.41385e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.12782e-02,  4.45070e-02, -9.96463e-01,  1.47693e+01],\n",
       "        [ 2.92129e-03,  9.99009e-01,  4.44118e-02, -3.81865e+00],\n",
       "        [ 9.97452e-01,  2.54628e-04, -7.13375e-02,  2.41319e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.67949e-02,  4.39166e-02, -9.96079e-01,  1.39668e+01],\n",
       "        [ 1.61231e-03,  9.99034e-01,  4.39226e-02, -3.80270e+00],\n",
       "        [ 9.97046e-01,  1.76704e-03, -7.67915e-02,  2.41251e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.15038e-02,  4.41915e-02, -9.95693e-01,  1.31791e+01],\n",
       "        [-1.50244e-03,  9.99010e-01,  4.44617e-02, -3.78319e+00],\n",
       "        [ 9.96672e-01,  5.11976e-03, -8.13567e-02,  2.41179e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.62669e-02,  4.58889e-02, -9.95215e-01,  1.23807e+01],\n",
       "        [-2.61511e-03,  9.98925e-01,  4.62866e-02, -3.76402e+00],\n",
       "        [ 9.96269e-01,  6.59560e-03, -8.60541e-02,  2.41100e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.07252e-02,  4.81751e-02, -9.94710e-01,  1.15872e+01],\n",
       "        [-4.22964e-03,  9.98802e-01,  4.87590e-02, -3.74319e+00],\n",
       "        [ 9.95867e-01,  8.63093e-03, -9.04127e-02,  2.41014e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.50205e-02,  4.94629e-02, -9.94246e-01,  1.07936e+01],\n",
       "        [-8.17329e-03,  9.98692e-01,  5.04652e-02, -3.72270e+00],\n",
       "        [ 9.95442e-01,  1.29215e-02, -9.44920e-02,  2.40930e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.84227e-02,  4.88796e-02, -9.93944e-01,  1.00136e+01],\n",
       "        [-1.25020e-02,  9.98653e-01,  5.03492e-02, -3.70017e+00],\n",
       "        [ 9.95066e-01,  1.73818e-02, -9.76790e-02,  2.40842e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.00349e-01,  4.74282e-02, -9.93821e-01,  9.23587e+00],\n",
       "        [-1.73024e-02,  9.98629e-01,  4.94047e-02, -3.67917e+00],\n",
       "        [ 9.94802e-01,  2.21532e-02, -9.93907e-02,  2.40750e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.01160e-01,  4.66146e-02, -9.93778e-01,  8.48095e+00],\n",
       "        [-2.21712e-02,  9.98548e-01,  4.90952e-02, -3.65666e+00],\n",
       "        [ 9.94623e-01,  2.69997e-02, -9.99795e-02,  2.40657e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.01680e-01,  4.70584e-02, -9.93704e-01,  7.71063e+00],\n",
       "        [-2.56589e-02,  9.98424e-01,  4.99075e-02, -3.63385e+00],\n",
       "        [ 9.94486e-01,  3.05720e-02, -1.00312e-01,  2.40575e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.02329e-01,  4.72186e-02, -9.93630e-01,  6.98653e+00],\n",
       "        [-2.75926e-02,  9.98354e-01,  5.02847e-02, -3.61414e+00],\n",
       "        [ 9.94368e-01,  3.25624e-02, -1.00857e-01,  2.40488e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.02608e-01,  4.70789e-02, -9.93607e-01,  6.24047e+00],\n",
       "        [-3.04444e-02,  9.98263e-01,  5.04435e-02, -3.59586e+00],\n",
       "        [ 9.94256e-01,  3.54256e-02, -1.00997e-01,  2.40404e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.03265e-01,  4.64348e-02, -9.93570e-01,  5.53594e+00],\n",
       "        [-3.32785e-02,  9.98189e-01,  5.01094e-02, -3.57694e+00],\n",
       "        [ 9.94097e-01,  3.82390e-02, -1.01532e-01,  2.40318e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.02001e-01,  4.66790e-02, -9.93689e-01,  4.84032e+00],\n",
       "        [-3.67388e-02,  9.98040e-01,  5.06546e-02, -3.55721e+00],\n",
       "        [ 9.94106e-01,  4.16737e-02, -1.00086e-01,  2.40235e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.01465e-01,  4.70464e-02, -9.93726e-01,  4.15991e+00],\n",
       "        [-3.81585e-02,  9.97962e-01,  5.11432e-02, -3.53981e+00],\n",
       "        [ 9.94107e-01,  4.31083e-02, -9.94627e-02,  2.40156e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.92417e-02,  4.84993e-02, -9.93881e-01,  3.49449e+00],\n",
       "        [-3.86631e-02,  9.97869e-01,  5.25546e-02, -3.52194e+00],\n",
       "        [ 9.94312e-01,  4.36421e-02, -9.71551e-02,  2.40089e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.47165e-02,  4.89631e-02, -9.94300e-01,  2.84621e+00],\n",
       "        [-3.84382e-02,  9.97865e-01,  5.28003e-02, -3.50541e+00],\n",
       "        [ 9.94762e-01,  4.32201e-02, -9.26322e-02,  2.40026e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.21591e-02,  4.78639e-02, -9.94593e-01,  2.20173e+00],\n",
       "        [-4.17310e-02,  9.97781e-01,  5.18841e-02, -3.48982e+00],\n",
       "        [ 9.94869e-01,  4.62870e-02, -8.99572e-02,  2.39959e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.89673e-02,  4.63863e-02, -9.94954e-01,  1.57678e+00],\n",
       "        [-4.20941e-02,  9.97848e-01,  5.02851e-02, -3.47490e+00],\n",
       "        [ 9.95145e-01,  4.63554e-02, -8.68232e-02,  2.39905e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.61308e-02,  4.58954e-02, -9.95226e-01,  9.69770e-01],\n",
       "        [-4.05121e-02,  9.97951e-01,  4.95271e-02, -3.45816e+00],\n",
       "        [ 9.95460e-01,  4.45846e-02, -8.40950e-02,  2.39845e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.33630e-02,  4.53455e-02, -9.95487e-01,  3.71752e-01],\n",
       "        [-3.89515e-02,  9.98052e-01,  4.87242e-02, -3.44509e+00],\n",
       "        [ 9.95758e-01,  4.28375e-02, -8.14344e-02,  2.39804e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.95129e-02,  4.60444e-02, -9.95770e-01, -2.10637e-01],\n",
       "        [-3.83412e-02,  9.98052e-01,  4.92115e-02, -3.42829e+00],\n",
       "        [ 9.96096e-01,  4.20920e-02, -7.75927e-02,  2.39757e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.65978e-02,  4.72275e-02, -9.95943e-01, -7.66904e-01],\n",
       "        [-3.95079e-02,  9.97949e-01,  5.03612e-02, -3.41400e+00],\n",
       "        [ 9.96279e-01,  4.32052e-02, -7.45748e-02,  2.39714e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.25045e-02,  4.69727e-02, -9.96262e-01, -1.30857e+00],\n",
       "        [-4.03264e-02,  9.97936e-01,  4.99864e-02, -3.40221e+00],\n",
       "        [ 9.96553e-01,  4.37999e-02, -7.04606e-02,  2.39675e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.78943e-02,  4.66938e-02, -9.96599e-01, -1.83821e+00],\n",
       "        [-4.04261e-02,  9.97955e-01,  4.95114e-02, -3.38944e+00],\n",
       "        [ 9.96873e-01,  4.36502e-02, -6.58678e-02,  2.39638e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.32579e-02,  4.71646e-02, -9.96882e-01, -2.34554e+00],\n",
       "        [-3.87273e-02,  9.98014e-01,  4.96757e-02, -3.37917e+00],\n",
       "        [ 9.97246e-01,  4.17489e-02, -6.13058e-02,  2.39609e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.94248e-02,  4.78657e-02, -9.97085e-01, -2.83388e+00],\n",
       "        [-3.80188e-02,  9.98017e-01,  5.01763e-02, -3.36430e+00],\n",
       "        [ 9.97509e-01,  4.08896e-02, -5.74871e-02,  2.39577e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.47208e-02,  4.87756e-02, -9.97310e-01, -3.30981e+00],\n",
       "        [-3.66905e-02,  9.98033e-01,  5.08242e-02, -3.35254e+00],\n",
       "        [ 9.97827e-01,  3.93729e-02, -5.28236e-02,  2.39553e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.05542e-02,  4.97897e-02, -9.97480e-01, -3.75980e+00],\n",
       "        [-3.70396e-02,  9.97976e-01,  5.16917e-02, -3.34217e+00],\n",
       "        [ 9.98034e-01,  3.95594e-02, -4.86077e-02,  2.39537e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.55413e-02,  5.14797e-02, -9.97635e-01, -4.20491e+00],\n",
       "        [-3.66854e-02,  9.97912e-01,  5.31687e-02, -3.32915e+00],\n",
       "        [ 9.98289e-01,  3.90200e-02, -4.35577e-02,  2.39515e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.06781e-02,  5.26096e-02, -9.97786e-01, -4.62912e+00],\n",
       "        [-3.67427e-02,  9.97859e-01,  5.41113e-02, -3.31772e+00],\n",
       "        [ 9.98497e-01,  3.88626e-02, -3.86580e-02,  2.39496e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.52171e-02,  5.32223e-02, -9.97962e-01, -5.05017e+00],\n",
       "        [-3.65803e-02,  9.97843e-01,  5.45068e-02, -3.30913e+00],\n",
       "        [ 9.98710e-01,  3.84253e-02, -3.31943e-02,  2.39489e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.94525e-02,  5.35168e-02, -9.98133e-01, -5.44254e+00],\n",
       "        [-3.62802e-02,  9.97851e-01,  5.45722e-02, -3.29765e+00],\n",
       "        [ 9.98908e-01,  3.78198e-02, -2.74476e-02,  2.39477e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.34187e-02,  5.30072e-02, -9.98320e-01, -5.80462e+00],\n",
       "        [-3.48914e-02,  9.97942e-01,  5.38056e-02, -3.28941e+00],\n",
       "        [ 9.99117e-01,  3.60928e-02, -2.15210e-02,  2.39477e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.74944e-02,  5.18467e-02, -9.98502e-01, -6.16870e+00],\n",
       "        [-3.30709e-02,  9.98078e-01,  5.24042e-02, -3.28121e+00],\n",
       "        [ 9.99300e-01,  3.39381e-02, -1.57461e-02,  2.39481e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.13050e-02,  5.09300e-02, -9.98638e-01, -6.50854e+00],\n",
       "        [-3.21356e-02,  9.98168e-01,  5.12698e-02, -3.27512e+00],\n",
       "        [ 9.99420e-01,  3.26715e-02, -9.64764e-03,  2.39482e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.42534e-03,  5.06152e-02, -9.98698e-01, -6.82607e+00],\n",
       "        [-3.14485e-02,  9.98214e-01,  5.07930e-02, -3.27127e+00],\n",
       "        [ 9.99485e-01,  3.17339e-02, -4.82209e-03,  2.39484e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.32507e-04,  5.02497e-02, -9.98736e-01, -7.12102e+00],\n",
       "        [-3.11970e-02,  9.98249e-01,  5.02543e-02, -3.26401e+00],\n",
       "        [ 9.99513e-01,  3.12044e-02,  6.36762e-04,  2.39490e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 3.19014e-03,  5.06783e-02, -9.98710e-01, -7.39845e+00],\n",
       "        [-3.06075e-02,  9.98252e-01,  5.05572e-02, -3.25612e+00],\n",
       "        [ 9.99526e-01,  3.04068e-02,  4.73570e-03,  2.39488e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 7.28631e-03,  5.06563e-02, -9.98690e-01, -7.64447e+00],\n",
       "        [-3.08117e-02,  9.98253e-01,  5.04094e-02, -3.24912e+00],\n",
       "        [ 9.99499e-01,  3.04040e-02,  8.83438e-03,  2.39490e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 1.09910e-02,  4.84157e-02, -9.98767e-01, -7.85818e+00],\n",
       "        [-2.91045e-02,  9.98420e-01,  4.80786e-02, -3.24402e+00],\n",
       "        [ 9.99516e-01,  2.85402e-02,  1.23827e-02,  2.39501e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 1.44353e-02,  4.38858e-02, -9.98932e-01, -8.05837e+00],\n",
       "        [-2.71854e-02,  9.98684e-01,  4.34820e-02, -3.24670e+00],\n",
       "        [ 9.99526e-01,  2.65287e-02,  1.56094e-02,  2.39506e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 1.72813e-02,  4.02919e-02, -9.99039e-01, -8.22274e+00],\n",
       "        [-2.61422e-02,  9.98864e-01,  3.98327e-02, -3.24898e+00],\n",
       "        [ 9.99509e-01,  2.54287e-02,  1.83150e-02,  2.39517e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 1.93417e-02,  4.02774e-02, -9.99001e-01, -8.36097e+00],\n",
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       "        [ 9.99483e-01,  2.49020e-02,  2.03550e-02,  2.39519e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.08049e-02,  4.13029e-02, -9.98930e-01, -8.47829e+00],\n",
       "        [-2.59722e-02,  9.98832e-01,  4.07579e-02, -3.24210e+00],\n",
       "        [ 9.99446e-01,  2.50964e-02,  2.18533e-02,  2.39524e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.18688e-02,  4.06580e-02, -9.98934e-01, -8.56884e+00],\n",
       "        [-2.60603e-02,  9.98856e-01,  4.00843e-02, -3.24097e+00],\n",
       "        [ 9.99421e-01,  2.51559e-02,  2.29034e-02,  2.39526e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.27810e-02,  3.83976e-02, -9.99003e-01, -8.64486e+00],\n",
       "        [-2.58955e-02,  9.98950e-01,  3.78050e-02, -3.23948e+00],\n",
       "        [ 9.99405e-01,  2.50085e-02,  2.37514e-02,  2.39530e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.35768e-02,  3.65194e-02, -9.99055e-01, -8.70981e+00],\n",
       "        [-2.49492e-02,  9.99043e-01,  3.59301e-02, -3.23868e+00],\n",
       "        [ 9.99411e-01,  2.40785e-02,  2.44654e-02,  2.39532e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.35742e-02,  3.58482e-02, -9.99079e-01, -8.75354e+00],\n",
       "        [-2.50223e-02,  9.99065e-01,  3.52573e-02, -3.23990e+00],\n",
       "        [ 9.99409e-01,  2.41681e-02,  2.44492e-02,  2.39534e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.35538e-02,  3.58316e-02, -9.99080e-01, -8.79160e+00],\n",
       "        [-2.50064e-02,  9.99066e-01,  3.52416e-02, -3.23803e+00],\n",
       "        [ 9.99410e-01,  2.41533e-02,  2.44278e-02,  2.39533e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.38786e-02,  3.57025e-02, -9.99077e-01, -8.82028e+00],\n",
       "        [-2.51844e-02,  9.99066e-01,  3.51002e-02, -3.23889e+00],\n",
       "        [ 9.99398e-01,  2.43230e-02,  2.47554e-02,  2.39534e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.38610e-02,  3.55281e-02, -9.99084e-01, -8.83604e+00],\n",
       "        [-2.51788e-02,  9.99073e-01,  3.49264e-02, -3.23972e+00],\n",
       "        [ 9.99398e-01,  2.43223e-02,  2.47334e-02,  2.39534e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.37437e-02,  3.52444e-02, -9.99097e-01, -8.84048e+00],\n",
       "        [-2.52346e-02,  9.99081e-01,  3.46442e-02, -3.23939e+00],\n",
       "        [ 9.99400e-01,  2.43892e-02,  2.46113e-02,  2.39535e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.40431e-02,  3.50106e-02, -9.99098e-01, -8.83555e+00],\n",
       "        [-2.52238e-02,  9.99090e-01,  3.44033e-02, -3.24028e+00],\n",
       "        [ 9.99393e-01,  2.43739e-02,  2.49043e-02,  2.39535e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.40793e-02,  3.38076e-02, -9.99138e-01, -8.82932e+00],\n",
       "        [-2.54335e-02,  9.99125e-01,  3.31943e-02, -3.24247e+00],\n",
       "        [ 9.99386e-01,  2.46123e-02,  2.49181e-02,  2.39536e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.39746e-02,  3.21981e-02, -9.99194e-01, -8.82905e+00],\n",
       "        [-2.54005e-02,  9.99178e-01,  3.15882e-02, -3.24591e+00],\n",
       "        [ 9.99390e-01,  2.46227e-02,  2.47727e-02,  2.39535e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.41111e-02,  3.14620e-02, -9.99214e-01, -8.82323e+00],\n",
       "        [-2.56058e-02,  9.99196e-01,  3.08436e-02, -3.24700e+00],\n",
       "        [ 9.99381e-01,  2.48420e-02,  2.48974e-02,  2.39535e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.40746e-02,  3.18720e-02, -9.99202e-01, -8.82380e+00],\n",
       "        [-2.53495e-02,  9.99190e-01,  3.12608e-02, -3.24685e+00],\n",
       "        [ 9.99389e-01,  2.45767e-02,  2.48630e-02,  2.39539e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.41084e-02,  3.14590e-02, -9.99214e-01, -8.82572e+00],\n",
       "        [-2.50880e-02,  9.99209e-01,  3.08535e-02, -3.24768e+00],\n",
       "        [ 9.99394e-01,  2.43244e-02,  2.48786e-02,  2.39535e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.42079e-02,  3.11788e-02, -9.99221e-01, -8.82270e+00],\n",
       "        [-2.51792e-02,  9.99215e-01,  3.05686e-02, -3.24693e+00],\n",
       "        [ 9.99390e-01,  2.44196e-02,  2.49740e-02,  2.39537e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.40149e-02,  3.08147e-02, -9.99237e-01, -8.82664e+00],\n",
       "        [-2.50103e-02,  9.99231e-01,  3.02134e-02, -3.24650e+00],\n",
       "        [ 9.99399e-01,  2.42656e-02,  2.47671e-02,  2.39539e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.40837e-02,  3.01601e-02, -9.99255e-01, -8.83736e+00],\n",
       "        [-2.48898e-02,  9.99253e-01,  2.95602e-02, -3.24533e+00],\n",
       "        [ 9.99400e-01,  2.41593e-02,  2.48164e-02,  2.39538e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.41383e-02,  3.00101e-02, -9.99258e-01, -8.84882e+00],\n",
       "        [-2.50099e-02,  9.99255e-01,  2.94058e-02, -3.24638e+00],\n",
       "        [ 9.99396e-01,  2.42815e-02,  2.48708e-02,  2.39535e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.42987e-02,  2.98707e-02, -9.99259e-01, -8.86347e+00],\n",
       "        [-2.48493e-02,  9.99263e-01,  2.92666e-02, -3.24568e+00],\n",
       "        [ 9.99396e-01,  2.41197e-02,  2.50230e-02,  2.39539e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.45595e-02,  2.98111e-02, -9.99254e-01, -8.88394e+00],\n",
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       "        [ 9.99391e-01,  2.40683e-02,  2.52809e-02,  2.39540e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.48351e-02,  2.94310e-02, -9.99258e-01, -8.90798e+00],\n",
       "        [-2.45735e-02,  9.99283e-01,  2.88210e-02, -3.24684e+00],\n",
       "        [ 9.99389e-01,  2.38395e-02,  2.55405e-02,  2.39544e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.55227e-02,  2.62496e-02, -9.99330e-01, -8.98112e+00],\n",
       "        [-2.42933e-02,  9.99376e-01,  2.56303e-02, -3.24283e+00],\n",
       "        [ 9.99379e-01,  2.36228e-02,  2.61445e-02,  2.39545e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.58947e-02,  2.33847e-02, -9.99391e-01, -9.03203e+00],\n",
       "        [-2.39943e-02,  9.99453e-01,  2.27645e-02, -3.24307e+00],\n",
       "        [ 9.99377e-01,  2.33903e-02,  2.64417e-02,  2.39551e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.71998e-02,  2.14422e-02, -9.99400e-01, -9.11225e+00],\n",
       "        [-2.41448e-02,  9.99492e-01,  2.07870e-02, -3.24230e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 2.93543e-02,  2.00251e-02, -9.99369e-01, -9.20485e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 3.85534e-02,  1.72044e-02, -9.99108e-01, -9.45695e+00],\n",
       "        [-2.32406e-02,  9.99597e-01,  1.63160e-02, -3.24002e+00],\n",
       "        [ 9.98986e-01,  2.25908e-02,  3.89377e-02,  2.39575e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [-2.32720e-02,  9.99633e-01,  1.38560e-02, -3.23574e+00],\n",
       "        [ 9.98150e-01,  2.24543e-02,  5.65014e-02,  2.39602e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 9.97388e-01,  2.36796e-02,  6.82401e-02,  2.39620e+02],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.96478e-01, -7.93664e-05, -8.38512e-02, -1.65682e+01],\n",
       "        [ 8.22508e-04,  9.99961e-01,  8.82811e-03, -3.20502e+00],\n",
       "        [ 8.38472e-02, -8.86599e-03,  9.96439e-01,  2.49533e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.97417e-01, -9.02125e-04, -7.18271e-02, -1.66051e+01],\n",
       "        [ 1.56234e-03,  9.99957e-01,  9.13608e-03, -3.20831e+00],\n",
       "        [ 7.18158e-02, -9.22470e-03,  9.97375e-01,  2.50172e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[ 9.98073e-01, -1.86089e-03, -6.20269e-02, -1.66431e+01],\n",
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       "        [ 6.20085e-02, -8.69359e-03,  9.98038e-01,  2.50821e+02],\n",
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       "        [ 6.55473e-02, -7.50919e-03,  9.97821e-01,  2.94905e+02],\n",
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       " array([[-5.64282e-02,  4.60026e-02, -9.97346e-01, -5.96920e+01],\n",
       "        [-5.71631e-03,  9.98907e-01,  4.63979e-02, -2.99969e+00],\n",
       "        [ 9.98390e-01,  8.31929e-03, -5.61036e-02,  3.70188e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.72739e-02,  4.64651e-02, -9.97277e-01, -6.05998e+01],\n",
       "        [-7.32193e-03,  9.98870e-01,  4.69598e-02, -2.97558e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.88398e-02,  4.70512e-02, -9.97158e-01, -6.15220e+01],\n",
       "        [-6.52915e-03,  9.98849e-01,  4.75163e-02, -2.95443e+00],\n",
       "        [ 9.98246e-01,  9.30645e-03, -5.84649e-02,  3.70075e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.00519e-02,  4.61845e-02, -9.97126e-01, -6.24325e+01],\n",
       "        [-8.03644e-03,  9.98874e-01,  4.67494e-02, -2.92747e+00],\n",
       "        [ 9.98163e-01,  1.08207e-02, -5.96132e-02,  3.70015e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.17246e-02,  4.41898e-02, -9.97115e-01, -6.33514e+01],\n",
       "        [-8.32039e-03,  9.98962e-01,  4.47867e-02, -2.90727e+00],\n",
       "        [ 9.98059e-01,  1.10608e-02, -6.12928e-02,  3.69953e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.45878e-02,  4.33693e-02, -9.96969e-01, -6.42532e+01],\n",
       "        [-7.72604e-03,  9.99004e-01,  4.39583e-02, -2.88671e+00],\n",
       "        [ 9.97882e-01,  1.05418e-02, -6.41883e-02,  3.69890e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.78524e-02,  4.51197e-02, -9.96675e-01, -6.51502e+01],\n",
       "        [-9.15629e-03,  9.98907e-01,  4.58440e-02, -2.86043e+00],\n",
       "        [ 9.97653e-01,  1.22365e-02, -6.73650e-02,  3.69822e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.22382e-02,  4.95704e-02, -9.96155e-01, -6.60765e+01],\n",
       "        [-8.16333e-03,  9.98701e-01,  5.02891e-02, -2.83291e+00],\n",
       "        [ 9.97354e-01,  1.17647e-02, -7.17397e-02,  3.69751e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.56383e-02,  5.15729e-02, -9.95801e-01, -6.69693e+01],\n",
       "        [-9.72986e-03,  9.98576e-01,  5.24557e-02, -2.81090e+00],\n",
       "        [ 9.97088e-01,  1.36567e-02, -7.50288e-02,  3.69678e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.85311e-02,  5.04594e-02, -9.95634e-01, -6.78690e+01],\n",
       "        [-1.42475e-02,  9.98559e-01,  5.17314e-02, -2.78449e+00],\n",
       "        [ 9.96810e-01,  1.82478e-02, -7.76990e-02,  3.69592e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.06349e-02,  4.74847e-02, -9.95612e-01, -6.87774e+01],\n",
       "        [-1.58878e-02,  9.98677e-01,  4.89176e-02, -2.74327e+00],\n",
       "        [ 9.96617e-01,  1.97626e-02, -7.97738e-02,  3.69514e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.29660e-02,  4.41089e-02, -9.95576e-01, -6.96706e+01],\n",
       "        [-1.74768e-02,  9.98802e-01,  4.57082e-02, -2.72685e+00],\n",
       "        [ 9.96399e-01,  2.11917e-02, -8.20957e-02,  3.69434e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.55165e-02,  4.23588e-02, -9.95436e-01, -7.05686e+01],\n",
       "        [-1.49154e-02,  9.98930e-01,  4.37888e-02, -2.71335e+00],\n",
       "        [ 9.96225e-01,  1.85920e-02, -8.47932e-02,  3.69351e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.62944e-02,  4.29351e-02, -9.95344e-01, -7.14517e+01],\n",
       "        [-1.56888e-02,  9.98889e-01,  4.44481e-02, -2.68092e+00],\n",
       "        [ 9.96146e-01,  1.94514e-02, -8.55249e-02,  3.69274e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.63582e-02,  4.58033e-02, -9.95211e-01, -7.23468e+01],\n",
       "        [-1.40582e-02,  9.98787e-01,  4.71877e-02, -2.65948e+00],\n",
       "        [ 9.96165e-01,  1.80659e-02, -8.56096e-02,  3.69186e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.65518e-02,  4.72729e-02, -9.95125e-01, -7.32448e+01],\n",
       "        [-1.36635e-02,  9.98723e-01,  4.86322e-02, -2.63619e+00],\n",
       "        [ 9.96154e-01,  1.78061e-02, -8.57954e-02,  3.69107e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.49980e-02,  4.36089e-02, -9.95427e-01, -7.41193e+01],\n",
       "        [-1.61842e-02,  9.98850e-01,  4.51408e-02, -2.61624e+00],\n",
       "        [ 9.96250e-01,  1.99471e-02, -8.41944e-02,  3.69027e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.15307e-02,  4.10866e-02, -9.95824e-01, -7.49985e+01],\n",
       "        [-1.95524e-02,  9.98892e-01,  4.28140e-02, -2.59180e+00],\n",
       "        [ 9.96479e-01,  2.29614e-02, -8.06370e-02,  3.68949e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.87146e-02,  4.17407e-02, -9.96023e-01, -7.58843e+01],\n",
       "        [-2.07078e-02,  9.98839e-01,  4.34952e-02, -2.57019e+00],\n",
       "        [ 9.96682e-01,  2.40492e-02, -7.77589e-02,  3.68871e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.33487e-02,  4.41046e-02, -9.96331e-01, -7.67623e+01],\n",
       "        [-2.16537e-02,  9.98716e-01,  4.58043e-02, -2.54723e+00],\n",
       "        [ 9.97071e-01,  2.49340e-02, -7.22995e-02,  3.68796e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.93059e-02,  4.61590e-02, -9.96527e-01, -7.76701e+01],\n",
       "        [-2.21433e-02,  9.98612e-01,  4.77956e-02, -2.52516e+00],\n",
       "        [ 9.97350e-01,  2.53789e-02, -6.81875e-02,  3.68733e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.40618e-02,  4.71681e-02, -9.96831e-01, -7.85329e+01],\n",
       "        [-2.35680e-02,  9.98532e-01,  4.87633e-02, -2.50506e+00],\n",
       "        [ 9.97668e-01,  2.66172e-02, -6.28561e-02,  3.68671e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.88699e-02,  4.82834e-02, -9.97097e-01, -7.94183e+01],\n",
       "        [-2.31570e-02,  9.98495e-01,  4.97183e-02, -2.48022e+00],\n",
       "        [ 9.97997e-01,  2.60167e-02, -5.76632e-02,  3.68610e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.40992e-02,  4.87646e-02, -9.97344e-01, -8.02983e+01],\n",
       "        [-2.26932e-02,  9.98489e-01,  5.00515e-02, -2.45317e+00],\n",
       "        [ 9.98278e-01,  2.53407e-02, -5.29109e-02,  3.68568e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.84538e-02,  4.74610e-02, -9.97697e-01, -8.11840e+01],\n",
       "        [-2.19244e-02,  9.98579e-01,  4.85678e-02, -2.43179e+00],\n",
       "        [ 9.98585e-01,  2.42272e-02, -4.73444e-02,  3.68521e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.29089e-02,  4.58527e-02, -9.98026e-01, -8.20643e+01],\n",
       "        [-2.22634e-02,  9.98654e-01,  4.68388e-02, -2.40724e+00],\n",
       "        [ 9.98831e-01,  2.42292e-02, -4.18303e-02,  3.68474e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.78371e-02,  4.39634e-02, -9.98317e-01, -8.29512e+01],\n",
       "        [-2.29303e-02,  9.98731e-01,  4.48507e-02, -2.38443e+00],\n",
       "        [ 9.99021e-01,  2.45888e-02, -3.67810e-02,  3.68439e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.28592e-02,  4.31493e-02, -9.98528e-01, -8.38194e+01],\n",
       "        [-2.34006e-02,  9.98761e-01,  4.39294e-02, -2.36489e+00],\n",
       "        [ 9.99186e-01,  2.48097e-02, -3.18088e-02,  3.68403e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.87216e-02,  4.36316e-02, -9.98635e-01, -8.47067e+01],\n",
       "        [-2.27818e-02,  9.98759e-01,  4.42922e-02, -2.34086e+00],\n",
       "        [ 9.99328e-01,  2.40228e-02, -2.76920e-02,  3.68375e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.30715e-02,  4.52621e-02, -9.98709e-01, -8.55746e+01],\n",
       "        [-2.26761e-02,  9.98694e-01,  4.57852e-02, -2.32053e+00],\n",
       "        [ 9.99477e-01,  2.37031e-02, -2.20150e-02,  3.68348e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.69013e-02,  4.66989e-02, -9.98766e-01, -8.64560e+01],\n",
       "        [-2.38079e-02,  9.98607e-01,  4.70943e-02, -2.29730e+00],\n",
       "        [ 9.99574e-01,  2.45745e-02, -1.57659e-02,  3.68324e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.27652e-02,  4.90878e-02, -9.98713e-01, -8.73004e+01],\n",
       "        [-2.30983e-02,  9.98513e-01,  4.93732e-02, -2.27342e+00],\n",
       "        [ 9.99652e-01,  2.36988e-02, -1.16124e-02,  3.68312e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.86996e-03,  5.08233e-02, -9.98659e-01, -8.81635e+01],\n",
       "        [-2.06930e-02,  9.98483e-01,  5.10189e-02, -2.25192e+00],\n",
       "        [ 9.99737e-01,  2.11688e-02, -8.80330e-03,  3.68308e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.11499e-03,  5.09944e-02, -9.98674e-01, -8.90304e+01],\n",
       "        [-1.77715e-02,  9.98535e-01,  5.11140e-02, -2.22901e+00],\n",
       "        [ 9.99817e-01,  1.81116e-02, -6.19831e-03,  3.68300e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.42965e-03,  4.96408e-02, -9.98752e-01, -8.98538e+01],\n",
       "        [-1.54732e-02,  9.98643e-01,  4.97195e-02, -2.20750e+00],\n",
       "        [ 9.99866e-01,  1.57239e-02, -4.65419e-03,  3.68297e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.48028e-03,  4.78527e-02, -9.98851e-01, -9.06515e+01],\n",
       "        [-1.37326e-02,  9.98759e-01,  4.78824e-02, -2.18566e+00],\n",
       "        [ 9.99903e-01,  1.38356e-02, -1.82006e-03,  3.68288e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.56483e-03,  4.70854e-02, -9.98890e-01, -9.14583e+01],\n",
       "        [-1.02017e-02,  9.98838e-01,  4.70990e-02, -2.16549e+00],\n",
       "        [ 9.99947e-01,  1.02641e-02, -1.08266e-03,  3.68291e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.00876e-03,  4.68228e-02, -9.98903e-01, -9.22166e+01],\n",
       "        [-8.09973e-03,  9.98870e-01,  4.68295e-02, -2.14813e+00],\n",
       "        [ 9.99967e-01,  8.13808e-03, -6.28374e-04,  3.68287e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.26340e-04,  4.49874e-02, -9.98987e-01, -9.29828e+01],\n",
       "        [-5.04834e-03,  9.98975e-01,  4.49915e-02, -2.13884e+00],\n",
       "        [ 9.99987e-01,  5.08491e-03, -6.98280e-04,  3.68289e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.63852e-03,  4.39470e-02, -9.99033e-01, -9.36990e+01],\n",
       "        [-2.62373e-03,  9.99030e-01,  4.39512e-02, -2.12485e+00],\n",
       "        [ 9.99995e-01,  2.69321e-03, -1.52163e-03,  3.68292e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.94045e-03,  4.42459e-02, -9.99013e-01, -9.44148e+01],\n",
       "        [-4.33768e-04,  9.99021e-01,  4.42480e-02, -2.11049e+00],\n",
       "        [ 9.99992e-01,  6.07696e-04, -3.91740e-03,  3.68283e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.16958e-03,  4.61767e-02, -9.98908e-01, -9.50966e+01],\n",
       "        [ 1.47274e-03,  9.98933e-01,  4.61672e-02, -2.09336e+00],\n",
       "        [ 9.99973e-01, -1.14013e-03, -7.22993e-03,  3.68277e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.15557e-02,  4.85824e-02, -9.98752e-01, -9.57504e+01],\n",
       "        [ 4.50780e-03,  9.98811e-01,  4.85331e-02, -2.08526e+00],\n",
       "        [ 9.99923e-01, -3.94134e-03, -1.17610e-02,  3.68270e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.70006e-02,  4.95514e-02, -9.98627e-01, -9.63821e+01],\n",
       "        [ 5.76091e-03,  9.98760e-01,  4.94599e-02, -2.07243e+00],\n",
       "        [ 9.99839e-01, -4.91215e-03, -1.72650e-02,  3.68262e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.26904e-02,  4.97878e-02, -9.98502e-01, -9.70004e+01],\n",
       "        [ 7.19382e-03,  9.98742e-01,  4.96363e-02, -2.06113e+00],\n",
       "        [ 9.99717e-01, -6.05678e-03, -2.30200e-02,  3.68244e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.95244e-02,  4.73936e-02, -9.98440e-01, -9.75927e+01],\n",
       "        [ 7.86372e-03,  9.98856e-01,  4.71808e-02, -2.04770e+00],\n",
       "        [ 9.99533e-01, -6.45847e-03, -2.98633e-02,  3.68226e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.64873e-02,  4.54089e-02, -9.98302e-01, -9.81944e+01],\n",
       "        [ 8.13618e-03,  9.98948e-01,  4.51409e-02, -2.03653e+00],\n",
       "        [ 9.99301e-01, -6.47530e-03, -3.68183e-02,  3.68198e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.36955e-02,  4.53192e-02, -9.98017e-01, -9.87799e+01],\n",
       "        [ 8.48330e-03,  9.98951e-01,  4.49902e-02, -2.02092e+00],\n",
       "        [ 9.99009e-01, -6.50061e-03, -4.40341e-02,  3.68166e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.11730e-02,  4.67867e-02, -9.97593e-01, -9.93679e+01],\n",
       "        [ 9.81701e-03,  9.98877e-01,  4.63433e-02, -2.00727e+00],\n",
       "        [ 9.98642e-01, -7.42186e-03, -5.15748e-02,  3.68132e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.83627e-02,  4.72214e-02, -9.97178e-01, -9.99566e+01],\n",
       "        [ 9.82599e-03,  9.98860e-01,  4.67260e-02, -1.99233e+00],\n",
       "        [ 9.98247e-01, -7.07121e-03, -5.87601e-02,  3.68089e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.56371e-02,  4.48542e-02, -9.96835e-01, -1.00548e+02],\n",
       "        [ 8.63317e-03,  9.98977e-01,  4.43821e-02, -1.98008e+00],\n",
       "        [ 9.97806e-01, -5.69274e-03, -6.59572e-02,  3.68044e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.28056e-02,  4.09686e-02, -9.96504e-01, -1.01120e+02],\n",
       "        [ 6.71049e-03,  9.99154e-01,  4.05872e-02, -1.97033e+00],\n",
       "        [ 9.97324e-01, -3.73206e-03, -7.30189e-02,  3.67993e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.89142e-02,  3.76229e-02, -9.96171e-01, -1.01689e+02],\n",
       "        [ 6.98882e-03,  9.99284e-01,  3.71868e-02, -1.95672e+00],\n",
       "        [ 9.96857e-01, -4.02749e-03, -7.91207e-02,  3.67942e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.51250e-02,  3.52056e-02, -9.95748e-01, -1.02260e+02],\n",
       "        [ 7.56070e-03,  9.99370e-01,  3.46873e-02, -1.94577e+00],\n",
       "        [ 9.96342e-01, -4.57580e-03, -8.53375e-02,  3.67889e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.18397e-02,  3.27254e-02, -9.95236e-01, -1.02840e+02],\n",
       "        [ 6.98134e-03,  9.99456e-01,  3.22200e-02, -1.93730e+00],\n",
       "        [ 9.95749e-01, -3.98900e-03, -9.20182e-02,  3.67832e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.78128e-02,  3.12780e-02, -9.94713e-01, -1.03417e+02],\n",
       "        [ 5.05180e-03,  9.99509e-01,  3.09320e-02, -1.92686e+00],\n",
       "        [ 9.95192e-01, -1.99954e-03, -9.79228e-02,  3.67766e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.03218e-01,  3.06199e-02, -9.94187e-01, -1.04003e+02],\n",
       "        [ 3.26330e-03,  9.99531e-01,  3.04457e-02, -1.91830e+00],\n",
       "        [ 9.94653e-01, -1.01791e-04, -1.03270e-01,  3.67698e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.07937e-01,  3.00448e-02, -9.93704e-01, -1.04587e+02],\n",
       "        [ 3.63973e-03,  9.99548e-01,  2.98261e-02, -1.91198e+00],\n",
       "        [ 9.94151e-01, -3.97483e-04, -1.07997e-01,  3.67624e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.12406e-01,  3.00409e-02, -9.93208e-01, -1.05190e+02],\n",
       "        [ 4.14658e-03,  9.99548e-01,  2.97634e-02, -1.90690e+00],\n",
       "        [ 9.93654e-01, -7.72838e-04, -1.12480e-01,  3.67553e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.16018e-01,  2.94321e-02, -9.92811e-01, -1.05794e+02],\n",
       "        [ 2.86810e-03,  9.99567e-01,  2.92972e-02, -1.89944e+00],\n",
       "        [ 9.93243e-01,  5.51502e-04, -1.16052e-01,  3.67476e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.19188e-01,  2.70695e-02, -9.92503e-01, -1.06407e+02],\n",
       "        [-1.58050e-03,  9.99622e-01,  2.74534e-02, -1.89045e+00],\n",
       "        [ 9.92871e-01,  4.84077e-03, -1.19100e-01,  3.67389e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.21397e-01,  2.55125e-02, -9.92276e-01, -1.07037e+02],\n",
       "        [-4.73176e-03,  9.99644e-01,  2.62808e-02, -1.87797e+00],\n",
       "        [ 9.92593e-01,  7.88562e-03, -1.21233e-01,  3.67299e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.23023e-01,  2.48755e-02, -9.92092e-01, -1.07659e+02],\n",
       "        [-5.42332e-03,  9.99654e-01,  2.57376e-02, -1.87424e+00],\n",
       "        [ 9.92389e-01,  8.54676e-03, -1.22846e-01,  3.67216e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.22589e-01,  2.46232e-02, -9.92152e-01, -1.08299e+02],\n",
       "        [-3.93450e-03,  9.99672e-01,  2.52960e-02, -1.86561e+00],\n",
       "        [ 9.92450e-01,  7.00464e-03, -1.22452e-01,  3.67132e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.23797e-01,  2.61948e-02, -9.91962e-01, -1.08950e+02],\n",
       "        [-4.84814e-03,  9.99624e-01,  2.70022e-02, -1.85853e+00],\n",
       "        [ 9.92296e-01,  8.15196e-03, -1.23623e-01,  3.67048e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.22837e-01,  2.99102e-02, -9.91976e-01, -1.09617e+02],\n",
       "        [-5.05143e-03,  9.99514e-01,  3.07630e-02, -1.84678e+00],\n",
       "        [ 9.92414e-01,  8.78974e-03, -1.22627e-01,  3.66962e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.23099e-01,  3.55776e-02, -9.91757e-01, -1.10286e+02],\n",
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       "        [ 9.92359e-01,  1.28381e-02, -1.22713e-01,  3.66873e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.22434e-01,  4.64785e-02, -9.91388e-01, -1.10992e+02],\n",
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       "        [ 9.92429e-01,  1.55680e-02, -1.21832e-01,  3.66783e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.20516e-01,  5.81202e-02, -9.91009e-01, -1.11705e+02],\n",
       "        [-1.28636e-02,  9.98109e-01,  6.01009e-02, -1.78275e+00],\n",
       "        [ 9.92628e-01,  1.99911e-02, -1.19541e-01,  3.66688e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.18133e-01,  6.03395e-02, -9.91163e-01, -1.12412e+02],\n",
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       "        [ 9.92894e-01,  2.16444e-02, -1.17021e-01,  3.66598e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.15027e-01,  5.21524e-02, -9.91993e-01, -1.13139e+02],\n",
       "        [-1.77618e-02,  9.98353e-01,  5.45464e-02, -1.73575e+00],\n",
       "        [ 9.93204e-01,  2.38938e-02, -1.13911e-01,  3.66507e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.10795e-01,  3.69108e-02, -9.93158e-01, -1.13869e+02],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.06946e-01,  3.16743e-02, -9.93760e-01, -1.14613e+02],\n",
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       "        [ 9.93934e-01,  2.91965e-02, -1.06034e-01,  3.66325e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.02995e-01,  4.19675e-02, -9.93796e-01, -1.15403e+02],\n",
       "        [-2.44353e-02,  9.98701e-01,  4.47070e-02, -1.64276e+00],\n",
       "        [ 9.94382e-01,  2.88883e-02, -1.01836e-01,  3.66247e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.82598e-02,  5.92851e-02, -9.93393e-01, -1.16220e+02],\n",
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       "        [ 9.94921e-01,  2.77620e-02, -9.67541e-02,  3.66163e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.53350e-02,  6.59878e-02, -9.93256e-01, -1.17033e+02],\n",
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       "        [ 9.95265e-01,  2.52862e-02, -9.38480e-02,  3.66089e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.06612e-02,  5.65690e-02, -9.94274e-01, -1.17847e+02],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.78807e-02,  4.01526e-02, -9.95322e-01, -1.18657e+02],\n",
       "        [-2.22711e-02,  9.98858e-01,  4.22617e-02, -1.51803e+00],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.40452e-02,  2.87655e-02, -9.96047e-01, -1.19492e+02],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.97562e-02,  3.20445e-02, -9.96299e-01, -1.20367e+02],\n",
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       "        [ 9.96263e-01,  3.58053e-02, -7.86017e-02,  3.65772e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.44624e-02,  4.19491e-02, -9.96341e-01, -1.21252e+02],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.84694e-02,  4.60304e-02, -9.96591e-01, -1.22154e+02],\n",
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       "        [ 9.97006e-01,  3.91450e-02, -6.66898e-02,  3.65621e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.11094e-02,  3.70665e-02, -9.97443e-01, -1.23054e+02],\n",
       "        [-3.96586e-02,  9.98431e-01,  3.95330e-02, -1.37292e+00],\n",
       "        [ 9.97343e-01,  4.19730e-02, -5.95436e-02,  3.65565e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.32686e-02,  2.31672e-02, -9.98312e-01, -1.23955e+02],\n",
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       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.55551e-02,  1.46117e-02, -9.98855e-01, -1.24879e+02],\n",
       "        [-3.90444e-02,  9.99103e-01,  1.63960e-02, -1.34931e+00],\n",
       "        [ 9.98199e-01,  3.97466e-02, -4.49437e-02,  3.65472e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.91002e-02,  1.94437e-02, -9.99046e-01, -1.25825e+02],\n",
       "        [-3.21965e-02,  9.99267e-01,  2.07081e-02, -1.33770e+00],\n",
       "        [ 9.98717e-01,  3.29755e-02, -3.84455e-02,  3.65442e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.23622e-02,  3.20405e-02, -9.98963e-01, -1.26796e+02],\n",
       "        [-2.64943e-02,  9.99107e-01,  3.29034e-02, -1.31998e+00],\n",
       "        [ 9.99125e-01,  2.75317e-02, -3.14845e-02,  3.65416e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.51881e-02,  4.18103e-02, -9.98808e-01, -1.27775e+02],\n",
       "        [-2.20746e-02,  9.98858e-01,  4.23691e-02, -1.29947e+00],\n",
       "        [ 9.99439e-01,  2.31155e-02, -2.42363e-02,  3.65388e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.03550e-02,  4.33242e-02, -9.98854e-01, -1.28758e+02],\n",
       "        [-2.09933e-02,  9.98822e-01,  4.37506e-02, -1.27707e+00],\n",
       "        [ 9.99572e-01,  2.18598e-02, -1.94215e-02,  3.65373e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.56372e-02,  3.94166e-02, -9.99101e-01, -1.29731e+02],\n",
       "        [-2.24376e-02,  9.98957e-01,  3.97621e-02, -1.24832e+00],\n",
       "        [ 9.99626e-01,  2.30392e-02, -1.47365e-02,  3.65352e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.24942e-02,  3.65542e-02, -9.99254e-01, -1.30702e+02],\n",
       "        [-2.04475e-02,  9.99113e-01,  3.68047e-02, -1.22704e+00],\n",
       "        [ 9.99713e-01,  2.08921e-02, -1.17357e-02,  3.65339e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.24540e-02,  3.68454e-02, -9.99243e-01, -1.31695e+02],\n",
       "        [-1.90854e-02,  9.99130e-01,  3.70791e-02, -1.20807e+00],\n",
       "        [ 9.99740e-01,  1.95328e-02, -1.17399e-02,  3.65327e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.24150e-02,  3.83489e-02, -9.99187e-01, -1.32694e+02],\n",
       "        [-1.57426e-02,  9.99133e-01,  3.85424e-02, -1.18959e+00],\n",
       "        [ 9.99799e-01,  1.62083e-02, -1.18006e-02,  3.65316e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.33717e-02,  3.96621e-02, -9.99124e-01, -1.33680e+02],\n",
       "        [-1.64440e-02,  9.99069e-01,  3.98800e-02, -1.16939e+00],\n",
       "        [ 9.99775e-01,  1.69628e-02, -1.27071e-02,  3.65302e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.58218e-02,  4.25923e-02, -9.98967e-01, -1.34693e+02],\n",
       "        [-1.79297e-02,  9.98920e-01,  4.28742e-02, -1.14371e+00],\n",
       "        [ 9.99714e-01,  1.85895e-02, -1.50411e-02,  3.65275e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.82043e-02,  4.67663e-02, -9.98740e-01, -1.35682e+02],\n",
       "        [-1.67765e-02,  9.98751e-01,  4.70725e-02, -1.11792e+00],\n",
       "        [ 9.99694e-01,  1.76123e-02, -1.73970e-02,  3.65251e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.22529e-02,  4.67595e-02, -9.98658e-01, -1.36676e+02],\n",
       "        [-1.64410e-02,  9.98754e-01,  4.71303e-02, -1.09063e+00],\n",
       "        [ 9.99617e-01,  1.74677e-02, -2.14564e-02,  3.65224e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.44093e-02,  3.94257e-02, -9.98924e-01, -1.37668e+02],\n",
       "        [-1.42857e-02,  9.99106e-01,  3.97820e-02, -1.06876e+00],\n",
       "        [ 9.99600e-01,  1.52414e-02, -2.38242e-02,  3.65203e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.70579e-02,  3.25703e-02, -9.99103e-01, -1.38648e+02],\n",
       "        [-1.13645e-02,  9.99395e-01,  3.28876e-02, -1.05057e+00],\n",
       "        [ 9.99569e-01,  1.22442e-02, -2.66714e-02,  3.65182e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.14873e-02,  3.03633e-02, -9.99043e-01, -1.39648e+02],\n",
       "        [-6.90471e-03,  9.99508e-01,  3.05950e-02, -1.03476e+00],\n",
       "        [ 9.99480e-01,  7.86145e-03, -3.12622e-02,  3.65155e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.59081e-02,  3.64870e-02, -9.98689e-01, -1.40642e+02],\n",
       "        [-2.69282e-03,  9.99326e-01,  3.66071e-02, -1.01863e+00],\n",
       "        [ 9.99351e-01,  4.00378e-03, -3.57856e-02,  3.65121e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.90715e-02,  4.28012e-02, -9.98320e-01, -1.41630e+02],\n",
       "        [-1.05665e-03,  9.99080e-01,  4.28752e-02, -9.98400e-01],\n",
       "        [ 9.99236e-01,  2.73007e-03, -3.89903e-02,  3.65081e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.32091e-02,  4.43243e-02, -9.98083e-01, -1.42613e+02],\n",
       "        [-1.93536e-03,  9.99010e-01,  4.44493e-02, -9.80185e-01],\n",
       "        [ 9.99064e-01,  3.85226e-03, -4.30805e-02,  3.65033e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.51676e-02,  4.14263e-02, -9.98120e-01, -1.43590e+02],\n",
       "        [-6.20042e-03,  9.99109e-01,  4.17479e-02, -9.57110e-01],\n",
       "        [ 9.98960e-01,  8.07441e-03, -4.48704e-02,  3.64971e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.57112e-02,  3.73921e-02, -9.98255e-01, -1.44565e+02],\n",
       "        [-1.16737e-02,  9.99211e-01,  3.79625e-02, -9.36389e-01],\n",
       "        [ 9.98887e-01,  1.33886e-02, -4.52386e-02,  3.64914e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.77274e-02,  3.48027e-02, -9.98254e-01, -1.45562e+02],\n",
       "        [-1.34532e-02,  9.99280e-01,  3.54817e-02, -9.15360e-01],\n",
       "        [ 9.98770e-01,  1.51232e-02, -4.72249e-02,  3.64855e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.91087e-02,  3.42190e-02, -9.98207e-01, -1.46521e+02],\n",
       "        [-1.22270e-02,  9.99317e-01,  3.48586e-02, -9.05750e-01],\n",
       "        [ 9.98719e-01,  1.39170e-02, -4.86568e-02,  3.64809e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.18036e-02,  3.63737e-02, -9.97995e-01, -1.47497e+02],\n",
       "        [-1.11070e-02,  9.99254e-01,  3.69961e-02, -8.85016e-01],\n",
       "        [ 9.98596e-01,  1.30012e-02, -5.13609e-02,  3.64755e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.45326e-02,  4.17517e-02, -9.97639e-01, -1.48470e+02],\n",
       "        [-8.00621e-03,  9.99075e-01,  4.22494e-02, -8.67940e-01],\n",
       "        [ 9.98480e-01,  1.02913e-02, -5.41479e-02,  3.64706e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.67128e-02,  4.88167e-02, -9.97196e-01, -1.49452e+02],\n",
       "        [-4.10818e-03,  9.98784e-01,  4.91280e-02, -8.39172e-01],\n",
       "        [ 9.98382e-01,  6.88286e-03, -5.64433e-02,  3.64654e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.89896e-02,  5.25975e-02, -9.96872e-01, -1.50411e+02],\n",
       "        [-2.02221e-03,  9.98603e-01,  5.28084e-02, -8.18303e-01],\n",
       "        [ 9.98257e-01,  5.13104e-03, -5.88008e-02,  3.64591e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.00116e-02,  5.05875e-02, -9.96915e-01, -1.51379e+02],\n",
       "        [-2.90793e-03,  9.98702e-01,  5.08532e-02, -7.87690e-01],\n",
       "        [ 9.98194e-01,  5.95074e-03, -5.97866e-02,  3.64524e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.09256e-02,  4.28943e-02, -9.97220e-01, -1.52331e+02],\n",
       "        [-7.38045e-03,  9.99030e-01,  4.34230e-02, -7.64853e-01],\n",
       "        [ 9.98115e-01,  1.00055e-02, -6.05499e-02,  3.64456e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.39328e-02,  3.64550e-02, -9.97288e-01, -1.53263e+02],\n",
       "        [-9.62521e-03,  9.99264e-01,  3.71442e-02, -7.40060e-01],\n",
       "        [ 9.97908e-01,  1.19738e-02, -6.35348e-02,  3.64382e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.59883e-02,  3.71356e-02, -9.97129e-01, -1.54234e+02],\n",
       "        [-9.86643e-03,  9.99234e-01,  3.78670e-02, -7.18017e-01],\n",
       "        [ 9.97772e-01,  1.23369e-02, -6.55714e-02,  3.64317e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.82098e-02,  4.31481e-02, -9.96738e-01, -1.55191e+02],\n",
       "        [-4.62837e-03,  9.99040e-01,  4.35645e-02, -6.98489e-01],\n",
       "        [ 9.97660e-01,  7.58480e-03, -6.79446e-02,  3.64252e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.19079e-02,  4.86576e-02, -9.96224e-01, -1.56140e+02],\n",
       "        [-2.01186e-03,  9.98800e-01,  4.89286e-02, -6.76314e-01],\n",
       "        [ 9.97409e-01,  5.52261e-03, -7.17238e-02,  3.64185e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.54097e-02,  5.19640e-02, -9.95798e-01, -1.57078e+02],\n",
       "        [ 1.48910e-04,  9.98642e-01,  5.21011e-02, -6.51715e-01],\n",
       "        [ 9.97153e-01,  3.78064e-03, -7.53150e-02,  3.64114e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.06879e-02,  5.50244e-02, -9.95220e-01, -1.58024e+02],\n",
       "        [ 1.96236e-03,  9.98482e-01,  5.50457e-02, -6.21786e-01],\n",
       "        [ 9.96737e-01,  2.48854e-03, -8.06734e-02,  3.64039e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.02582e-02,  5.58335e-02, -9.95209e-01, -1.58932e+02],\n",
       "        [-1.49305e-03,  9.98422e-01,  5.61342e-02, -5.85300e-01],\n",
       "        [ 9.96773e-01,  5.99113e-03, -8.00482e-02,  3.63947e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.97560e-02,  5.52258e-02, -9.95284e-01, -1.59853e+02],\n",
       "        [-2.95803e-03,  9.98447e-01,  5.56384e-02, -5.52078e-01],\n",
       "        [ 9.96810e-01,  7.38157e-03, -7.94687e-02,  3.63861e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.03931e-02,  5.33143e-02, -9.95337e-01, -1.60796e+02],\n",
       "        [-7.17310e-03,  9.98512e-01,  5.40638e-02, -5.25048e-01],\n",
       "        [ 9.96737e-01,  1.14860e-02, -7.98911e-02,  3.63776e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.77385e-02,  5.04415e-02, -9.95697e-01, -1.61718e+02],\n",
       "        [-9.77424e-03,  9.98633e-01,  5.13534e-02, -4.89968e-01],\n",
       "        [ 9.96926e-01,  1.37243e-02, -7.71392e-02,  3.63691e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.51168e-02,  4.73956e-02, -9.96048e-01, -1.62656e+02],\n",
       "        [-1.02710e-02,  9.98780e-01,  4.83002e-02, -4.62828e-01],\n",
       "        [ 9.97122e-01,  1.38585e-02, -7.45384e-02,  3.63618e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.38379e-02,  4.47432e-02, -9.96266e-01, -1.63565e+02],\n",
       "        [-8.12470e-03,  9.98933e-01,  4.54651e-02, -4.42079e-01],\n",
       "        [ 9.97237e-01,  1.14514e-02, -7.33956e-02,  3.63546e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.21109e-02,  4.42835e-02, -9.96413e-01, -1.64507e+02],\n",
       "        [-9.20673e-03,  9.98942e-01,  4.50622e-02, -4.17869e-01],\n",
       "        [ 9.97354e-01,  1.24232e-02, -7.16269e-02,  3.63472e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.06479e-02,  4.84050e-02, -9.96326e-01, -1.65394e+02],\n",
       "        [-8.59968e-03,  9.98755e-01,  4.91327e-02, -3.88140e-01],\n",
       "        [ 9.97464e-01,  1.20392e-02, -7.01437e-02,  3.63400e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.91258e-02,  5.44623e-02, -9.96120e-01, -1.66302e+02],\n",
       "        [-4.22901e-03,  9.98484e-01,  5.48849e-02, -3.62357e-01],\n",
       "        [ 9.97599e-01,  8.00657e-03, -6.87907e-02,  3.63330e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.86037e-02,  5.81222e-02, -9.95950e-01, -1.67202e+02],\n",
       "        [-3.21883e-03,  9.98283e-01,  5.84801e-02, -3.34425e-01],\n",
       "        [ 9.97639e-01,  7.21774e-03, -6.82988e-02,  3.63289e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.68141e-02,  5.79430e-02, -9.96082e-01, -1.68092e+02],\n",
       "        [-5.34373e-03,  9.98277e-01,  5.84291e-02, -3.00545e-01],\n",
       "        [ 9.97751e-01,  9.22668e-03, -6.63893e-02,  3.63228e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.63781e-02,  5.55834e-02, -9.96245e-01, -1.68962e+02],\n",
       "        [-4.61267e-03,  9.98419e-01,  5.60120e-02, -2.71115e-01],\n",
       "        [ 9.97784e-01,  8.31333e-03, -6.60168e-02,  3.63169e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.61183e-02,  5.35998e-02, -9.96371e-01, -1.69806e+02],\n",
       "        [-6.23745e-03,  9.98515e-01,  5.41290e-02, -2.44784e-01],\n",
       "        [ 9.97792e-01,  9.79373e-03, -6.56857e-02,  3.63108e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.52665e-02,  5.42525e-02, -9.96392e-01, -1.70664e+02],\n",
       "        [-6.73571e-03,  9.98474e-01,  5.48070e-02, -2.19764e-01],\n",
       "        [ 9.97845e-01,  1.02885e-02, -6.48015e-02,  3.63049e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.54097e-02,  5.74987e-02, -9.96201e-01, -1.71509e+02],\n",
       "        [-8.64586e-03,  9.98268e-01,  5.81857e-02, -1.86469e-01],\n",
       "        [ 9.97821e-01,  1.24189e-02, -6.47993e-02,  3.62985e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.44091e-02,  5.90936e-02, -9.96173e-01, -1.72321e+02],\n",
       "        [-7.04228e-03,  9.98193e-01,  5.96688e-02, -1.56896e-01],\n",
       "        [ 9.97899e-01,  1.08585e-02, -6.38766e-02,  3.62923e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.48732e-02,  5.55342e-02, -9.96347e-01, -1.73124e+02],\n",
       "        [-2.40704e-03,  9.98439e-01,  5.58075e-02, -1.36154e-01],\n",
       "        [ 9.97891e-01,  6.01867e-03, -6.46383e-02,  3.62876e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.46212e-02,  4.97362e-02, -9.96670e-01, -1.73900e+02],\n",
       "        [ 3.45651e-05,  9.98757e-01,  4.98382e-02, -1.19405e-01],\n",
       "        [ 9.97910e-01,  3.18615e-03, -6.45426e-02,  3.62825e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.57896e-02,  4.62932e-02, -9.96759e-01, -1.74664e+02],\n",
       "        [ 1.60990e-03,  9.98927e-01,  4.62876e-02, -9.13758e-02],\n",
       "        [ 9.97832e-01,  1.44055e-03, -6.57935e-02,  3.62770e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.53001e-02,  5.05609e-02, -9.96584e-01, -1.75403e+02],\n",
       "        [ 5.04125e-03,  9.98720e-01,  5.03390e-02, -6.72820e-02],\n",
       "        [ 9.97853e-01, -1.73690e-03, -6.54714e-02,  3.62721e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.60133e-02,  5.78584e-02, -9.96140e-01, -1.76129e+02],\n",
       "        [ 1.14803e-02,  9.98295e-01,  5.72228e-02, -5.20099e-02],\n",
       "        [ 9.97753e-01, -7.65854e-03, -6.65650e-02,  3.62678e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.80041e-02,  6.13505e-02, -9.95797e-01, -1.76836e+02],\n",
       "        [ 1.12883e-02,  9.98091e-01,  6.07209e-02, -3.12607e-02],\n",
       "        [ 9.97621e-01, -7.11157e-03, -6.85668e-02,  3.62627e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.97055e-02,  5.77299e-02, -9.95896e-01, -1.77519e+02],\n",
       "        [ 1.08332e-02,  9.98309e-01,  5.71116e-02, -1.45216e-02],\n",
       "        [ 9.97509e-01, -6.80770e-03, -7.02130e-02,  3.62570e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.27596e-02,  4.95697e-02, -9.96117e-01, -1.78153e+02],\n",
       "        [ 8.11446e-03,  9.98761e-01,  4.91086e-02,  2.24748e-03],\n",
       "        [ 9.97316e-01, -4.50983e-03, -7.30717e-02,  3.62508e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.54390e-02,  4.30167e-02, -9.96222e-01, -1.78794e+02],\n",
       "        [ 6.08169e-03,  9.99070e-01,  4.26792e-02,  1.59529e-02],\n",
       "        [ 9.97132e-01, -2.83904e-03, -7.56305e-02,  3.62462e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.83052e-02,  4.17102e-02, -9.96057e-01, -1.79414e+02],\n",
       "        [ 2.18747e-03,  9.99129e-01,  4.16669e-02,  3.56393e-02],\n",
       "        [ 9.96927e-01,  1.08390e-03, -7.83283e-02,  3.62396e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.16943e-02,  4.42192e-02, -9.95676e-01, -1.80011e+02],\n",
       "        [-2.46163e-04,  9.99014e-01,  4.43877e-02,  5.10618e-02],\n",
       "        [ 9.96657e-01,  3.87132e-03, -8.16029e-02,  3.62331e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.73750e-02,  4.78506e-02, -9.95026e-01, -1.80615e+02],\n",
       "        [-8.80484e-04,  9.98842e-01,  4.81114e-02,  6.33847e-02],\n",
       "        [ 9.96175e-01,  5.07984e-03, -8.72317e-02,  3.62276e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.34168e-02,  5.06774e-02, -9.94337e-01, -1.81188e+02],\n",
       "        [-4.89003e-04,  9.98701e-01,  5.09458e-02,  7.31761e-02],\n",
       "        [ 9.95627e-01,  5.24543e-03, -9.32708e-02,  3.62223e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.03712e-01,  5.17702e-02, -9.93259e-01, -1.81766e+02],\n",
       "        [ 5.31796e-04,  9.98647e-01,  5.19955e-02,  8.61599e-02],\n",
       "        [ 9.94607e-01,  4.86435e-03, -1.03599e-01,  3.62146e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.16057e-01,  5.13423e-02, -9.91915e-01, -1.82326e+02],\n",
       "        [ 2.20137e-03,  9.98674e-01,  5.14346e-02,  1.01182e-01],\n",
       "        [ 9.93240e-01,  3.78576e-03, -1.16016e-01,  3.62075e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.32088e-01,  5.06847e-02, -9.89942e-01, -1.82854e+02],\n",
       "        [ 5.15416e-03,  9.98714e-01,  5.04461e-02,  1.15196e-01],\n",
       "        [ 9.91225e-01,  1.56099e-03, -1.32179e-01,  3.61994e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.53571e-01,  4.89579e-02, -9.86924e-01, -1.83401e+02],\n",
       "        [ 6.96224e-03,  9.98801e-01,  4.84637e-02,  1.30550e-01],\n",
       "        [ 9.88113e-01,  5.71430e-04, -1.53728e-01,  3.61892e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-1.78762e-01,  4.82205e-02, -9.82710e-01, -1.83912e+02],\n",
       "        [ 9.12423e-03,  9.98837e-01,  4.73521e-02,  1.43448e-01],\n",
       "        [ 9.83850e-01, -5.01738e-04, -1.78994e-01,  3.61780e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.08647e-01,  4.72567e-02, -9.76849e-01, -1.84420e+02],\n",
       "        [ 9.37568e-03,  9.98883e-01,  4.63201e-02,  1.54113e-01],\n",
       "        [ 9.77946e-01,  5.05918e-04, -2.08857e-01,  3.61646e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.42983e-01,  4.81281e-02, -9.68836e-01, -1.84939e+02],\n",
       "        [ 1.06605e-02,  9.98841e-01,  4.69450e-02,  1.70734e-01],\n",
       "        [ 9.69972e-01,  1.07852e-03, -2.43214e-01,  3.61487e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-2.82576e-01,  4.87270e-02, -9.58007e-01, -1.85431e+02],\n",
       "        [ 1.18523e-02,  9.98810e-01,  4.73064e-02,  1.79290e-01],\n",
       "        [ 9.59172e-01,  2.01305e-03, -2.82817e-01,  3.61318e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.25000e-01,  4.91816e-02, -9.44434e-01, -1.85891e+02],\n",
       "        [ 1.51346e-02,  9.98789e-01,  4.68040e-02,  1.95018e-01],\n",
       "        [ 9.45593e-01,  9.17675e-04, -3.25351e-01,  3.61125e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-3.71315e-01,  4.96894e-02, -9.27177e-01, -1.86368e+02],\n",
       "        [ 1.79960e-02,  9.98765e-01,  4.63190e-02,  2.02651e-01],\n",
       "        [ 9.28333e-01,  5.13464e-04, -3.71750e-01,  3.60902e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.20945e-01,  5.05860e-02, -9.05675e-01, -1.86809e+02],\n",
       "        [ 2.08705e-02,  9.98720e-01,  4.60826e-02,  2.16506e-01],\n",
       "        [ 9.06846e-01,  4.96344e-04, -4.21461e-01,  3.60655e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-4.70696e-01,  5.18219e-02, -8.80772e-01, -1.87223e+02],\n",
       "        [ 2.36754e-02,  9.98656e-01,  4.61054e-02,  2.26971e-01],\n",
       "        [ 8.81978e-01,  8.49006e-04, -4.71291e-01,  3.60384e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.20519e-01,  5.21807e-02, -8.52254e-01, -1.87647e+02],\n",
       "        [ 2.49400e-02,  9.98634e-01,  4.59108e-02,  2.45874e-01],\n",
       "        [ 8.53486e-01,  2.64218e-03, -5.21109e-01,  3.60078e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-5.71256e-01,  5.30080e-02, -8.19059e-01, -1.88041e+02],\n",
       "        [ 2.57250e-02,  9.98578e-01,  4.66843e-02,  2.55378e-01],\n",
       "        [ 8.20369e-01,  5.59840e-03, -5.71807e-01,  3.59755e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.20105e-01,  5.24662e-02, -7.82763e-01, -1.88391e+02],\n",
       "        [ 2.47075e-02,  9.98572e-01,  4.73580e-02,  2.72741e-01],\n",
       "        [ 7.84130e-01,  1.00268e-02, -6.20516e-01,  3.59419e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-6.69879e-01,  5.34105e-02, -7.40547e-01, -1.88743e+02],\n",
       "        [ 2.54802e-02,  9.98475e-01,  4.89645e-02,  2.81912e-01],\n",
       "        [ 7.42033e-01,  1.39310e-02, -6.70219e-01,  3.59032e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.18169e-01,  5.24254e-02, -6.93891e-01, -1.89064e+02],\n",
       "        [ 2.66394e-02,  9.98498e-01,  4.78678e-02,  2.97787e-01],\n",
       "        [ 6.95358e-01,  1.58923e-02, -7.18488e-01,  3.58632e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-7.63956e-01,  5.25017e-02, -6.43130e-01, -1.89361e+02],\n",
       "        [ 2.88151e-02,  9.98466e-01,  4.72808e-02,  3.05713e-01],\n",
       "        [ 6.44625e-01,  1.75886e-02, -7.64296e-01,  3.58231e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.07122e-01,  5.16781e-02, -5.88118e-01, -1.89639e+02],\n",
       "        [ 2.94502e-02,  9.98446e-01,  4.73168e-02,  3.26397e-01],\n",
       "        [ 5.89649e-01,  2.08702e-02, -8.07390e-01,  3.57758e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.45556e-01,  4.82492e-02, -5.31702e-01, -1.89875e+02],\n",
       "        [ 2.71221e-02,  9.98504e-01,  4.74772e-02,  3.42979e-01],\n",
       "        [ 5.33197e-01,  2.57238e-02, -8.45600e-01,  3.57295e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-8.80335e-01,  4.47716e-02, -4.72235e-01, -1.90090e+02],\n",
       "        [ 2.55447e-02,  9.98566e-01,  4.70516e-02,  3.67500e-01],\n",
       "        [ 4.73664e-01,  2.93581e-02, -8.80216e-01,  3.56778e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.11267e-01,  4.39046e-02, -4.09468e-01, -1.90277e+02],\n",
       "        [ 2.68970e-02,  9.98523e-01,  4.72061e-02,  3.83137e-01],\n",
       "        [ 4.10936e-01,  3.20039e-02, -9.11102e-01,  3.56253e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.37078e-01,  4.82509e-02, -3.45770e-01, -1.90440e+02],\n",
       "        [ 3.35049e-02,  9.98261e-01,  4.85013e-02,  3.93052e-01],\n",
       "        [ 3.47508e-01,  3.38645e-02, -9.37065e-01,  3.55741e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.57315e-01,  5.09480e-02, -2.84521e-01, -1.90572e+02],\n",
       "        [ 3.86012e-02,  9.98061e-01,  4.88389e-02,  4.09878e-01],\n",
       "        [ 2.86457e-01,  3.57714e-02, -9.57425e-01,  3.55163e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.72576e-01,  5.09606e-02, -2.26934e-01, -1.90669e+02],\n",
       "        [ 4.11040e-02,  9.98004e-01,  4.79524e-02,  4.27615e-01],\n",
       "        [ 2.28924e-01,  3.73095e-02, -9.72729e-01,  3.54596e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.83446e-01,  4.70554e-02, -1.74985e-01, -1.90743e+02],\n",
       "        [ 3.96540e-02,  9.98174e-01,  4.55579e-02,  4.46769e-01],\n",
       "        [ 1.76809e-01,  3.78650e-02, -9.83517e-01,  3.54027e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.90771e-01,  4.20950e-02, -1.28844e-01, -1.90777e+02],\n",
       "        [ 3.67259e-02,  9.98367e-01,  4.37681e-02,  4.61955e-01],\n",
       "        [ 1.30476e-01,  3.86322e-02, -9.90699e-01,  3.53407e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.95061e-01,  3.71260e-02, -9.20624e-02, -1.90807e+02],\n",
       "        [ 3.34328e-02,  9.98586e-01,  4.13390e-02,  4.81877e-01],\n",
       "        [ 9.34669e-02,  3.80569e-02, -9.94895e-01,  3.52818e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.97570e-01,  3.26772e-02, -6.15263e-02, -1.90820e+02],\n",
       "        [ 3.00915e-02,  9.98644e-01,  4.24938e-02,  5.00120e-01],\n",
       "        [ 6.28314e-02,  4.05392e-02, -9.97201e-01,  3.52182e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.98711e-01,  3.24709e-02, -3.90274e-02, -1.90828e+02],\n",
       "        [ 3.07344e-02,  9.98546e-01,  4.42993e-02,  5.19906e-01],\n",
       "        [ 4.04091e-02,  4.30427e-02, -9.98256e-01,  3.51542e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.99217e-01,  3.31470e-02, -2.15938e-02, -1.90830e+02],\n",
       "        [ 3.22052e-02,  9.98574e-01,  4.25888e-02,  5.33678e-01],\n",
       "        [ 2.29746e-02,  4.18600e-02, -9.98859e-01,  3.50902e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.99370e-01,  3.50002e-02, -5.93146e-03, -1.90824e+02],\n",
       "        [ 3.47554e-02,  9.98700e-01,  3.72916e-02,  5.45125e-01],\n",
       "        [ 7.22896e-03,  3.70619e-02, -9.99287e-01,  3.50243e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.99172e-01,  3.98876e-02,  8.00064e-03, -1.90815e+02],\n",
       "        [ 4.01087e-02,  9.98754e-01,  2.96950e-02,  5.58373e-01],\n",
       "        [-6.80621e-03,  2.99913e-02, -9.99527e-01,  3.49607e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.98933e-01,  4.02453e-02,  2.26710e-02, -1.90797e+02],\n",
       "        [ 4.07369e-02,  9.98935e-01,  2.16575e-02,  5.68703e-01],\n",
       "        [-2.17752e-02,  2.25580e-02, -9.99508e-01,  3.48935e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.98520e-01,  3.93314e-02,  3.75569e-02, -1.90753e+02],\n",
       "        [ 4.00237e-02,  9.99039e-01,  1.78637e-02,  5.78991e-01],\n",
       "        [-3.68182e-02,  1.93404e-02, -9.99135e-01,  3.48257e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.97997e-01,  3.78119e-02,  5.07128e-02, -1.90702e+02],\n",
       "        [ 3.87473e-02,  9.99094e-01,  1.75910e-02,  5.82606e-01],\n",
       "        [-5.00017e-02,  1.95208e-02, -9.98559e-01,  3.47573e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.97361e-01,  3.70412e-02,  6.24494e-02, -1.90652e+02],\n",
       "        [ 3.82615e-02,  9.99097e-01,  1.84578e-02,  5.88810e-01],\n",
       "        [-6.17093e-02,  2.07985e-02, -9.97878e-01,  3.46834e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.96740e-01,  3.70934e-02,  7.16466e-02, -1.90591e+02],\n",
       "        [ 3.84681e-02,  9.99099e-01,  1.79038e-02,  5.89276e-01],\n",
       "        [-7.09180e-02,  2.06015e-02, -9.97269e-01,  3.46114e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.96427e-01,  3.50860e-02,  7.68235e-02, -1.90515e+02],\n",
       "        [ 3.65603e-02,  9.99172e-01,  1.78696e-02,  5.92827e-01],\n",
       "        [-7.61328e-02,  2.06144e-02, -9.96885e-01,  3.45383e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.96197e-01,  3.18460e-02,  8.10975e-02, -1.90445e+02],\n",
       "        [ 3.33984e-02,  9.99283e-01,  1.78588e-02,  5.97666e-01],\n",
       "        [-8.04706e-02,  2.04994e-02, -9.96546e-01,  3.44632e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.95969e-01,  2.82515e-02,  8.51350e-02, -1.90368e+02],\n",
       "        [ 2.98005e-02,  9.99412e-01,  1.69786e-02,  6.02267e-01],\n",
       "        [-8.46052e-02,  1.94472e-02, -9.96225e-01,  3.43872e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.95583e-01,  2.90606e-02,  8.92774e-02, -1.90293e+02],\n",
       "        [ 3.07591e-02,  9.99370e-01,  1.77080e-02,  6.07568e-01],\n",
       "        [-8.87065e-02,  2.03758e-02, -9.95849e-01,  3.43076e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.95108e-01,  2.88710e-02,  9.44856e-02, -1.90217e+02],\n",
       "        [ 3.08824e-02,  9.99325e-01,  1.98961e-02,  6.10705e-01],\n",
       "        [-9.38474e-02,  2.27167e-02, -9.95327e-01,  3.42305e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.94662e-01,  2.84091e-02,  9.92059e-02, -1.90126e+02],\n",
       "        [ 3.07982e-02,  9.99269e-01,  2.26341e-02,  6.17540e-01],\n",
       "        [-9.84903e-02,  2.55686e-02, -9.94810e-01,  3.41509e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.94229e-01,  2.43222e-02,  1.04482e-01, -1.90031e+02],\n",
       "        [ 2.69948e-02,  9.99342e-01,  2.42419e-02,  6.23477e-01],\n",
       "        [-1.03824e-01,  2.69224e-02, -9.94231e-01,  3.40690e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.93755e-01,  2.23069e-02,  1.09328e-01, -1.89929e+02],\n",
       "        [ 2.52261e-02,  9.99359e-01,  2.53913e-02,  6.33939e-01],\n",
       "        [-1.08692e-01,  2.79907e-02, -9.93681e-01,  3.39875e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.93383e-01,  2.11796e-02,  1.12876e-01, -1.89819e+02],\n",
       "        [ 2.40450e-02,  9.99421e-01,  2.40850e-02,  6.42260e-01],\n",
       "        [-1.12300e-01,  2.66398e-02, -9.93317e-01,  3.39024e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.93099e-01,  1.83369e-02,  1.15835e-01, -1.89719e+02],\n",
       "        [ 2.08502e-02,  9.99572e-01,  2.05226e-02,  6.51149e-01],\n",
       "        [-1.15409e-01,  2.27962e-02, -9.93057e-01,  3.38175e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.93055e-01,  1.68479e-02,  1.16441e-01, -1.89606e+02],\n",
       "        [ 1.89279e-02,  9.99680e-01,  1.67805e-02,  6.54901e-01],\n",
       "        [-1.16121e-01,  1.88679e-02, -9.93056e-01,  3.37337e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.93187e-01,  1.45738e-02,  1.15616e-01, -1.89487e+02],\n",
       "        [ 1.63562e-02,  9.99761e-01,  1.44824e-02,  6.64602e-01],\n",
       "        [-1.15378e-01,  1.62748e-02, -9.93189e-01,  3.36450e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.93289e-01,  1.51510e-02,  1.14661e-01, -1.89373e+02],\n",
       "        [ 1.70593e-02,  9.99732e-01,  1.56800e-02,  6.65670e-01],\n",
       "        [-1.14393e-01,  1.75308e-02, -9.93281e-01,  3.35561e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.93556e-01,  1.40903e-02,  1.12459e-01, -1.89272e+02],\n",
       "        [ 1.63061e-02,  9.99690e-01,  1.88077e-02,  6.67697e-01],\n",
       "        [-1.12159e-01,  2.05203e-02, -9.93478e-01,  3.34662e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.93774e-01,  1.22147e-02,  1.10744e-01, -1.89157e+02],\n",
       "        [ 1.44998e-02,  9.99698e-01,  1.98526e-02,  6.70005e-01],\n",
       "        [-1.10468e-01,  2.13348e-02, -9.93651e-01,  3.33750e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.94059e-01,  9.59531e-03,  1.08416e-01, -1.89053e+02],\n",
       "        [ 1.18534e-02,  9.99726e-01,  2.02027e-02,  6.73662e-01],\n",
       "        [-1.08192e-01,  2.13678e-02, -9.93900e-01,  3.32838e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.94311e-01,  7.95494e-03,  1.06223e-01, -1.88938e+02],\n",
       "        [ 1.02959e-02,  9.99716e-01,  2.15076e-02,  6.82843e-01],\n",
       "        [-1.06022e-01,  2.24788e-02, -9.94110e-01,  3.31919e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.94654e-01,  5.33975e-03,  1.03125e-01, -1.88841e+02],\n",
       "        [ 7.76069e-03,  9.99703e-01,  2.30889e-02,  6.84367e-01],\n",
       "        [-1.02971e-01,  2.37658e-02, -9.94400e-01,  3.30981e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.94962e-01,  5.05008e-03,  1.00130e-01, -1.88731e+02],\n",
       "        [ 7.73663e-03,  9.99620e-01,  2.64606e-02,  6.96090e-01],\n",
       "        [-9.99579e-02,  2.71020e-02, -9.94623e-01,  3.30049e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.95190e-01,  4.54541e-03,  9.78572e-02, -1.88634e+02],\n",
       "        [ 7.61523e-03,  9.99490e-01,  3.10198e-02,  7.01920e-01],\n",
       "        [-9.76663e-02,  3.16158e-02, -9.94717e-01,  3.29118e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.95359e-01,  4.40401e-03,  9.61363e-02, -1.88542e+02],\n",
       "        [ 8.08140e-03,  9.99249e-01,  3.78960e-02,  7.16466e-01],\n",
       "        [-9.58972e-02,  3.84971e-02, -9.94647e-01,  3.28171e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.95588e-01,  4.66446e-03,  9.37210e-02, -1.88447e+02],\n",
       "        [ 8.63949e-03,  9.99078e-01,  4.20526e-02,  7.33889e-01],\n",
       "        [-9.34385e-02,  4.26767e-02, -9.94710e-01,  3.27268e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.95770e-01,  2.40767e-03,  9.18473e-02, -1.88358e+02],\n",
       "        [ 6.17560e-03,  9.99150e-01,  4.07617e-02,  7.51717e-01],\n",
       "        [-9.16711e-02,  4.11565e-02, -9.94939e-01,  3.26327e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.95920e-01, -1.27577e-04,  9.02419e-02, -1.88272e+02],\n",
       "        [ 3.25455e-03,  9.99298e-01,  3.73304e-02,  7.69392e-01],\n",
       "        [-9.01832e-02,  3.74718e-02, -9.95220e-01,  3.25400e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.96192e-01,  2.92198e-04,  8.71819e-02, -1.88185e+02],\n",
       "        [ 3.47195e-03,  9.99334e-01,  3.63232e-02,  7.85679e-01],\n",
       "        [-8.71133e-02,  3.64876e-02, -9.95530e-01,  3.24473e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " array([[-9.96325e-01, -4.50078e-04,  8.56496e-02, -1.88102e+02],\n",
       "        [ 2.71750e-03,  9.99317e-01,  3.68629e-02,  8.02651e-01],\n",
       "        [-8.56076e-02,  3.69602e-02, -9.95643e-01,  3.23554e+02],\n",
       "        [ 0.00000e+00,  0.00000e+00,  0.00000e+00,  1.00000e+00]]),\n",
       " ...]"
      ]
     },
     "execution_count": 27,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "mat = read_pose('dataset/sequences/00/poses.txt')\n",
    "mat"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 29,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[0. 0. 0.] [1. 1. 0.]\n"
     ]
    },
    {
     "data": {
      "text/plain": [
       "array([[ 0.699613  , -0.17704704,  9.1727435 ],\n",
       "       [-0.29488158,  0.827369  ,  9.12661205]])"
      ]
     },
     "execution_count": 29,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "points = np.array([[1, 0, 0], [0, 1, 0]], dtype=np.float32)\n",
    "point_min = np.min(points, axis=0)\n",
    "point_max = np.max(points, axis=0)\n",
    "print(point_min, point_max)\n",
    "transform_points(points, mat[12])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "(124668, 3)\n"
     ]
    }
   ],
   "source": [
    "res = np.fromfile(\"./dataset/sequences/00/velodyne/000000.bin\", dtype=np.float32).reshape(-1, 4)[:, :3]\n",
    "print(res.shape)\n",
    "with open('000000.txt','w') as fp:\n",
    "    [fp.write(str(item[0])+','+str(item[1]) +','+ str(item[2]) +'\\n') for  item in res]\n"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## **kitti visualize pose**"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 9,
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "from tqdm import tqdm\n",
    "import matplotlib.pyplot as plt\n",
    "import matplotlib.animation as animation\n",
    "from matplotlib.animation import FFMpegWriter\n",
    "import pytransform3d.transformations as pt\n",
    "from pytransform3d.transform_manager import TransformManager\n",
    "\n",
    "%matplotlib notebook\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 10,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "  0%|          | 0/303 [00:00<?, ?it/s]"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "100%|██████████| 303/303 [00:00<00:00, 550.45it/s] \n"
     ]
    },
    {
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i < nentries; i++) {\n            var entry = entries[i];\n            var width, height;\n            if (entry.contentBoxSize) {\n                if (entry.contentBoxSize instanceof Array) {\n                    // Chrome 84 implements new version of spec.\n                    width = entry.contentBoxSize[0].inlineSize;\n                    height = entry.contentBoxSize[0].blockSize;\n                } else {\n                    // Firefox implements old version of spec.\n                    width = entry.contentBoxSize.inlineSize;\n                    height = entry.contentBoxSize.blockSize;\n                }\n            } else {\n                // Chrome <84 implements even older version of spec.\n                width = entry.contentRect.width;\n                height = entry.contentRect.height;\n            }\n\n            // Keep the size of the canvas and rubber band canvas in sync with\n            // the canvas container.\n            if (entry.devicePixelContentBoxSize) {\n                // Chrome 84 implements new version of spec.\n                canvas.setAttribute(\n                    'width',\n                    entry.devicePixelContentBoxSize[0].inlineSize\n                );\n                canvas.setAttribute(\n                    'height',\n                    entry.devicePixelContentBoxSize[0].blockSize\n                );\n            } else {\n                canvas.setAttribute('width', width * fig.ratio);\n                canvas.setAttribute('height', height * fig.ratio);\n            }\n            /* This rescales the canvas back to display pixels, so that it\n             * appears correct on HiDPI screens. */\n            canvas.style.width = width + 'px';\n            canvas.style.height = height + 'px';\n\n            rubberband_canvas.setAttribute('width', width);\n            rubberband_canvas.setAttribute('height', height);\n\n            // And update the size in Python. We ignore the initial 0/0 size\n            // that occurs as the element is placed into the DOM, which should\n            // otherwise not happen due to the minimum size styling.\n            if (fig.ws.readyState == 1 && width != 0 && height != 0) {\n                fig.request_resize(width, height);\n            }\n        }\n    });\n    this.resizeObserverInstance.observe(canvas_div);\n\n    function on_mouse_event_closure(name) {\n        /* User Agent sniffing is bad, but WebKit is busted:\n         * https://bugs.webkit.org/show_bug.cgi?id=144526\n         * https://bugs.webkit.org/show_bug.cgi?id=181818\n         * The worst that happens here is that they get an extra browser\n         * selection when dragging, if this check fails to catch them.\n         */\n        var UA = navigator.userAgent;\n        var isWebKit = /AppleWebKit/.test(UA) && !/Chrome/.test(UA);\n        if(isWebKit) {\n            return function (event) {\n                /* This prevents the web browser from automatically changing to\n                 * the text insertion cursor when the button is pressed. We\n                 * want to control all of the cursor setting manually through\n                 * the 'cursor' event from matplotlib */\n                event.preventDefault()\n                return fig.mouse_event(event, name);\n            };\n        } else {\n            return function (event) {\n                return fig.mouse_event(event, name);\n            };\n        }\n    }\n\n    canvas_div.addEventListener(\n        'mousedown',\n        on_mouse_event_closure('button_press')\n    );\n    canvas_div.addEventListener(\n        'mouseup',\n        on_mouse_event_closure('button_release')\n    );\n    canvas_div.addEventListener(\n        'dblclick',\n        on_mouse_event_closure('dblclick')\n    );\n    // Throttle sequential mouse events to 1 every 20ms.\n    canvas_div.addEventListener(\n        'mousemove',\n        on_mouse_event_closure('motion_notify')\n    );\n\n    canvas_div.addEventListener(\n        'mouseenter',\n        on_mouse_event_closure('figure_enter')\n    );\n    canvas_div.addEventListener(\n        'mouseleave',\n        on_mouse_event_closure('figure_leave')\n    );\n\n    canvas_div.addEventListener('wheel', function (event) {\n        if (event.deltaY < 0) {\n            event.step = 1;\n        } else {\n            event.step = -1;\n        }\n        on_mouse_event_closure('scroll')(event);\n    });\n\n    canvas_div.appendChild(canvas);\n    canvas_div.appendChild(rubberband_canvas);\n\n    this.rubberband_context = rubberband_canvas.getContext('2d');\n    this.rubberband_context.strokeStyle = '#000000';\n\n    this._resize_canvas = function (width, height, forward) {\n        if (forward) {\n            canvas_div.style.width = width + 'px';\n            canvas_div.style.height = height + 'px';\n        }\n    };\n\n    // Disable right mouse context menu.\n    canvas_div.addEventListener('contextmenu', function (_e) {\n        event.preventDefault();\n        return false;\n    });\n\n    function set_focus() {\n        canvas.focus();\n        canvas_div.focus();\n    }\n\n    window.setTimeout(set_focus, 100);\n};\n\nmpl.figure.prototype._init_toolbar = function () {\n    var fig = this;\n\n    var toolbar = document.createElement('div');\n    toolbar.classList = 'mpl-toolbar';\n    this.root.appendChild(toolbar);\n\n    function on_click_closure(name) {\n        return function (_event) {\n            return fig.toolbar_button_onclick(name);\n        };\n    }\n\n    function on_mouseover_closure(tooltip) {\n        return function (event) {\n            if (!event.currentTarget.disabled) {\n                return fig.toolbar_button_onmouseover(tooltip);\n            }\n        };\n    }\n\n    fig.buttons = {};\n    var buttonGroup = document.createElement('div');\n    buttonGroup.classList = 'mpl-button-group';\n    for (var toolbar_ind in mpl.toolbar_items) {\n        var name = mpl.toolbar_items[toolbar_ind][0];\n        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n        var image = mpl.toolbar_items[toolbar_ind][2];\n        var method_name = mpl.toolbar_items[toolbar_ind][3];\n\n        if (!name) {\n            /* Instead of a spacer, we start a new button group. */\n            if (buttonGroup.hasChildNodes()) {\n                toolbar.appendChild(buttonGroup);\n            }\n            buttonGroup = document.createElement('div');\n            buttonGroup.classList = 'mpl-button-group';\n            continue;\n        }\n\n        var button = (fig.buttons[name] = document.createElement('button'));\n        button.classList = 'mpl-widget';\n        button.setAttribute('role', 'button');\n        button.setAttribute('aria-disabled', 'false');\n        button.addEventListener('click', on_click_closure(method_name));\n        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n\n        var icon_img = document.createElement('img');\n        icon_img.src = '_images/' + image + '.png';\n        icon_img.srcset = '_images/' + image + '_large.png 2x';\n        icon_img.alt = tooltip;\n        button.appendChild(icon_img);\n\n        buttonGroup.appendChild(button);\n    }\n\n    if (buttonGroup.hasChildNodes()) {\n        toolbar.appendChild(buttonGroup);\n    }\n\n    var fmt_picker = document.createElement('select');\n    fmt_picker.classList = 'mpl-widget';\n    toolbar.appendChild(fmt_picker);\n    this.format_dropdown = fmt_picker;\n\n    for (var ind in mpl.extensions) {\n        var fmt = mpl.extensions[ind];\n        var option = document.createElement('option');\n        option.selected = fmt === mpl.default_extension;\n        option.innerHTML = fmt;\n        fmt_picker.appendChild(option);\n    }\n\n    var status_bar = document.createElement('span');\n    status_bar.classList = 'mpl-message';\n    toolbar.appendChild(status_bar);\n    this.message = status_bar;\n};\n\nmpl.figure.prototype.request_resize = function (x_pixels, y_pixels) {\n    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n    // which will in turn request a refresh of the image.\n    this.send_message('resize', { width: x_pixels, height: y_pixels });\n};\n\nmpl.figure.prototype.send_message = function (type, properties) {\n    properties['type'] = type;\n    properties['figure_id'] = this.id;\n    this.ws.send(JSON.stringify(properties));\n};\n\nmpl.figure.prototype.send_draw_message = function () {\n    if (!this.waiting) {\n        this.waiting = true;\n        this.ws.send(JSON.stringify({ type: 'draw', figure_id: this.id }));\n    }\n};\n\nmpl.figure.prototype.handle_save = function (fig, _msg) {\n    var format_dropdown = fig.format_dropdown;\n    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n    fig.ondownload(fig, format);\n};\n\nmpl.figure.prototype.handle_resize = function (fig, msg) {\n    var size = msg['size'];\n    if (size[0] !== fig.canvas.width || size[1] !== fig.canvas.height) {\n        fig._resize_canvas(size[0], size[1], msg['forward']);\n        fig.send_message('refresh', {});\n    }\n};\n\nmpl.figure.prototype.handle_rubberband = function (fig, msg) {\n    var x0 = msg['x0'] / fig.ratio;\n    var y0 = (fig.canvas.height - msg['y0']) / fig.ratio;\n    var x1 = msg['x1'] / fig.ratio;\n    var y1 = (fig.canvas.height - msg['y1']) / fig.ratio;\n    x0 = Math.floor(x0) + 0.5;\n    y0 = Math.floor(y0) + 0.5;\n    x1 = Math.floor(x1) + 0.5;\n    y1 = Math.floor(y1) + 0.5;\n    var min_x = Math.min(x0, x1);\n    var min_y = Math.min(y0, y1);\n    var width = Math.abs(x1 - x0);\n    var height = Math.abs(y1 - y0);\n\n    fig.rubberband_context.clearRect(\n        0,\n        0,\n        fig.canvas.width / fig.ratio,\n        fig.canvas.height / fig.ratio\n    );\n\n    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n};\n\nmpl.figure.prototype.handle_figure_label = function (fig, msg) {\n    // Updates the figure title.\n    fig.header.textContent = msg['label'];\n};\n\nmpl.figure.prototype.handle_cursor = function (fig, msg) {\n    fig.canvas_div.style.cursor = msg['cursor'];\n};\n\nmpl.figure.prototype.handle_message = function (fig, msg) {\n    fig.message.textContent = msg['message'];\n};\n\nmpl.figure.prototype.handle_draw = function (fig, _msg) {\n    // Request the server to send over a new figure.\n    fig.send_draw_message();\n};\n\nmpl.figure.prototype.handle_image_mode = function (fig, msg) {\n    fig.image_mode = msg['mode'];\n};\n\nmpl.figure.prototype.handle_history_buttons = function (fig, msg) {\n    for (var key in msg) {\n        if (!(key in fig.buttons)) {\n            continue;\n        }\n        fig.buttons[key].disabled = !msg[key];\n        fig.buttons[key].setAttribute('aria-disabled', !msg[key]);\n    }\n};\n\nmpl.figure.prototype.handle_navigate_mode = function (fig, msg) {\n    if (msg['mode'] === 'PAN') {\n        fig.buttons['Pan'].classList.add('active');\n        fig.buttons['Zoom'].classList.remove('active');\n    } else if (msg['mode'] === 'ZOOM') {\n        fig.buttons['Pan'].classList.remove('active');\n        fig.buttons['Zoom'].classList.add('active');\n    } else {\n        fig.buttons['Pan'].classList.remove('active');\n        fig.buttons['Zoom'].classList.remove('active');\n    }\n};\n\nmpl.figure.prototype.updated_canvas_event = function () {\n    // Called whenever the canvas gets updated.\n    this.send_message('ack', {});\n};\n\n// A function to construct a web socket function for onmessage handling.\n// Called in the figure constructor.\nmpl.figure.prototype._make_on_message_function = function (fig) {\n    return function socket_on_message(evt) {\n        if (evt.data instanceof Blob) {\n            var img = evt.data;\n            if (img.type !== 'image/png') {\n                /* FIXME: We get \"Resource interpreted as Image but\n                 * transferred with MIME type text/plain:\" errors on\n                 * Chrome.  But how to set the MIME type?  It doesn't seem\n                 * to be part of the websocket stream */\n                img.type = 'image/png';\n            }\n\n            /* Free the memory for the previous frames */\n            if (fig.imageObj.src) {\n                (window.URL || window.webkitURL).revokeObjectURL(\n                    fig.imageObj.src\n                );\n            }\n\n            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n                img\n            );\n            fig.updated_canvas_event();\n            fig.waiting = false;\n            return;\n        } else if (\n            typeof evt.data === 'string' &&\n            evt.data.slice(0, 21) === 'data:image/png;base64'\n        ) {\n            fig.imageObj.src = evt.data;\n            fig.updated_canvas_event();\n            fig.waiting = false;\n            return;\n        }\n\n        var msg = JSON.parse(evt.data);\n        var msg_type = msg['type'];\n\n        // Call the  \"handle_{type}\" callback, which takes\n        // the figure and JSON message as its only arguments.\n        try {\n            var callback = fig['handle_' + msg_type];\n        } catch (e) {\n            console.log(\n                \"No handler for the '\" + msg_type + \"' message type: \",\n                msg\n            );\n            return;\n        }\n\n        if (callback) {\n            try {\n                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n                callback(fig, msg);\n            } catch (e) {\n                console.log(\n                    \"Exception inside the 'handler_\" + msg_type + \"' callback:\",\n                    e,\n                    e.stack,\n                    msg\n                );\n            }\n        }\n    };\n};\n\nfunction getModifiers(event) {\n    var mods = [];\n    if (event.ctrlKey) {\n        mods.push('ctrl');\n    }\n    if (event.altKey) {\n        mods.push('alt');\n    }\n    if (event.shiftKey) {\n        mods.push('shift');\n    }\n    if (event.metaKey) {\n        mods.push('meta');\n    }\n    return mods;\n}\n\n/*\n * return a copy of an object with only non-object keys\n * we need this to avoid circular references\n * https://stackoverflow.com/a/24161582/3208463\n */\nfunction simpleKeys(original) {\n    return Object.keys(original).reduce(function (obj, key) {\n        if (typeof original[key] !== 'object') {\n            obj[key] = original[key];\n        }\n        return obj;\n    }, {});\n}\n\nmpl.figure.prototype.mouse_event = function (event, name) {\n    if (name === 'button_press') {\n        this.canvas.focus();\n        this.canvas_div.focus();\n    }\n\n    // from https://stackoverflow.com/q/1114465\n    var boundingRect = this.canvas.getBoundingClientRect();\n    var x = (event.clientX - boundingRect.left) * this.ratio;\n    var y = (event.clientY - boundingRect.top) * this.ratio;\n\n    this.send_message(name, {\n        x: x,\n        y: y,\n        button: event.button,\n        step: event.step,\n        modifiers: getModifiers(event),\n        guiEvent: simpleKeys(event),\n    });\n\n    return false;\n};\n\nmpl.figure.prototype._key_event_extra = function (_event, _name) {\n    // Handle any extra behaviour associated with a key event\n};\n\nmpl.figure.prototype.key_event = function (event, name) {\n    // Prevent repeat events\n    if (name === 'key_press') {\n        if (event.key === this._key) {\n            return;\n        } else {\n            this._key = event.key;\n        }\n    }\n    if (name === 'key_release') {\n        this._key = null;\n    }\n\n    var value = '';\n    if (event.ctrlKey && event.key !== 'Control') {\n        value += 'ctrl+';\n    }\n    else if (event.altKey && event.key !== 'Alt') {\n        value += 'alt+';\n    }\n    else if (event.shiftKey && event.key !== 'Shift') {\n        value += 'shift+';\n    }\n\n    value += 'k' + event.key;\n\n    this._key_event_extra(event, name);\n\n    this.send_message(name, { key: value, guiEvent: simpleKeys(event) });\n    return false;\n};\n\nmpl.figure.prototype.toolbar_button_onclick = function (name) {\n    if (name === 'download') {\n        this.handle_save(this, null);\n    } else {\n        this.send_message('toolbar_button', { name: name });\n    }\n};\n\nmpl.figure.prototype.toolbar_button_onmouseover = function (tooltip) {\n    this.message.textContent = tooltip;\n};\n\n///////////////// REMAINING CONTENT GENERATED BY embed_js.py /////////////////\n// prettier-ignore\nvar _JSXTOOLS_RESIZE_OBSERVER=function(A){var t,i=new WeakMap,n=new WeakMap,a=new WeakMap,r=new WeakMap,o=new Set;function s(e){if(!(this instanceof s))throw new TypeError(\"Constructor requires 'new' operator\");i.set(this,e)}function h(){throw new TypeError(\"Function is not a constructor\")}function c(e,t,i,n){e=0 in arguments?Number(arguments[0]):0,t=1 in arguments?Number(arguments[1]):0,i=2 in arguments?Number(arguments[2]):0,n=3 in arguments?Number(arguments[3]):0,this.right=(this.x=this.left=e)+(this.width=i),this.bottom=(this.y=this.top=t)+(this.height=n),Object.freeze(this)}function d(){t=requestAnimationFrame(d);var s=new WeakMap,p=new Set;o.forEach((function(t){r.get(t).forEach((function(i){var r=t instanceof window.SVGElement,o=a.get(t),d=r?0:parseFloat(o.paddingTop),f=r?0:parseFloat(o.paddingRight),l=r?0:parseFloat(o.paddingBottom),u=r?0:parseFloat(o.paddingLeft),g=r?0:parseFloat(o.borderTopWidth),m=r?0:parseFloat(o.borderRightWidth),w=r?0:parseFloat(o.borderBottomWidth),b=u+f,F=d+l,v=(r?0:parseFloat(o.borderLeftWidth))+m,W=g+w,y=r?0:t.offsetHeight-W-t.clientHeight,E=r?0:t.offsetWidth-v-t.clientWidth,R=b+v,z=F+W,M=r?t.width:parseFloat(o.width)-R-E,O=r?t.height:parseFloat(o.height)-z-y;if(n.has(t)){var k=n.get(t);if(k[0]===M&&k[1]===O)return}n.set(t,[M,O]);var S=Object.create(h.prototype);S.target=t,S.contentRect=new c(u,d,M,O),s.has(i)||(s.set(i,[]),p.add(i)),s.get(i).push(S)}))})),p.forEach((function(e){i.get(e).call(e,s.get(e),e)}))}return s.prototype.observe=function(i){if(i instanceof window.Element){r.has(i)||(r.set(i,new Set),o.add(i),a.set(i,window.getComputedStyle(i)));var n=r.get(i);n.has(this)||n.add(this),cancelAnimationFrame(t),t=requestAnimationFrame(d)}},s.prototype.unobserve=function(i){if(i instanceof window.Element&&r.has(i)){var n=r.get(i);n.has(this)&&(n.delete(this),n.size||(r.delete(i),o.delete(i))),n.size||r.delete(i),o.size||cancelAnimationFrame(t)}},A.DOMRectReadOnly=c,A.ResizeObserver=s,A.ResizeObserverEntry=h,A}; // eslint-disable-line\nmpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Left button pans, Right button zooms\\nx/y fixes axis, CTRL fixes aspect\", \"fa fa-arrows\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\\nx/y fixes axis\", \"fa fa-square-o\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o\", \"download\"]];\n\nmpl.extensions = [\"eps\", \"jpeg\", \"pgf\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\", \"tif\", \"webp\"];\n\nmpl.default_extension = \"png\";/* global mpl */\n\nvar comm_websocket_adapter = function (comm) {\n    // Create a \"websocket\"-like object which calls the given IPython comm\n    // object with the appropriate methods. Currently this is a non binary\n    // socket, so there is still some room for performance tuning.\n    var ws = {};\n\n    ws.binaryType = comm.kernel.ws.binaryType;\n    ws.readyState = comm.kernel.ws.readyState;\n    function updateReadyState(_event) {\n        if (comm.kernel.ws) {\n            ws.readyState = comm.kernel.ws.readyState;\n        } else {\n            ws.readyState = 3; // Closed state.\n        }\n    }\n    comm.kernel.ws.addEventListener('open', updateReadyState);\n    comm.kernel.ws.addEventListener('close', updateReadyState);\n    comm.kernel.ws.addEventListener('error', updateReadyState);\n\n    ws.close = function () {\n        comm.close();\n    };\n    ws.send = function (m) {\n        //console.log('sending', m);\n        comm.send(m);\n    };\n    // Register the callback with on_msg.\n    comm.on_msg(function (msg) {\n        //console.log('receiving', msg['content']['data'], msg);\n        var data = msg['content']['data'];\n        if (data['blob'] !== undefined) {\n            data = {\n                data: new Blob(msg['buffers'], { type: data['blob'] }),\n            };\n        }\n        // Pass the mpl event to the overridden (by mpl) onmessage function.\n        ws.onmessage(data);\n    });\n    return ws;\n};\n\nmpl.mpl_figure_comm = function (comm, msg) {\n    // This is the function which gets called when the mpl process\n    // starts-up an IPython Comm through the \"matplotlib\" channel.\n\n    var id = msg.content.data.id;\n    // Get hold of the div created by the display call when the Comm\n    // socket was opened in Python.\n    var element = document.getElementById(id);\n    var ws_proxy = comm_websocket_adapter(comm);\n\n    function ondownload(figure, _format) {\n        window.open(figure.canvas.toDataURL());\n    }\n\n    var fig = new mpl.figure(id, ws_proxy, ondownload, element);\n\n    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n    // web socket which is closed, not our websocket->open comm proxy.\n    ws_proxy.onopen();\n\n    fig.parent_element = element;\n    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n    if (!fig.cell_info) {\n        console.error('Failed to find cell for figure', id, fig);\n        return;\n    }\n    fig.cell_info[0].output_area.element.on(\n        'cleared',\n        { fig: fig },\n        fig._remove_fig_handler\n    );\n};\n\nmpl.figure.prototype.handle_close = function (fig, msg) {\n    var width = fig.canvas.width / fig.ratio;\n    fig.cell_info[0].output_area.element.off(\n        'cleared',\n        fig._remove_fig_handler\n    );\n    fig.resizeObserverInstance.unobserve(fig.canvas_div);\n\n    // Update the output cell to use the data from the current canvas.\n    fig.push_to_output();\n    var dataURL = fig.canvas.toDataURL();\n    // Re-enable the keyboard manager in IPython - without this line, in FF,\n    // the notebook keyboard shortcuts fail.\n    IPython.keyboard_manager.enable();\n    fig.parent_element.innerHTML =\n        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n    fig.close_ws(fig, msg);\n};\n\nmpl.figure.prototype.close_ws = function (fig, msg) {\n    fig.send_message('closing', msg);\n    // fig.ws.close()\n};\n\nmpl.figure.prototype.push_to_output = function (_remove_interactive) {\n    // Turn the data on the canvas into data in the output cell.\n    var width = this.canvas.width / this.ratio;\n    var dataURL = this.canvas.toDataURL();\n    this.cell_info[1]['text/html'] =\n        '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n};\n\nmpl.figure.prototype.updated_canvas_event = function () {\n    // Tell IPython that the notebook contents must change.\n    IPython.notebook.set_dirty(true);\n    this.send_message('ack', {});\n    var fig = this;\n    // Wait a second, then push the new image to the DOM so\n    // that it is saved nicely (might be nice to debounce this).\n    setTimeout(function () {\n        fig.push_to_output();\n    }, 1000);\n};\n\nmpl.figure.prototype._init_toolbar = function () {\n    var fig = this;\n\n    var toolbar = document.createElement('div');\n    toolbar.classList = 'btn-toolbar';\n    this.root.appendChild(toolbar);\n\n    function on_click_closure(name) {\n        return function (_event) {\n            return fig.toolbar_button_onclick(name);\n        };\n    }\n\n    function on_mouseover_closure(tooltip) {\n        return function (event) {\n            if (!event.currentTarget.disabled) {\n                return fig.toolbar_button_onmouseover(tooltip);\n            }\n        };\n    }\n\n    fig.buttons = {};\n    var buttonGroup = document.createElement('div');\n    buttonGroup.classList = 'btn-group';\n    var button;\n    for (var toolbar_ind in mpl.toolbar_items) {\n        var name = mpl.toolbar_items[toolbar_ind][0];\n        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n        var image = mpl.toolbar_items[toolbar_ind][2];\n        var method_name = mpl.toolbar_items[toolbar_ind][3];\n\n        if (!name) {\n            /* Instead of a spacer, we start a new button group. */\n            if (buttonGroup.hasChildNodes()) {\n                toolbar.appendChild(buttonGroup);\n            }\n            buttonGroup = document.createElement('div');\n            buttonGroup.classList = 'btn-group';\n            continue;\n        }\n\n        button = fig.buttons[name] = document.createElement('button');\n        button.classList = 'btn btn-default';\n        button.href = '#';\n        button.title = name;\n        button.innerHTML = '<i class=\"fa ' + image + ' fa-lg\"></i>';\n        button.addEventListener('click', on_click_closure(method_name));\n        button.addEventListener('mouseover', on_mouseover_closure(tooltip));\n        buttonGroup.appendChild(button);\n    }\n\n    if (buttonGroup.hasChildNodes()) {\n        toolbar.appendChild(buttonGroup);\n    }\n\n    // Add the status bar.\n    var status_bar = document.createElement('span');\n    status_bar.classList = 'mpl-message pull-right';\n    toolbar.appendChild(status_bar);\n    this.message = status_bar;\n\n    // Add the close button to the window.\n    var buttongrp = document.createElement('div');\n    buttongrp.classList = 'btn-group inline pull-right';\n    button = document.createElement('button');\n    button.classList = 'btn btn-mini btn-primary';\n    button.href = '#';\n    button.title = 'Stop Interaction';\n    button.innerHTML = '<i class=\"fa fa-power-off icon-remove icon-large\"></i>';\n    button.addEventListener('click', function (_evt) {\n        fig.handle_close(fig, {});\n    });\n    button.addEventListener(\n        'mouseover',\n        on_mouseover_closure('Stop Interaction')\n    );\n    buttongrp.appendChild(button);\n    var titlebar = this.root.querySelector('.ui-dialog-titlebar');\n    titlebar.insertBefore(buttongrp, titlebar.firstChild);\n};\n\nmpl.figure.prototype._remove_fig_handler = function (event) {\n    var fig = event.data.fig;\n    if (event.target !== this) {\n        // Ignore bubbled events from children.\n        return;\n    }\n    fig.close_ws(fig, {});\n};\n\nmpl.figure.prototype._root_extra_style = function (el) {\n    el.style.boxSizing = 'content-box'; // override notebook setting of border-box.\n};\n\nmpl.figure.prototype._canvas_extra_style = function (el) {\n    // this is important to make the div 'focusable\n    el.setAttribute('tabindex', 0);\n    // reach out to IPython and tell the keyboard manager to turn it's self\n    // off when our div gets focus\n\n    // location in version 3\n    if (IPython.notebook.keyboard_manager) {\n        IPython.notebook.keyboard_manager.register_events(el);\n    } else {\n        // location in version 2\n        IPython.keyboard_manager.register_events(el);\n    }\n};\n\nmpl.figure.prototype._key_event_extra = function (event, _name) {\n    // Check for shift+enter\n    if (event.shiftKey && event.which === 13) {\n        this.canvas_div.blur();\n        // select the cell after this one\n        var index = IPython.notebook.find_cell_index(this.cell_info[0]);\n        IPython.notebook.select(index + 1);\n    }\n};\n\nmpl.figure.prototype.handle_save = function (fig, _msg) {\n    fig.ondownload(fig, null);\n};\n\nmpl.find_output_cell = function (html_output) {\n    // Return the cell and output element which can be found *uniquely* in the notebook.\n    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n    // IPython event is triggered only after the cells have been serialised, which for\n    // our purposes (turning an active figure into a static one), is too late.\n    var cells = IPython.notebook.get_cells();\n    var ncells = cells.length;\n    for (var i = 0; i < ncells; i++) {\n        var cell = cells[i];\n        if (cell.cell_type === 'code') {\n            for (var j 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   ],
   "source": [
    "def addPose(num, w_list, ax0, s):\n",
    "    print(\"num:\", num)\n",
    "    ax = tm.plot_frames_in(\"o\", s=s, ax = ax0, show_name=False, whitelist=w_list[num-1:num])\n",
    "\n",
    "posefile = open(\"./dataset/sequences/00/poses.txt\").readlines()\n",
    "\n",
    "tm = TransformManager()\n",
    "max_m = [0, 0, 0]\n",
    "min_m = [0, 0, 0]\n",
    "w_list = []\n",
    "for i, l in enumerate(tqdm(posefile[::15])):\n",
    "    m = np.array(l[:-1].split(' ')).reshape(3,4)\n",
    "    r = m[:3,:3]\n",
    "    t = m[:3,3]\n",
    "    for j in range(3):\n",
    "        max_m[j] = max(max_m[j], float(t[j]))\n",
    "        min_m[j] = min(min_m[j], float(t[j]))\n",
    "    pose = pt.transform_from(r, t)\n",
    "    tm.add_transform(\"p\"+str(i), \"o\", pose)\n",
    "    w_list.append(\"p\"+str(i))\n",
    "\n",
    "fig = plt.figure(figsize=(8, 8))\n",
    "fig.subplots_adjust(top = 1, bottom = 0, right = 1, left = 0, \n",
    "        hspace = 0, wspace = 0)\n",
    "# fig.tight_layout()\n",
    "\n",
    "scale = max([i-j for i, j in zip(max_m, min_m)])/1.5\n",
    "ax = tm.plot_frames_in(\"o\", s=scale/50, show_name=False, whitelist=w_list[:1])\n",
    "centor = [(i+j)/2.0 for i, j in zip(max_m, min_m)]\n",
    "\n",
    "ax.set_xlim((centor[0]-scale, centor[0]+scale))\n",
    "ax.set_ylim((centor[1]-scale, centor[1]+scale))\n",
    "ax.set_zlim((centor[2]-scale, centor[2]+scale))\n",
    "\n",
    "ax.view_init(-0, -90)\n",
    "# plt.show()\n",
    "fargs = [w_list, ax, scale/50]\n",
    "rot_animation = animation.FuncAnimation(fig, addPose, frames=np.arange(0, len(w_list), 1), fargs=fargs, interval=40)\n",
    "writer = FFMpegWriter(fps=20, codec='h264_nvenc')\n",
    "rot_animation.save('animation.mp4', writer=writer)\n",
    "plt.show()"
   ]
  }
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