Upload metadata/dynamics/ti5_gravity_pose_table_20261014.json
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metadata/dynamics/ti5_gravity_pose_table_20261014.json
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| 1 |
+
{
|
| 2 |
+
"source_csv": "/tmp/ti5_motion_20261014_164549.csv",
|
| 3 |
+
"model": "empirical_named_pose_table_and_endpoint_interpolant",
|
| 4 |
+
"coordinate_note": "measured SDK joint coordinates match SRDF endpoints within reported error",
|
| 5 |
+
"units": {
|
| 6 |
+
"q": "rad",
|
| 7 |
+
"torque": "Nm",
|
| 8 |
+
"path_parameter": "unitless 0=folded, 1=extended"
|
| 9 |
+
},
|
| 10 |
+
"path": {
|
| 11 |
+
"folded_q_rad": [
|
| 12 |
+
1.5707,
|
| 13 |
+
1.3963,
|
| 14 |
+
1.5707,
|
| 15 |
+
1.5707,
|
| 16 |
+
0.0,
|
| 17 |
+
-0.2094
|
| 18 |
+
],
|
| 19 |
+
"extended_q_rad": [
|
| 20 |
+
1.8326,
|
| 21 |
+
2.35619449,
|
| 22 |
+
0.90757121,
|
| 23 |
+
-0.08726646,
|
| 24 |
+
1.309,
|
| 25 |
+
0.0
|
| 26 |
+
],
|
| 27 |
+
"delta_q_rad": [
|
| 28 |
+
0.2619,
|
| 29 |
+
0.9598944899999999,
|
| 30 |
+
-0.66312879,
|
| 31 |
+
-1.65796646,
|
| 32 |
+
1.309,
|
| 33 |
+
0.2094
|
| 34 |
+
]
|
| 35 |
+
},
|
| 36 |
+
"pose_match": {
|
| 37 |
+
"folded": {
|
| 38 |
+
"target_rad": [
|
| 39 |
+
1.5707,
|
| 40 |
+
1.3963,
|
| 41 |
+
1.5707,
|
| 42 |
+
1.5707,
|
| 43 |
+
0.0,
|
| 44 |
+
-0.2094
|
| 45 |
+
],
|
| 46 |
+
"nearest_measured_rad": [
|
| 47 |
+
1.569741715,
|
| 48 |
+
1.397360624,
|
| 49 |
+
1.571850939,
|
| 50 |
+
1.571491412,
|
| 51 |
+
-0.000886833,
|
| 52 |
+
-0.208837103
|
| 53 |
+
],
|
| 54 |
+
"nearest_error_deg": [
|
| 55 |
+
-0.05490568607069746,
|
| 56 |
+
0.06076927885028082,
|
| 57 |
+
0.06594394717700527,
|
| 58 |
+
0.045344567456013375,
|
| 59 |
+
-0.05081178803292533,
|
| 60 |
+
0.03225162240057588
|
| 61 |
+
],
|
| 62 |
+
"max_abs_error_deg": 0.06594394717700527
|
| 63 |
+
},
|
| 64 |
+
"extended": {
|
| 65 |
+
"target_rad": [
|
| 66 |
+
1.8326,
|
| 67 |
+
2.35619449,
|
| 68 |
+
0.90757121,
|
| 69 |
+
-0.08726646,
|
| 70 |
+
1.309,
|
| 71 |
+
0.0
|
| 72 |
+
],
|
| 73 |
+
"nearest_measured_rad": [
|
| 74 |
+
1.833011168,
|
| 75 |
+
2.355259721,
|
| 76 |
+
0.906726456,
|
| 77 |
+
-0.088012148,
|
| 78 |
+
1.309851814,
|
| 79 |
+
-0.000790959
|
| 80 |
+
],
|
| 81 |
+
"nearest_error_deg": [
|
| 82 |
+
0.023558191070839205,
|
| 83 |
+
-0.053558318519670925,
|
| 84 |
+
-0.04840083892679134,
|
| 85 |
+
-0.042724775233551004,
|
| 86 |
+
0.048805347130157065,
|
| 87 |
+
-0.045318612467888084
|
| 88 |
+
],
|
| 89 |
+
"max_abs_error_deg": 0.053558318519670925
|
| 90 |
+
}
|
| 91 |
+
},
|
| 92 |
+
"named_pose_estimates": {
|
| 93 |
+
"folded": {
|
| 94 |
+
"target_rad": [
|
| 95 |
+
1.5707,
|
| 96 |
+
1.3963,
|
| 97 |
+
1.5707,
|
| 98 |
+
1.5707,
|
| 99 |
+
0.0,
|
| 100 |
+
-0.2094
|
| 101 |
+
],
|
| 102 |
+
"median_position_rad": [
|
| 103 |
+
1.568375513,
|
| 104 |
+
1.394843937,
|
| 105 |
+
1.568830914,
|
| 106 |
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5.76,
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0.78
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| 623 |
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}
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| 624 |
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},
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| 626 |
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"definition": "tau_g(s) = tau_folded + s * (tau_extended - tau_folded), s in [0,1]",
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| 627 |
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2.2199999999999998,
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0.78
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5.76,
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0.78
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],
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| 651 |
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| 652 |
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},
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| 653 |
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5.597631050013836e-05,
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0.0
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1.5750621125095607,
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0.5620391445298349,
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0.32457227928677856,
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0.0
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| 670 |
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}
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| 671 |
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}
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