Homing Marker Rotation

2026-06-16 16:01:32 +02:00
parent f929c19f4b
commit 08d1c21d1e
37 changed files with 23960 additions and 9 deletions
--- a/test/homing/20260616_135403/state_Arm2.json
+++ b/test/homing/20260616_135403/state_Arm2.json
@@ -0,0 +1,101 @@
+{
+  "status": "ok",
+  "link": "Arm2",
+  "joint": "a",
+  "method": "primary",
+  "joint_origin_world_mm": [
+    392.7293528438215,
+    -101.1766769713254,
+    218.11543810450308
+  ],
+  "joint_axis_world": [
+    0.0,
+    -0.8915707801303708,
+    -0.4528813796323736
+  ],
+  "mean_angle_deg": -3.593602085604554,
+  "circular_variance": 0.007103593831153776,
+  "circular_std_deg": 6.841482910070501,
+  "num_pairs_used": 4,
+  "num_markers_matched": 4,
+  "per_pair": [
+    {
+      "marker_ids": [
+        143,
+        144
+      ],
+      "link": "Arm2",
+      "tier": "primary",
+      "skipped": false,
+      "angle_deg": 3.320663295151834,
+      "baseline_model_mm": 26.788523662195356,
+      "baseline_obs_mm": 33.84171710449189,
+      "weight": 906.5696394230024
+    },
+    {
+      "marker_ids": [
+        143,
+        146
+      ],
+      "link": "Arm2",
+      "tier": "primary",
+      "skipped": true,
+      "reason": "bl_model=0.0 bl_obs=7.2 < 15.0"
+    },
+    {
+      "marker_ids": [
+        143,
+        148
+      ],
+      "link": "Arm2",
+      "tier": "primary",
+      "skipped": false,
+      "angle_deg": -5.41540861073131,
+      "baseline_model_mm": 26.788523662195345,
+      "baseline_obs_mm": 24.016486953619907,
+      "weight": 643.3662290398527
+    },
+    {
+      "marker_ids": [
+        144,
+        146
+      ],
+      "link": "Arm2",
+      "tier": "primary",
+      "skipped": false,
+      "angle_deg": -1.9878159055548217,
+      "baseline_model_mm": 26.788523662195335,
+      "baseline_obs_mm": 27.246309858551403,
+      "weight": 729.8884163533103
+    },
+    {
+      "marker_ids": [
+        144,
+        148
+      ],
+      "link": "Arm2",
+      "tier": "primary",
+      "skipped": true,
+      "reason": "bl_model=0.0 bl_obs=10.7 < 15.0"
+    },
+    {
+      "marker_ids": [
+        146,
+        148
+      ],
+      "link": "Arm2",
+      "tier": "primary",
+      "skipped": false,
+      "angle_deg": -16.595084006319954,
+      "baseline_model_mm": 26.788523662195324,
+      "baseline_obs_mm": 18.108584778091874,
+      "weight": 485.10225181678425
+    }
+  ],
+  "accumulated_state": {
+    "x": 192.72935284382152,
+    "y": 35.99125404126597,
+    "z": -62.91995514975685,
+    "a": -3.593602085604554
+  }
+}