Files
appRobotHoming/test/homing/20260616_133151/state_Arm2.json
2026-06-16 16:01:32 +02:00

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{
"status": "ok",
"link": "Arm2",
"joint": "a",
"method": "primary",
"joint_origin_world_mm": [
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],
"joint_axis_world": [
0.0,
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],
"mean_angle_deg": -1.6952207816710758,
"circular_variance": 0.00020602093543020672,
"circular_std_deg": 1.1630963101820437,
"num_pairs_used": 4,
"num_markers_matched": 4,
"per_pair": [
{
"marker_ids": [
143,
144
],
"link": "Arm2",
"tier": "primary",
"skipped": false,
"angle_deg": -2.918623083197913,
"baseline_model_mm": 26.788523662195328,
"baseline_obs_mm": 27.871929768865822,
"weight": 746.6478501243084
},
{
"marker_ids": [
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],
"link": "Arm2",
"tier": "primary",
"skipped": true,
"reason": "bl_model=0.0 bl_obs=0.6 < 15.0"
},
{
"marker_ids": [
143,
148
],
"link": "Arm2",
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"angle_deg": -0.6228465071838889,
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"weight": 742.8470482587584
},
{
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],
"link": "Arm2",
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"angle_deg": -2.7850536051660586,
"baseline_model_mm": 26.78852366219535,
"baseline_obs_mm": 27.285879546928946,
"weight": 730.9484298867181
},
{
"marker_ids": [
144,
148
],
"link": "Arm2",
"tier": "primary",
"skipped": true,
"reason": "bl_model=0.0 bl_obs=1.1 < 15.0"
},
{
"marker_ids": [
146,
148
],
"link": "Arm2",
"tier": "primary",
"skipped": false,
"angle_deg": -0.43914752876333224,
"baseline_model_mm": 26.788523662195356,
"baseline_obs_mm": 27.14708174031441,
"weight": 727.230241559964
}
],
"accumulated_state": {
"x": 192.92961386432523,
"y": 29.881507386797537,
"z": -30.87771471432869,
"a": -1.6952207816710758
}
}