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

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{
"status": "ok",
"link": "Ellbow",
"joint": "z",
"method": "fallback_1_child_axis",
"joint_origin_world_mm": [
302.92961386432523,
-115.6643985452182,
195.75197920278026
],
"joint_axis_world": [
-1.0,
0.0,
0.0
],
"mean_angle_deg": -30.87771471432869,
"circular_variance": 1.106978232756628e-05,
"circular_std_deg": 0.2695928517499839,
"num_pairs_used": 2,
"num_markers_matched": 2,
"per_pair": [
{
"marker_ids": [
129,
132
],
"link": "Ellbow",
"tier": "primary",
"skipped": true,
"reason": "bl_model=0.0 bl_obs=0.5 < 15.0"
},
{
"marker_ids": [
143,
146
],
"link": "Arm2",
"tier": "fallback_1_child_axis",
"skipped": false,
"angle_deg": -30.466169791617776,
"baseline_model_mm": 69.99999999999999,
"baseline_obs_mm": 69.90371726257193,
"weight": 4893.260208380034
},
{
"marker_ids": [
144,
148
],
"link": "Arm2",
"tier": "fallback_1_child_axis",
"skipped": false,
"angle_deg": -31.054317392869034,
"baseline_model_mm": 107.00000000000003,
"baseline_obs_mm": 106.56913684356692,
"weight": 11402.897642261663
}
],
"accumulated_state": {
"x": 192.92961386432523,
"y": 29.881507386797537,
"z": -30.87771471432869
}
}