Files
appRobotHoming/test/homing/20260616_135403/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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218.11543810450308
],
"joint_axis_world": [
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],
"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,
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],
"link": "Arm2",
"tier": "primary",
"skipped": false,
"angle_deg": 3.320663295151834,
"baseline_model_mm": 26.788523662195356,
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"weight": 906.5696394230024
},
{
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],
"link": "Arm2",
"tier": "primary",
"skipped": true,
"reason": "bl_model=0.0 bl_obs=7.2 < 15.0"
},
{
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],
"link": "Arm2",
"tier": "primary",
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"angle_deg": -5.41540861073131,
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"weight": 643.3662290398527
},
{
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],
"link": "Arm2",
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"angle_deg": -1.9878159055548217,
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"weight": 729.8884163533103
},
{
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],
"link": "Arm2",
"tier": "primary",
"skipped": true,
"reason": "bl_model=0.0 bl_obs=10.7 < 15.0"
},
{
"marker_ids": [
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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
}
}