Files
appRobotHoming/data/homing/20260625_172504/state_Arm2.json
2026-06-25 20:36:09 +02:00

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{
"status": "ok",
"link": "Arm2",
"joint": "a",
"method": "primary",
"joint_origin_world_mm": [
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84.27799422070137
],
"joint_axis_world": [
0.0,
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],
"mean_angle_deg": 93.37084948672933,
"circular_variance": 0.0007324693649812808,
"circular_std_deg": 2.193370075603702,
"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": 89.94688841244773,
"baseline_model_mm": 26.68445427585132,
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"weight": 657.6054253190281
},
{
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],
"link": "Arm2",
"tier": "primary",
"skipped": true,
"reason": "bl_model=0.3 bl_obs=2.8 < 15.0"
},
{
"marker_ids": [
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148
],
"link": "Arm2",
"tier": "primary",
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"angle_deg": 93.80406057538599,
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"weight": 769.6467108107678
},
{
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],
"link": "Arm2",
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"angle_deg": 92.82624404009415,
"baseline_model_mm": 26.791733799812224,
"baseline_obs_mm": 27.197454261300408,
"weight": 728.6669546013292
},
{
"marker_ids": [
144,
148
],
"link": "Arm2",
"tier": "primary",
"skipped": true,
"reason": "bl_model=0.4 bl_obs=4.3 < 15.0"
},
{
"marker_ids": [
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],
"link": "Arm2",
"tier": "primary",
"skipped": false,
"angle_deg": 96.11666161271195,
"baseline_model_mm": 26.946706663338293,
"baseline_obs_mm": 31.282017166008377,
"weight": 842.9473404099408
}
],
"accumulated_state": {
"x": 106.50906842923364,
"y": 8.73396517409613,
"z": 88.94460334069886,
"a": 93.37084948672933
}
}