339 lines
10 KiB
JSON
339 lines
10 KiB
JSON
{
|
|
"observation": "corner_pose",
|
|
"matrix": {
|
|
"Scene11": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.21615071495813823,
|
|
"max_abs_deg": 0.8314190755566813,
|
|
"mean_abs_mm": 0.008262698768396692,
|
|
"max_abs_mm": 0.013081401253181468
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.38749059657140494,
|
|
"max_abs_deg": 0.7435712942532007,
|
|
"mean_abs_mm": 0.15624107163785528,
|
|
"max_abs_mm": 0.2994007420225291
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.24076193032735205,
|
|
"max_abs_deg": 0.7758696886111238,
|
|
"mean_abs_mm": 0.05602993259134115,
|
|
"max_abs_mm": 0.060046841579868726
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.24076193032735205,
|
|
"max_abs_deg": 0.7758696886111238,
|
|
"mean_abs_mm": 0.05602993259134115,
|
|
"max_abs_mm": 0.060046841579868726
|
|
}
|
|
},
|
|
"Scene12": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.1394358162818984,
|
|
"max_abs_deg": 0.2923307824906374,
|
|
"mean_abs_mm": 0.05495893424309628,
|
|
"max_abs_mm": 0.05495893424309628
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.2887046847064975,
|
|
"max_abs_deg": 0.700084532189635,
|
|
"mean_abs_mm": 0.05495893424309628,
|
|
"max_abs_mm": 0.05495893424309628
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.23421405631437628,
|
|
"max_abs_deg": 0.6623398298570464,
|
|
"mean_abs_mm": 0.06225340961087511,
|
|
"max_abs_mm": 0.06225340961087511
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.23421405631437628,
|
|
"max_abs_deg": 0.6623398298570464,
|
|
"mean_abs_mm": 0.06225340961087511,
|
|
"max_abs_mm": 0.06225340961087511
|
|
}
|
|
},
|
|
"Scene4": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.1689903806559073,
|
|
"max_abs_deg": 0.37177692028527076,
|
|
"mean_abs_mm": 0.12196674018700904,
|
|
"max_abs_mm": 0.12203581131754504
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.2052561066616761,
|
|
"max_abs_deg": 0.40043968827325216,
|
|
"mean_abs_mm": 0.20664534471432816,
|
|
"max_abs_mm": 0.2912548781111113
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.12764613973571387,
|
|
"max_abs_deg": 0.21003754767065175,
|
|
"mean_abs_mm": 0.004541214773356117,
|
|
"max_abs_mm": 0.007785849528890054
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.12764613973571387,
|
|
"max_abs_deg": 0.21003754767065175,
|
|
"mean_abs_mm": 0.004541214773356117,
|
|
"max_abs_mm": 0.007785849528890054
|
|
}
|
|
},
|
|
"Scene5": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.24751400376691776,
|
|
"max_abs_deg": 0.5125580870892463,
|
|
"mean_abs_mm": 0.09353406132425324,
|
|
"max_abs_mm": 0.1507674786526909
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.37528621184521854,
|
|
"max_abs_deg": 0.6967000968706998,
|
|
"mean_abs_mm": 0.12625134900152357,
|
|
"max_abs_mm": 0.21620205400723158
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.09060360042167304,
|
|
"max_abs_deg": 0.1434928216381195,
|
|
"mean_abs_mm": 0.014419220965278257,
|
|
"max_abs_mm": 0.020356040652554697
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.09060360042167304,
|
|
"max_abs_deg": 0.1434928216381195,
|
|
"mean_abs_mm": 0.014419220965278257,
|
|
"max_abs_mm": 0.020356040652554697
|
|
}
|
|
},
|
|
"Scene6": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.3720210667917684,
|
|
"max_abs_deg": 0.7648573568365009,
|
|
"mean_abs_mm": 0.3613204413461384,
|
|
"max_abs_mm": 0.712110322655052
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.7316454589650221,
|
|
"max_abs_deg": 1.7237275472800775,
|
|
"mean_abs_mm": 0.4305546445989883,
|
|
"max_abs_mm": 0.8505787291607518
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.3541493232707921,
|
|
"max_abs_deg": 1.1662562506099334,
|
|
"mean_abs_mm": 0.14890611576813906,
|
|
"max_abs_mm": 0.2013600383222438
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.3541493232707921,
|
|
"max_abs_deg": 1.1662562506099334,
|
|
"mean_abs_mm": 0.14890611576813906,
|
|
"max_abs_mm": 0.2013600383222438
|
|
}
|
|
},
|
|
"Scene7": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.5815188036541258,
|
|
"max_abs_deg": 1.7172960028987632,
|
|
"mean_abs_mm": 0.17909586175084868,
|
|
"max_abs_mm": 0.313891394909561
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.6459864657291178,
|
|
"max_abs_deg": 1.3044728301107398,
|
|
"mean_abs_mm": 0.05085403969021218,
|
|
"max_abs_mm": 0.05740775078828797
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.5322101800604117,
|
|
"max_abs_deg": 1.5679743083230164,
|
|
"mean_abs_mm": 0.32619525048234,
|
|
"max_abs_mm": 0.39010299334816345
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.5322101800604117,
|
|
"max_abs_deg": 1.5679743083230164,
|
|
"mean_abs_mm": 0.32619525048234,
|
|
"max_abs_mm": 0.39010299334816345
|
|
}
|
|
},
|
|
"Scene8": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.2597533931518797,
|
|
"max_abs_deg": 0.6380771626184014,
|
|
"mean_abs_mm": 0.029322037687468328,
|
|
"max_abs_mm": 0.032765746060491985
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.45929803469902597,
|
|
"max_abs_deg": 0.9239031754049449,
|
|
"mean_abs_mm": 0.05204031166694967,
|
|
"max_abs_mm": 0.07820229401945467
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.3073474311985535,
|
|
"max_abs_deg": 0.6645055768230179,
|
|
"mean_abs_mm": 0.13313561563484289,
|
|
"max_abs_mm": 0.19702884143382704
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.3073474311985535,
|
|
"max_abs_deg": 0.6645055768230179,
|
|
"mean_abs_mm": 0.13313561563484289,
|
|
"max_abs_mm": 0.19702884143382704
|
|
}
|
|
},
|
|
"Scene9": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.3923356692953973,
|
|
"max_abs_deg": 1.4948777416184953,
|
|
"mean_abs_mm": 0.14356583700798886,
|
|
"max_abs_mm": 0.2574687935528708
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.5281710000926637,
|
|
"max_abs_deg": 1.3165046155579603,
|
|
"mean_abs_mm": 0.2919599619770281,
|
|
"max_abs_mm": 0.5542570434909493
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.13197745617665077,
|
|
"max_abs_deg": 0.19531145821179052,
|
|
"mean_abs_mm": 0.09420136800160872,
|
|
"max_abs_mm": 0.11355612175911745
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.13197745617665077,
|
|
"max_abs_deg": 0.19531145821179052,
|
|
"mean_abs_mm": 0.09420136800160872,
|
|
"max_abs_mm": 0.11355612175911745
|
|
}
|
|
},
|
|
"Scene9a": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.34522769828549826,
|
|
"max_abs_deg": 1.0414123806210682,
|
|
"mean_abs_mm": 0.2061424863522392,
|
|
"max_abs_mm": 0.38298669630472126
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.5338944077748919,
|
|
"max_abs_deg": 1.8379242756954568,
|
|
"mean_abs_mm": 0.17538586419238023,
|
|
"max_abs_mm": 0.3214734519850033
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.380374450420976,
|
|
"max_abs_deg": 1.1839749264013335,
|
|
"mean_abs_mm": 0.1337460792771763,
|
|
"max_abs_mm": 0.145277731665594
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.380374450420976,
|
|
"max_abs_deg": 1.1839749264013335,
|
|
"mean_abs_mm": 0.1337460792771763,
|
|
"max_abs_mm": 0.145277731665594
|
|
}
|
|
},
|
|
"Scene9b": {
|
|
"sequential_vector": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.4318049021823242,
|
|
"max_abs_deg": 0.7961252335628615,
|
|
"mean_abs_mm": 0.24164404042724819,
|
|
"max_abs_mm": 0.4507708686551588
|
|
},
|
|
"sequential_fk": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.1849035221198619,
|
|
"max_abs_deg": 0.44040456936312466,
|
|
"mean_abs_mm": 0.035433954208512475,
|
|
"max_abs_mm": 0.038350696217687386
|
|
},
|
|
"global_ba": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.13080989543460078,
|
|
"max_abs_deg": 0.3566984466850158,
|
|
"mean_abs_mm": 0.05474286758364233,
|
|
"max_abs_mm": 0.06138719680519422
|
|
},
|
|
"hybrid": {
|
|
"n_joints": 7,
|
|
"mean_abs_deg": 0.13080989543460078,
|
|
"max_abs_deg": 0.3566984466850158,
|
|
"mean_abs_mm": 0.05474286758364233,
|
|
"max_abs_mm": 0.06138719680519422
|
|
}
|
|
}
|
|
},
|
|
"aggregate": {
|
|
"sequential_vector": {
|
|
"mean_deg": 0.31547524490238554,
|
|
"std_deg": 0.1281946335848945,
|
|
"worst_deg": 1.7172960028987632,
|
|
"mean_mm": 0.1439813139094687,
|
|
"worst_mm": 0.712110322655052,
|
|
"n_scenes": 10
|
|
},
|
|
"sequential_fk": {
|
|
"mean_deg": 0.43406364891653804,
|
|
"std_deg": 0.17149696414532492,
|
|
"worst_deg": 1.8379242756954568,
|
|
"mean_mm": 0.15803254759308744,
|
|
"worst_mm": 0.8505787291607518,
|
|
"n_scenes": 10
|
|
},
|
|
"global_ba": {
|
|
"mean_deg": 0.25300944633611,
|
|
"std_deg": 0.13398997870322718,
|
|
"worst_deg": 1.5679743083230164,
|
|
"mean_mm": 0.10281710746886,
|
|
"worst_mm": 0.39010299334816345,
|
|
"n_scenes": 10
|
|
},
|
|
"hybrid": {
|
|
"mean_deg": 0.25300944633611,
|
|
"std_deg": 0.13398997870322718,
|
|
"worst_deg": 1.5679743083230164,
|
|
"mean_mm": 0.10281710746886,
|
|
"worst_mm": 0.39010299334816345,
|
|
"n_scenes": 10
|
|
}
|
|
}
|
|
} |