4785 lines
124 KiB
JSON
4785 lines
124 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"method": "deterministic_geometric_sequential_prefix",
|
|
"created_utc": "2026-06-01T17:39:45Z",
|
|
"root_pose": {
|
|
"translation_m": [
|
|
1.4877377108035716e-11,
|
|
1.1336950128670864e-10,
|
|
1.5748348805577628e-10
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999999999999994,
|
|
5.149932722752071e-11,
|
|
2.498400176726485e-11
|
|
],
|
|
[
|
|
-5.149936365031433e-11,
|
|
0.9999999999999992,
|
|
-2.008679784119613e-11
|
|
],
|
|
[
|
|
-2.498400728867953e-11,
|
|
2.0086907675339685e-11,
|
|
1.0000000000000002
|
|
]
|
|
],
|
|
"euler_xyz_deg": [
|
|
1.1508950332659035e-09,
|
|
1.4314781729654247e-09,
|
|
-2.950696184772458e-09
|
|
]
|
|
},
|
|
"movements": {
|
|
"x": {
|
|
"value_m": 0.06270235665096582,
|
|
"value_mm": 62.702356650965825,
|
|
"joint_type": "linear",
|
|
"link": "Base"
|
|
},
|
|
"y": {
|
|
"value_rad": -0.2287079652555155,
|
|
"value_deg": -13.10400115016571,
|
|
"joint_type": "revolute",
|
|
"link": "Arm1"
|
|
},
|
|
"z": {
|
|
"value_rad": 1.5266209153694081,
|
|
"value_deg": 87.46893536706551,
|
|
"joint_type": "revolute",
|
|
"link": "Ellbow"
|
|
},
|
|
"a": {
|
|
"value_rad": 0.4456159985371926,
|
|
"value_deg": 25.531915999689,
|
|
"joint_type": "revolute",
|
|
"link": "Arm2"
|
|
},
|
|
"b": {
|
|
"value_rad": 0.0,
|
|
"value_deg": 0.0,
|
|
"joint_type": "revolute",
|
|
"link": "Hand"
|
|
},
|
|
"c": {
|
|
"value_rad": 0.0,
|
|
"value_deg": 0.0,
|
|
"joint_type": "revolute",
|
|
"link": "Palm"
|
|
},
|
|
"e": {
|
|
"value_m": 0.0,
|
|
"value_mm": 0.0,
|
|
"joint_type": "linear",
|
|
"link": "FingerB"
|
|
}
|
|
},
|
|
"link_poses": {
|
|
"Board": {
|
|
"translation_m": [
|
|
1.4877377108035716e-11,
|
|
1.1336950128670864e-10,
|
|
1.5748348805577628e-10
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999999999999994,
|
|
5.149932722752071e-11,
|
|
2.498400176726485e-11
|
|
],
|
|
[
|
|
-5.149936365031433e-11,
|
|
0.9999999999999992,
|
|
-2.008679784119613e-11
|
|
],
|
|
[
|
|
-2.498400728867953e-11,
|
|
2.0086907675339685e-11,
|
|
1.0000000000000002
|
|
]
|
|
]
|
|
},
|
|
"Base": {
|
|
"translation_m": [
|
|
0.06270235666618021,
|
|
1.0981898105435294e-10,
|
|
0.016000000155916936
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999999999999994,
|
|
5.149932722752071e-11,
|
|
2.498400176726485e-11
|
|
],
|
|
[
|
|
-5.149936365031433e-11,
|
|
0.9999999999999992,
|
|
-2.008679784119613e-11
|
|
],
|
|
[
|
|
-2.498400728867953e-11,
|
|
2.0086907675339685e-11,
|
|
1.0000000000000002
|
|
]
|
|
]
|
|
},
|
|
"Arm1": {
|
|
"translation_m": [
|
|
0.17270235667286638,
|
|
0.10800000010325007,
|
|
0.06100000015533809
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999999999999474,
|
|
5.582264776863633e-11,
|
|
1.2657529193818764e-11
|
|
],
|
|
[
|
|
-5.149936365031165e-11,
|
|
0.9739601371035105,
|
|
-0.2267193228051082
|
|
],
|
|
[
|
|
-2.4984007288678227e-11,
|
|
0.22671932280510854,
|
|
0.9739601371035114
|
|
]
|
|
]
|
|
},
|
|
"Ellbow": {
|
|
"translation_m": [
|
|
0.1727023566589107,
|
|
-0.13549003417262756,
|
|
0.004320169454060954
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999999999980358,
|
|
-1.0179994365889807e-11,
|
|
5.6327158315483346e-11
|
|
],
|
|
[
|
|
-5.14993636502132e-11,
|
|
0.26950923860226234,
|
|
0.9629978038946551
|
|
],
|
|
[
|
|
-2.4984007288630467e-11,
|
|
-0.962997803894656,
|
|
0.2695092386022627
|
|
]
|
|
]
|
|
},
|
|
"Arm2": {
|
|
"translation_m": [
|
|
0.2627023566587339,
|
|
-0.1354900341772625,
|
|
0.0043201694518123935
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.902345332761121,
|
|
-1.0179994365887819e-11,
|
|
-0.4310138053936577
|
|
],
|
|
[
|
|
0.41506534804566153,
|
|
0.2695092386022097,
|
|
0.8689565738040755
|
|
],
|
|
[
|
|
0.11616220251009071,
|
|
-0.9629978038944679,
|
|
0.24319040359345817
|
|
]
|
|
]
|
|
},
|
|
"Hand": {
|
|
"translation_m": [
|
|
0.26270235666127895,
|
|
-0.2028673438278149,
|
|
0.24506962042542937
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.902345332761121,
|
|
-1.0179994365887819e-11,
|
|
-0.4310138053936577
|
|
],
|
|
[
|
|
0.41506534804566153,
|
|
0.2695092386022097,
|
|
0.8689565738040755
|
|
],
|
|
[
|
|
0.11616220251009071,
|
|
-0.9629978038944679,
|
|
0.24319040359345817
|
|
]
|
|
]
|
|
},
|
|
"Palm": {
|
|
"translation_m": [
|
|
0.26270235666127895,
|
|
-0.2028673438278149,
|
|
0.24506962042542937
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.902345332761121,
|
|
-1.0179994365887819e-11,
|
|
-0.4310138053936577
|
|
],
|
|
[
|
|
0.41506534804566153,
|
|
0.2695092386022097,
|
|
0.8689565738040755
|
|
],
|
|
[
|
|
0.11616220251009071,
|
|
-0.9629978038944679,
|
|
0.24319040359345817
|
|
]
|
|
]
|
|
},
|
|
"FingerA": {
|
|
"translation_m": [
|
|
0.2663117379926797,
|
|
-0.2106399057867096,
|
|
0.27923919237177613
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.902345332761121,
|
|
-1.0179994365887819e-11,
|
|
-0.4310138053936577
|
|
],
|
|
[
|
|
0.41506534804566153,
|
|
0.2695092386022097,
|
|
0.8689565738040755
|
|
],
|
|
[
|
|
0.11616220251009071,
|
|
-0.9629978038944679,
|
|
0.24319040359345817
|
|
]
|
|
]
|
|
},
|
|
"FingerB": {
|
|
"translation_m": [
|
|
0.2590929753305908,
|
|
-0.2139604285710749,
|
|
0.2783098947516954
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.902345332761121,
|
|
-1.0179994365887819e-11,
|
|
-0.4310138053936577
|
|
],
|
|
[
|
|
0.41506534804566153,
|
|
0.2695092386022097,
|
|
0.8689565738040755
|
|
],
|
|
[
|
|
0.11616220251009071,
|
|
-0.9629978038944679,
|
|
0.24319040359345817
|
|
]
|
|
]
|
|
}
|
|
},
|
|
"stage_reports": [
|
|
{
|
|
"method": "deterministic_geometric_prefix",
|
|
"active_links": [
|
|
"Board",
|
|
"Base",
|
|
"Arm1"
|
|
],
|
|
"active_observations": 41,
|
|
"joint_updates": [
|
|
{
|
|
"pass": 0,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.0,
|
|
"new": 0.0451503374761015,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
0.999999999999,
|
|
-5.149936365026286e-11,
|
|
-2.498400728865456e-11
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.020569436918359538,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.05640168504907343,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.05847989046087151,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 0.0,
|
|
"new": -0.2538156107860967,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.25381561078609666,
|
|
"theta_alt_rad": 2.8877770428036964,
|
|
"score_theta": 0.05683912935603255,
|
|
"score_theta_alt": 0.9071779737412696,
|
|
"best_score": 0.05683912935603255,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"pass": 1,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.0451503374761015,
|
|
"new": 0.0451503374761015,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
0.999999999999,
|
|
-5.149936365026286e-11,
|
|
-2.498400728865456e-11
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.020569436918359534,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.05640168504907344,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.05847989046087151,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": -0.2538156107860967,
|
|
"new": -0.2538156107860967,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.25381561078609666,
|
|
"theta_alt_rad": 2.8877770428036964,
|
|
"score_theta": 0.05683912935603255,
|
|
"score_theta_alt": 0.9071779737412696,
|
|
"best_score": 0.05683912935603255,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"root_link": "Board",
|
|
"root_pose": {
|
|
"reason": "kabsch",
|
|
"used_markers": [
|
|
210,
|
|
211,
|
|
214,
|
|
208,
|
|
206,
|
|
205,
|
|
207,
|
|
217,
|
|
46,
|
|
47,
|
|
51,
|
|
53,
|
|
54,
|
|
55,
|
|
56,
|
|
58,
|
|
60,
|
|
61,
|
|
62,
|
|
63,
|
|
64,
|
|
66,
|
|
68,
|
|
69,
|
|
72,
|
|
75,
|
|
79,
|
|
83,
|
|
84,
|
|
85,
|
|
86,
|
|
92,
|
|
95,
|
|
96,
|
|
97,
|
|
102,
|
|
103,
|
|
105
|
|
]
|
|
},
|
|
"marker_stats": {
|
|
"num_markers_used": 41,
|
|
"mean_error_m": 0.009778811887384822,
|
|
"rms_error_m": 0.03616873286539232,
|
|
"median_error_m": 1.0103337431238005e-10,
|
|
"worst_error_m": 0.139392783964287
|
|
},
|
|
"marker_reports": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.921452300190367e-11,
|
|
2.350980521370616e-12,
|
|
7.356334291719335e-11
|
|
],
|
|
"error_norm_m": 1.0103337431238005e-10,
|
|
"predicted_m": [
|
|
0.5367100000237451,
|
|
0.1854400000862775,
|
|
-0.02729999985220077
|
|
],
|
|
"observed_m": [
|
|
0.5367100000929597,
|
|
0.18544000008392653,
|
|
-0.027299999925764113
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.194888880704184e-11,
|
|
1.2825074335864883e-11,
|
|
-9.619756380363498e-12
|
|
],
|
|
"error_norm_m": 4.490803398818038e-11,
|
|
"predicted_m": [
|
|
0.34422999999943854,
|
|
-0.2865399999038096,
|
|
-0.027299999856872467
|
|
],
|
|
"observed_m": [
|
|
0.34423000004138743,
|
|
-0.28653999991663465,
|
|
-0.02729999984725271
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.139469322872458e-11,
|
|
6.881378800116522e-11,
|
|
6.761477142069872e-11
|
|
],
|
|
"error_norm_m": 1.0497911868958923e-10,
|
|
"predicted_m": [
|
|
0.16780000000533324,
|
|
-0.17207999989472358,
|
|
-0.02729999985016539
|
|
],
|
|
"observed_m": [
|
|
0.16779999996393855,
|
|
-0.17207999996353737,
|
|
-0.027299999917780163
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-2.6609547898459596e-11,
|
|
-3.455066788227157e-11,
|
|
2.512753893846309e-12
|
|
],
|
|
"error_norm_m": 4.3682154509621976e-11,
|
|
"predicted_m": [
|
|
0.48625000002512525,
|
|
0.21224000008887617,
|
|
-0.027299999850401747
|
|
],
|
|
"observed_m": [
|
|
0.4862500000517348,
|
|
0.21224000012342684,
|
|
-0.0272999998529145
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.6582626644919856e-11,
|
|
6.04571948059629e-11,
|
|
1.2305761618036648e-10
|
|
],
|
|
"error_norm_m": 1.4480397235207513e-10,
|
|
"predicted_m": [
|
|
0.34226999999716995,
|
|
-0.3305899999037086,
|
|
-0.02729999985770833
|
|
],
|
|
"observed_m": [
|
|
0.3422700000437526,
|
|
-0.33058999996416577,
|
|
-0.027299999980765946
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"error_m": [
|
|
5.331846075762314e-12,
|
|
4.191130775765828e-11,
|
|
3.601537471031868e-11
|
|
],
|
|
"error_norm_m": 5.551660576852147e-11,
|
|
"predicted_m": [
|
|
0.2837200000006725,
|
|
-0.2625799999006933,
|
|
-0.027299999854879402
|
|
],
|
|
"observed_m": [
|
|
0.28371999999534064,
|
|
-0.2625799999426046,
|
|
-0.027299999890894776
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.747152670958599e-11,
|
|
3.597028230828414e-11,
|
|
1.0086134011322301e-10
|
|
],
|
|
"error_norm_m": 1.1713418368227034e-10,
|
|
"predicted_m": [
|
|
0.49868000002288143,
|
|
0.16867000008823602,
|
|
-0.027299999851587486
|
|
],
|
|
"observed_m": [
|
|
0.49868000007035296,
|
|
0.16867000005226573,
|
|
-0.027299999952448827
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"error_m": [
|
|
5.776350925357221e-11,
|
|
-1.0487305468487307e-11,
|
|
-6.714264561002992e-12
|
|
],
|
|
"error_norm_m": 5.909050622453684e-11,
|
|
"predicted_m": [
|
|
0.05009000000296277,
|
|
-0.2181099998886616,
|
|
-0.027299999848149126
|
|
],
|
|
"observed_m": [
|
|
0.05008999994519926,
|
|
-0.21810999987817428,
|
|
-0.02729999984143486
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.88974408238596e-11,
|
|
4.0529801736965965e-11,
|
|
6.540252367459587e-11
|
|
],
|
|
"error_norm_m": 8.621580965512939e-11,
|
|
"predicted_m": [
|
|
0.43436000002881114,
|
|
0.2838100000915484,
|
|
-0.027299999847667705
|
|
],
|
|
"observed_m": [
|
|
0.4343599999899137,
|
|
0.2838100000510186,
|
|
-0.02729999991307023
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"error_m": [
|
|
2.7931441881623442e-12,
|
|
4.307881829035409e-11,
|
|
1.0390255669734394e-10
|
|
],
|
|
"error_norm_m": 1.1251367707080763e-10,
|
|
"predicted_m": [
|
|
-0.022419999968509654,
|
|
0.3358300001150722,
|
|
-0.027299999835210594
|
|
],
|
|
"observed_m": [
|
|
-0.022419999971302798,
|
|
0.3358300000719934,
|
|
-0.02729999993911315
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-2.3758495171222194e-11,
|
|
8.230527370756135e-12,
|
|
-2.646639851722199e-12
|
|
],
|
|
"error_norm_m": 2.528264970501467e-11,
|
|
"predicted_m": [
|
|
0.4047000000051776,
|
|
-0.1750999999069238,
|
|
-0.027299999856144765
|
|
],
|
|
"observed_m": [
|
|
0.4047000000289361,
|
|
-0.17509999991515432,
|
|
-0.027299999853498125
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-7.193201589927867e-11,
|
|
9.119155430781234e-11,
|
|
9.76514528960859e-11
|
|
],
|
|
"error_norm_m": 1.5174294296976465e-10,
|
|
"predicted_m": [
|
|
0.7774000000020334,
|
|
-0.23614999992611754,
|
|
-0.02729999986668261
|
|
],
|
|
"observed_m": [
|
|
0.7774000000739654,
|
|
-0.2361500000173091,
|
|
-0.027299999964334062
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.32130267469644e-11,
|
|
-2.4742902171581704e-11,
|
|
-7.563099452267963e-11
|
|
],
|
|
"error_norm_m": 1.1513759751164288e-10,
|
|
"predicted_m": [
|
|
-0.021269999995498393,
|
|
-0.18822999988498657,
|
|
-0.02729999984576607
|
|
],
|
|
"observed_m": [
|
|
-0.02127000007871142,
|
|
-0.18822999986024366,
|
|
-0.027299999770135076
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.608047442568932e-12,
|
|
1.0081047108201346e-11,
|
|
3.1897609553688255e-11
|
|
],
|
|
"error_norm_m": 3.409913924193044e-11,
|
|
"predicted_m": [
|
|
0.2097499999954891,
|
|
-0.3632299998968839,
|
|
-0.027299999855053082
|
|
],
|
|
"observed_m": [
|
|
0.20975000000209715,
|
|
-0.363229999906965,
|
|
-0.027299999886950692
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.352573608670582e-11,
|
|
3.0912244985970005e-11,
|
|
1.0560027852157816e-10
|
|
],
|
|
"error_norm_m": 1.1085996234256408e-10,
|
|
"predicted_m": [
|
|
0.5737300000229829,
|
|
0.170640000084371,
|
|
-0.027299999853422966
|
|
],
|
|
"observed_m": [
|
|
0.5737300000365086,
|
|
0.17064000005345875,
|
|
-0.027299999959023245
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.271276561607085e-11,
|
|
4.2441605785370484e-11,
|
|
1.3482569227729613e-10
|
|
],
|
|
"error_norm_m": 1.476605483745281e-10,
|
|
"predicted_m": [
|
|
0.007609999999713185,
|
|
-0.28120999988647377,
|
|
-0.027299999848355287
|
|
],
|
|
"observed_m": [
|
|
0.00761000004242595,
|
|
-0.2812099999289154,
|
|
-0.02729999998318098
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.1204204231063386e-11,
|
|
-1.1101033980942532e-10,
|
|
-1.3621226715998525e-10
|
|
],
|
|
"error_norm_m": 1.760755845139202e-10,
|
|
"predicted_m": [
|
|
0.4409900000242024,
|
|
0.19432000009120703,
|
|
-0.02729999984963093
|
|
],
|
|
"observed_m": [
|
|
0.4409900000354066,
|
|
0.19432000020221737,
|
|
-0.027299999713418663
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.744133475480638e-11,
|
|
4.427902489112512e-12,
|
|
7.917074634766763e-11
|
|
],
|
|
"error_norm_m": 8.768960568916528e-11,
|
|
"predicted_m": [
|
|
-0.025699999975783934,
|
|
0.19458000011524126,
|
|
-0.02729999983796592
|
|
],
|
|
"observed_m": [
|
|
-0.02570000001322527,
|
|
0.19458000011081336,
|
|
-0.027299999917136667
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.0256906435301971e-11,
|
|
-2.787770014833768e-12,
|
|
6.730345447625297e-12
|
|
],
|
|
"error_norm_m": 1.2580673317534154e-11,
|
|
"predicted_m": [
|
|
0.3123000000060011,
|
|
-0.1591099999021653,
|
|
-0.027299999853515052
|
|
],
|
|
"observed_m": [
|
|
0.312300000016258,
|
|
-0.15910999989937752,
|
|
-0.027299999860245398
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.928993935753411e-11,
|
|
2.7480240305521875e-12,
|
|
6.992308121400725e-11
|
|
],
|
|
"error_norm_m": 8.025265264931655e-11,
|
|
"predicted_m": [
|
|
0.044160000031664884,
|
|
0.3392200001116434,
|
|
-0.027299999836805935
|
|
],
|
|
"observed_m": [
|
|
0.044159999992374944,
|
|
0.33922000010889536,
|
|
-0.027299999906729017
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"error_m": [
|
|
1.2232381774168744e-11,
|
|
-9.382705723481877e-11,
|
|
-1.1213998132864056e-10
|
|
],
|
|
"error_norm_m": 1.467260142088063e-10,
|
|
"predicted_m": [
|
|
0.4074900000275036,
|
|
0.2584200000929322,
|
|
-0.027299999847506397
|
|
],
|
|
"observed_m": [
|
|
0.4074900000152712,
|
|
0.25842000018675926,
|
|
-0.027299999735366415
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-2.044575619919442e-11,
|
|
2.2512602892987843e-11,
|
|
-3.777428370099756e-11
|
|
],
|
|
"error_norm_m": 4.849477028193567e-11,
|
|
"predicted_m": [
|
|
0.5045799999980887,
|
|
-0.3127499999120675,
|
|
-0.02729999986140513
|
|
],
|
|
"observed_m": [
|
|
0.5045800000185344,
|
|
-0.3127499999345801,
|
|
-0.027299999823630846
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.23500115584352e-11,
|
|
-2.6180668744046898e-11,
|
|
-6.783550804412286e-11
|
|
],
|
|
"error_norm_m": 7.958396079186222e-11,
|
|
"predicted_m": [
|
|
0.3628900000292334,
|
|
0.29201000009522904,
|
|
-0.027299999845717387
|
|
],
|
|
"observed_m": [
|
|
0.3628899999968834,
|
|
0.2920100001214097,
|
|
-0.02729999977788188
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.7151948184543926e-11,
|
|
2.1886936707460336e-12,
|
|
-5.762684079924085e-11
|
|
],
|
|
"error_norm_m": 6.859963858791422e-11,
|
|
"predicted_m": [
|
|
0.645090000004676,
|
|
-0.18483999991930372,
|
|
-0.027299999862346318
|
|
],
|
|
"observed_m": [
|
|
0.6450900000418279,
|
|
-0.18483999992149241,
|
|
-0.027299999804719477
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2901459334766514e-12,
|
|
3.6927239044359794e-11,
|
|
4.4867467380305115e-11
|
|
],
|
|
"error_norm_m": 5.820254008911988e-11,
|
|
"predicted_m": [
|
|
0.18604000000008075,
|
|
-0.27406999989566283,
|
|
-0.027299999852669763
|
|
],
|
|
"observed_m": [
|
|
0.1860399999967906,
|
|
-0.27406999993259007,
|
|
-0.02729999989753723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.8183177186159583e-11,
|
|
7.180533945216894e-12,
|
|
1.1835185609321286e-12
|
|
],
|
|
"error_norm_m": 1.9585421019364308e-11,
|
|
"predicted_m": [
|
|
0.369770000004591,
|
|
-0.1864899999051249,
|
|
-0.027299999855500863
|
|
],
|
|
"observed_m": [
|
|
0.36977000002277416,
|
|
-0.18648999991230544,
|
|
-0.02729999985668438
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"error_m": [
|
|
9.351963647930006e-13,
|
|
1.6471490837943747e-11,
|
|
1.973084196027486e-11
|
|
],
|
|
"error_norm_m": 2.5719462030270577e-11,
|
|
"predicted_m": [
|
|
0.3043499999956724,
|
|
-0.35966999990175574,
|
|
-0.02729999985734506
|
|
],
|
|
"observed_m": [
|
|
0.3043499999947372,
|
|
-0.35966999991822723,
|
|
-0.027299999877075903
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-9.682676882505348e-11,
|
|
6.800027207987114e-11,
|
|
6.65371993613384e-11
|
|
],
|
|
"error_norm_m": 1.3574483070410947e-10,
|
|
"predicted_m": [
|
|
0.6496900000027108,
|
|
-0.2229999999195406,
|
|
-0.027299999863227762
|
|
],
|
|
"observed_m": [
|
|
0.6496900000995376,
|
|
-0.22299999998754086,
|
|
-0.02729999992976496
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.42121511412941e-11,
|
|
-2.9430458070578425e-11,
|
|
-7.908350710406076e-11
|
|
],
|
|
"error_norm_m": 1.192142581991192e-10,
|
|
"predicted_m": [
|
|
0.10571000000452832,
|
|
-0.187709999891526,
|
|
-0.027299999848928096
|
|
],
|
|
"observed_m": [
|
|
0.10570999992031617,
|
|
-0.18770999986209555,
|
|
-0.02729999976984459
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.7853163392089755e-11,
|
|
2.1510460079809945e-11,
|
|
-3.6753270565847984e-11
|
|
],
|
|
"error_norm_m": 4.617616520713017e-11,
|
|
"predicted_m": [
|
|
0.5248400000004835,
|
|
-0.2662499999131108,
|
|
-0.027299999860977264
|
|
],
|
|
"observed_m": [
|
|
0.5248400000183366,
|
|
-0.2662499999346213,
|
|
-0.027299999824223993
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.024580900555217472,
|
|
0.018230864050100173,
|
|
-0.13599177602044787
|
|
],
|
|
"error_norm_m": 0.139392783964287,
|
|
"predicted_m": [
|
|
0.15515033748943377,
|
|
-0.055662289650344726,
|
|
0.054702785508722075
|
|
],
|
|
"observed_m": [
|
|
0.1305694369342163,
|
|
-0.0738931537004449,
|
|
0.19069456152916994
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.490263799146078e-11,
|
|
6.59273607928057e-11,
|
|
9.302996030859448e-11
|
|
],
|
|
"error_norm_m": 1.2655153130067147e-10,
|
|
"predicted_m": [
|
|
0.7500000000102496,
|
|
-0.08999999992526098,
|
|
0.00030000013693766095
|
|
],
|
|
"observed_m": [
|
|
0.7500000000651522,
|
|
-0.08999999999118834,
|
|
0.00030000004390770064
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"error_m": [
|
|
6.827982623747175e-12,
|
|
-3.7700648158889294e-11,
|
|
-5.069396210319668e-11
|
|
],
|
|
"error_norm_m": 6.354398486112511e-11,
|
|
"predicted_m": [
|
|
0.6500000000143696,
|
|
-0.009999999920111104,
|
|
0.0003000001410430143
|
|
],
|
|
"observed_m": [
|
|
0.6500000000075417,
|
|
-0.009999999882410456,
|
|
0.0003000001917369764
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.425781880395107e-11,
|
|
1.4403794129647096e-11,
|
|
7.014771473108986e-11
|
|
],
|
|
"error_norm_m": 7.938368419598551e-11,
|
|
"predicted_m": [
|
|
0.7500000000143695,
|
|
-0.00999999992526104,
|
|
0.0003000001385446136
|
|
],
|
|
"observed_m": [
|
|
0.7500000000486273,
|
|
-0.009999999939664835,
|
|
0.00030000006839689885
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"error_m": [
|
|
7.159539627821232e-11,
|
|
-1.5204547343383723e-10,
|
|
-2.8029990779615196e-10
|
|
],
|
|
"error_norm_m": 3.268206925371851e-10,
|
|
"predicted_m": [
|
|
0.3500000000102497,
|
|
-0.08999999990466123,
|
|
0.00030000014693126384
|
|
],
|
|
"observed_m": [
|
|
0.3499999999386543,
|
|
-0.08999999975261576,
|
|
0.00030000042723117164
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.2297030461435625e-11,
|
|
-8.491484598804888e-11,
|
|
-4.74245199859856e-11
|
|
],
|
|
"error_norm_m": 1.0605967636633078e-10,
|
|
"predicted_m": [
|
|
0.020000000013854876,
|
|
-0.0199999998876665,
|
|
0.00030000015658206977
|
|
],
|
|
"observed_m": [
|
|
0.019999999971557846,
|
|
-0.019999999802751654,
|
|
0.00030000020400658975
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.269240847624815e-11,
|
|
8.939949475150755e-12,
|
|
-7.327679863713618e-11
|
|
],
|
|
"error_norm_m": 1.1084875432195134e-10,
|
|
"predicted_m": [
|
|
0.2500000000143698,
|
|
-0.009999999899511358,
|
|
0.0003000001510366172
|
|
],
|
|
"observed_m": [
|
|
0.24999999993167737,
|
|
-0.009999999908451308,
|
|
0.00030000022431341585
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.195955025769308e-11,
|
|
-1.3042663997431259e-10,
|
|
-2.399532524717182e-10
|
|
],
|
|
"error_norm_m": 2.851421394062765e-10,
|
|
"predicted_m": [
|
|
0.3500000000143697,
|
|
-0.009999999904661295,
|
|
0.0003000001485382165
|
|
],
|
|
"observed_m": [
|
|
0.34999999993241016,
|
|
-0.009999999774234655,
|
|
0.00030000038849146895
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.306532825320119e-11,
|
|
-2.1928098226098314e-11,
|
|
-8.054044632827342e-11
|
|
],
|
|
"error_norm_m": 8.97826314999892e-11,
|
|
"predicted_m": [
|
|
0.6500000000102497,
|
|
-0.08999999992011104,
|
|
0.0003000001394360617
|
|
],
|
|
"observed_m": [
|
|
0.650000000043315,
|
|
-0.08999999989818294,
|
|
0.000300000219976508
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
-0.011251347575889026,
|
|
0.00904772665328557,
|
|
-0.13134283449151735
|
|
],
|
|
"error_norm_m": 0.1321340014989789,
|
|
"predicted_m": [
|
|
0.15515033748438273,
|
|
-0.1427788132785483,
|
|
0.032103862726084356
|
|
],
|
|
"observed_m": [
|
|
0.16640168506027175,
|
|
-0.15182653993183387,
|
|
0.16344669721760172
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
-0.013329552987898119,
|
|
0.0036908402534508444,
|
|
-0.12866322264941263
|
|
],
|
|
"error_norm_m": 0.12940449817207283,
|
|
"predicted_m": [
|
|
0.1551503374820246,
|
|
-0.1678689913851572,
|
|
-0.010563255322576182
|
|
],
|
|
"observed_m": [
|
|
0.1684798904699227,
|
|
-0.17155983163860805,
|
|
0.11809996732683645
|
|
]
|
|
}
|
|
],
|
|
"stage_idx": 0,
|
|
"num_active_links": 3
|
|
},
|
|
{
|
|
"method": "deterministic_geometric_prefix",
|
|
"active_links": [
|
|
"Board",
|
|
"Base",
|
|
"Arm1",
|
|
"Ellbow"
|
|
],
|
|
"active_observations": 43,
|
|
"joint_updates": [
|
|
{
|
|
"pass": 0,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.0451503374761015,
|
|
"new": 0.03932058271123921,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 5,
|
|
"axis_world": [
|
|
0.999999999999,
|
|
-5.149936365026286e-11,
|
|
-2.498400728865456e-11
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.020569436918359534,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.05640168504907344,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.05847989046087151,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"q_i": 0.020538960436098878,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"q_i": 0.0406129406917927,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": -0.2538156107860967,
|
|
"new": -0.20389236799324362,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 5,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.20389236799324342,
|
|
"theta_alt_rad": 2.9377002855965495,
|
|
"score_theta": 0.07474104815568895,
|
|
"score_theta_alt": 1.2368745717459415,
|
|
"best_score": 0.07474104815568895,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": 0.0,
|
|
"new": -1.1468618192585254,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 1,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": 1.9947308343312669,
|
|
"theta_alt_rad": -1.1468618192585254,
|
|
"score_theta": 0.09005742853002957,
|
|
"score_theta_alt": 0.060269758536891226,
|
|
"best_score": 0.060269758536891226,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"pass": 1,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.03932058271123921,
|
|
"new": 0.03932058271128886,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 5,
|
|
"axis_world": [
|
|
0.999999999999,
|
|
-5.149936365026286e-11,
|
|
-2.498400728865456e-11
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.02056943691835953,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.05640168504907343,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.0584798904608715,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"q_i": 0.02053896043624319,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"q_i": 0.04061294069189662,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": -0.20389236799324362,
|
|
"new": -0.19455509564487805,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 5,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.1945550956448781,
|
|
"theta_alt_rad": 2.947037557944915,
|
|
"score_theta": 0.06626009051985911,
|
|
"score_theta_alt": 1.2134538154671959,
|
|
"best_score": 0.06626009051985911,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": -1.1468618192585254,
|
|
"new": -1.1625044027189215,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 1,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": 1.979088250870872,
|
|
"theta_alt_rad": -1.1625044027189215,
|
|
"score_theta": 0.08956373772482298,
|
|
"score_theta_alt": 0.06020393790864231,
|
|
"best_score": 0.06020393790864231,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"root_link": "Board",
|
|
"root_pose": {
|
|
"reason": "kabsch",
|
|
"used_markers": [
|
|
210,
|
|
211,
|
|
214,
|
|
208,
|
|
206,
|
|
205,
|
|
207,
|
|
217,
|
|
46,
|
|
47,
|
|
51,
|
|
53,
|
|
54,
|
|
55,
|
|
56,
|
|
58,
|
|
60,
|
|
61,
|
|
62,
|
|
63,
|
|
64,
|
|
66,
|
|
68,
|
|
69,
|
|
72,
|
|
75,
|
|
79,
|
|
83,
|
|
84,
|
|
85,
|
|
86,
|
|
92,
|
|
95,
|
|
96,
|
|
97,
|
|
102,
|
|
103,
|
|
105
|
|
]
|
|
},
|
|
"marker_stats": {
|
|
"num_markers_used": 43,
|
|
"mean_error_m": 0.012908680273136798,
|
|
"rms_error_m": 0.03867128518692191,
|
|
"median_error_m": 1.0497911868958923e-10,
|
|
"worst_error_m": 0.1289551600402737
|
|
},
|
|
"marker_reports": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.921452300190367e-11,
|
|
2.350980521370616e-12,
|
|
7.356334291719335e-11
|
|
],
|
|
"error_norm_m": 1.0103337431238005e-10,
|
|
"predicted_m": [
|
|
0.5367100000237451,
|
|
0.1854400000862775,
|
|
-0.02729999985220077
|
|
],
|
|
"observed_m": [
|
|
0.5367100000929597,
|
|
0.18544000008392653,
|
|
-0.027299999925764113
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.194888880704184e-11,
|
|
1.2825074335864883e-11,
|
|
-9.619756380363498e-12
|
|
],
|
|
"error_norm_m": 4.490803398818038e-11,
|
|
"predicted_m": [
|
|
0.34422999999943854,
|
|
-0.2865399999038096,
|
|
-0.027299999856872467
|
|
],
|
|
"observed_m": [
|
|
0.34423000004138743,
|
|
-0.28653999991663465,
|
|
-0.02729999984725271
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.139469322872458e-11,
|
|
6.881378800116522e-11,
|
|
6.761477142069872e-11
|
|
],
|
|
"error_norm_m": 1.0497911868958923e-10,
|
|
"predicted_m": [
|
|
0.16780000000533324,
|
|
-0.17207999989472358,
|
|
-0.02729999985016539
|
|
],
|
|
"observed_m": [
|
|
0.16779999996393855,
|
|
-0.17207999996353737,
|
|
-0.027299999917780163
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-2.6609547898459596e-11,
|
|
-3.455066788227157e-11,
|
|
2.512753893846309e-12
|
|
],
|
|
"error_norm_m": 4.3682154509621976e-11,
|
|
"predicted_m": [
|
|
0.48625000002512525,
|
|
0.21224000008887617,
|
|
-0.027299999850401747
|
|
],
|
|
"observed_m": [
|
|
0.4862500000517348,
|
|
0.21224000012342684,
|
|
-0.0272999998529145
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.6582626644919856e-11,
|
|
6.04571948059629e-11,
|
|
1.2305761618036648e-10
|
|
],
|
|
"error_norm_m": 1.4480397235207513e-10,
|
|
"predicted_m": [
|
|
0.34226999999716995,
|
|
-0.3305899999037086,
|
|
-0.02729999985770833
|
|
],
|
|
"observed_m": [
|
|
0.3422700000437526,
|
|
-0.33058999996416577,
|
|
-0.027299999980765946
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"error_m": [
|
|
5.331846075762314e-12,
|
|
4.191130775765828e-11,
|
|
3.601537471031868e-11
|
|
],
|
|
"error_norm_m": 5.551660576852147e-11,
|
|
"predicted_m": [
|
|
0.2837200000006725,
|
|
-0.2625799999006933,
|
|
-0.027299999854879402
|
|
],
|
|
"observed_m": [
|
|
0.28371999999534064,
|
|
-0.2625799999426046,
|
|
-0.027299999890894776
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.747152670958599e-11,
|
|
3.597028230828414e-11,
|
|
1.0086134011322301e-10
|
|
],
|
|
"error_norm_m": 1.1713418368227034e-10,
|
|
"predicted_m": [
|
|
0.49868000002288143,
|
|
0.16867000008823602,
|
|
-0.027299999851587486
|
|
],
|
|
"observed_m": [
|
|
0.49868000007035296,
|
|
0.16867000005226573,
|
|
-0.027299999952448827
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"error_m": [
|
|
5.776350925357221e-11,
|
|
-1.0487305468487307e-11,
|
|
-6.714264561002992e-12
|
|
],
|
|
"error_norm_m": 5.909050622453684e-11,
|
|
"predicted_m": [
|
|
0.05009000000296277,
|
|
-0.2181099998886616,
|
|
-0.027299999848149126
|
|
],
|
|
"observed_m": [
|
|
0.05008999994519926,
|
|
-0.21810999987817428,
|
|
-0.02729999984143486
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.88974408238596e-11,
|
|
4.0529801736965965e-11,
|
|
6.540252367459587e-11
|
|
],
|
|
"error_norm_m": 8.621580965512939e-11,
|
|
"predicted_m": [
|
|
0.43436000002881114,
|
|
0.2838100000915484,
|
|
-0.027299999847667705
|
|
],
|
|
"observed_m": [
|
|
0.4343599999899137,
|
|
0.2838100000510186,
|
|
-0.02729999991307023
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"error_m": [
|
|
2.7931441881623442e-12,
|
|
4.307881829035409e-11,
|
|
1.0390255669734394e-10
|
|
],
|
|
"error_norm_m": 1.1251367707080763e-10,
|
|
"predicted_m": [
|
|
-0.022419999968509654,
|
|
0.3358300001150722,
|
|
-0.027299999835210594
|
|
],
|
|
"observed_m": [
|
|
-0.022419999971302798,
|
|
0.3358300000719934,
|
|
-0.02729999993911315
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-2.3758495171222194e-11,
|
|
8.230527370756135e-12,
|
|
-2.646639851722199e-12
|
|
],
|
|
"error_norm_m": 2.528264970501467e-11,
|
|
"predicted_m": [
|
|
0.4047000000051776,
|
|
-0.1750999999069238,
|
|
-0.027299999856144765
|
|
],
|
|
"observed_m": [
|
|
0.4047000000289361,
|
|
-0.17509999991515432,
|
|
-0.027299999853498125
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-7.193201589927867e-11,
|
|
9.119155430781234e-11,
|
|
9.76514528960859e-11
|
|
],
|
|
"error_norm_m": 1.5174294296976465e-10,
|
|
"predicted_m": [
|
|
0.7774000000020334,
|
|
-0.23614999992611754,
|
|
-0.02729999986668261
|
|
],
|
|
"observed_m": [
|
|
0.7774000000739654,
|
|
-0.2361500000173091,
|
|
-0.027299999964334062
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.32130267469644e-11,
|
|
-2.4742902171581704e-11,
|
|
-7.563099452267963e-11
|
|
],
|
|
"error_norm_m": 1.1513759751164288e-10,
|
|
"predicted_m": [
|
|
-0.021269999995498393,
|
|
-0.18822999988498657,
|
|
-0.02729999984576607
|
|
],
|
|
"observed_m": [
|
|
-0.02127000007871142,
|
|
-0.18822999986024366,
|
|
-0.027299999770135076
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.608047442568932e-12,
|
|
1.0081047108201346e-11,
|
|
3.1897609553688255e-11
|
|
],
|
|
"error_norm_m": 3.409913924193044e-11,
|
|
"predicted_m": [
|
|
0.2097499999954891,
|
|
-0.3632299998968839,
|
|
-0.027299999855053082
|
|
],
|
|
"observed_m": [
|
|
0.20975000000209715,
|
|
-0.363229999906965,
|
|
-0.027299999886950692
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.352573608670582e-11,
|
|
3.0912244985970005e-11,
|
|
1.0560027852157816e-10
|
|
],
|
|
"error_norm_m": 1.1085996234256408e-10,
|
|
"predicted_m": [
|
|
0.5737300000229829,
|
|
0.170640000084371,
|
|
-0.027299999853422966
|
|
],
|
|
"observed_m": [
|
|
0.5737300000365086,
|
|
0.17064000005345875,
|
|
-0.027299999959023245
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.271276561607085e-11,
|
|
4.2441605785370484e-11,
|
|
1.3482569227729613e-10
|
|
],
|
|
"error_norm_m": 1.476605483745281e-10,
|
|
"predicted_m": [
|
|
0.007609999999713185,
|
|
-0.28120999988647377,
|
|
-0.027299999848355287
|
|
],
|
|
"observed_m": [
|
|
0.00761000004242595,
|
|
-0.2812099999289154,
|
|
-0.02729999998318098
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.1204204231063386e-11,
|
|
-1.1101033980942532e-10,
|
|
-1.3621226715998525e-10
|
|
],
|
|
"error_norm_m": 1.760755845139202e-10,
|
|
"predicted_m": [
|
|
0.4409900000242024,
|
|
0.19432000009120703,
|
|
-0.02729999984963093
|
|
],
|
|
"observed_m": [
|
|
0.4409900000354066,
|
|
0.19432000020221737,
|
|
-0.027299999713418663
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.744133475480638e-11,
|
|
4.427902489112512e-12,
|
|
7.917074634766763e-11
|
|
],
|
|
"error_norm_m": 8.768960568916528e-11,
|
|
"predicted_m": [
|
|
-0.025699999975783934,
|
|
0.19458000011524126,
|
|
-0.02729999983796592
|
|
],
|
|
"observed_m": [
|
|
-0.02570000001322527,
|
|
0.19458000011081336,
|
|
-0.027299999917136667
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.0256906435301971e-11,
|
|
-2.787770014833768e-12,
|
|
6.730345447625297e-12
|
|
],
|
|
"error_norm_m": 1.2580673317534154e-11,
|
|
"predicted_m": [
|
|
0.3123000000060011,
|
|
-0.1591099999021653,
|
|
-0.027299999853515052
|
|
],
|
|
"observed_m": [
|
|
0.312300000016258,
|
|
-0.15910999989937752,
|
|
-0.027299999860245398
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.928993935753411e-11,
|
|
2.7480240305521875e-12,
|
|
6.992308121400725e-11
|
|
],
|
|
"error_norm_m": 8.025265264931655e-11,
|
|
"predicted_m": [
|
|
0.044160000031664884,
|
|
0.3392200001116434,
|
|
-0.027299999836805935
|
|
],
|
|
"observed_m": [
|
|
0.044159999992374944,
|
|
0.33922000010889536,
|
|
-0.027299999906729017
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"error_m": [
|
|
1.2232381774168744e-11,
|
|
-9.382705723481877e-11,
|
|
-1.1213998132864056e-10
|
|
],
|
|
"error_norm_m": 1.467260142088063e-10,
|
|
"predicted_m": [
|
|
0.4074900000275036,
|
|
0.2584200000929322,
|
|
-0.027299999847506397
|
|
],
|
|
"observed_m": [
|
|
0.4074900000152712,
|
|
0.25842000018675926,
|
|
-0.027299999735366415
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-2.044575619919442e-11,
|
|
2.2512602892987843e-11,
|
|
-3.777428370099756e-11
|
|
],
|
|
"error_norm_m": 4.849477028193567e-11,
|
|
"predicted_m": [
|
|
0.5045799999980887,
|
|
-0.3127499999120675,
|
|
-0.02729999986140513
|
|
],
|
|
"observed_m": [
|
|
0.5045800000185344,
|
|
-0.3127499999345801,
|
|
-0.027299999823630846
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.23500115584352e-11,
|
|
-2.6180668744046898e-11,
|
|
-6.783550804412286e-11
|
|
],
|
|
"error_norm_m": 7.958396079186222e-11,
|
|
"predicted_m": [
|
|
0.3628900000292334,
|
|
0.29201000009522904,
|
|
-0.027299999845717387
|
|
],
|
|
"observed_m": [
|
|
0.3628899999968834,
|
|
0.2920100001214097,
|
|
-0.02729999977788188
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.7151948184543926e-11,
|
|
2.1886936707460336e-12,
|
|
-5.762684079924085e-11
|
|
],
|
|
"error_norm_m": 6.859963858791422e-11,
|
|
"predicted_m": [
|
|
0.645090000004676,
|
|
-0.18483999991930372,
|
|
-0.027299999862346318
|
|
],
|
|
"observed_m": [
|
|
0.6450900000418279,
|
|
-0.18483999992149241,
|
|
-0.027299999804719477
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2901459334766514e-12,
|
|
3.6927239044359794e-11,
|
|
4.4867467380305115e-11
|
|
],
|
|
"error_norm_m": 5.820254008911988e-11,
|
|
"predicted_m": [
|
|
0.18604000000008075,
|
|
-0.27406999989566283,
|
|
-0.027299999852669763
|
|
],
|
|
"observed_m": [
|
|
0.1860399999967906,
|
|
-0.27406999993259007,
|
|
-0.02729999989753723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.8183177186159583e-11,
|
|
7.180533945216894e-12,
|
|
1.1835185609321286e-12
|
|
],
|
|
"error_norm_m": 1.9585421019364308e-11,
|
|
"predicted_m": [
|
|
0.369770000004591,
|
|
-0.1864899999051249,
|
|
-0.027299999855500863
|
|
],
|
|
"observed_m": [
|
|
0.36977000002277416,
|
|
-0.18648999991230544,
|
|
-0.02729999985668438
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"error_m": [
|
|
9.351963647930006e-13,
|
|
1.6471490837943747e-11,
|
|
1.973084196027486e-11
|
|
],
|
|
"error_norm_m": 2.5719462030270577e-11,
|
|
"predicted_m": [
|
|
0.3043499999956724,
|
|
-0.35966999990175574,
|
|
-0.02729999985734506
|
|
],
|
|
"observed_m": [
|
|
0.3043499999947372,
|
|
-0.35966999991822723,
|
|
-0.027299999877075903
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-9.682676882505348e-11,
|
|
6.800027207987114e-11,
|
|
6.65371993613384e-11
|
|
],
|
|
"error_norm_m": 1.3574483070410947e-10,
|
|
"predicted_m": [
|
|
0.6496900000027108,
|
|
-0.2229999999195406,
|
|
-0.027299999863227762
|
|
],
|
|
"observed_m": [
|
|
0.6496900000995376,
|
|
-0.22299999998754086,
|
|
-0.02729999992976496
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.42121511412941e-11,
|
|
-2.9430458070578425e-11,
|
|
-7.908350710406076e-11
|
|
],
|
|
"error_norm_m": 1.192142581991192e-10,
|
|
"predicted_m": [
|
|
0.10571000000452832,
|
|
-0.187709999891526,
|
|
-0.027299999848928096
|
|
],
|
|
"observed_m": [
|
|
0.10570999992031617,
|
|
-0.18770999986209555,
|
|
-0.02729999976984459
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.7853163392089755e-11,
|
|
2.1510460079809945e-11,
|
|
-3.6753270565847984e-11
|
|
],
|
|
"error_norm_m": 4.617616520713017e-11,
|
|
"predicted_m": [
|
|
0.5248400000004835,
|
|
-0.2662499999131108,
|
|
-0.027299999860977264
|
|
],
|
|
"observed_m": [
|
|
0.5248400000183366,
|
|
-0.2662499999346213,
|
|
-0.027299999824223993
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.018751145790648738,
|
|
0.018145197480727182,
|
|
-0.12628768602257245
|
|
],
|
|
"error_norm_m": 0.1289551600402737,
|
|
"predicted_m": [
|
|
0.14932058272486504,
|
|
-0.05574795621971772,
|
|
0.06440687550659747
|
|
],
|
|
"observed_m": [
|
|
0.1305694369342163,
|
|
-0.0738931537004449,
|
|
0.19069456152916994
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.490263799146078e-11,
|
|
6.59273607928057e-11,
|
|
9.302996030859448e-11
|
|
],
|
|
"error_norm_m": 1.2655153130067147e-10,
|
|
"predicted_m": [
|
|
0.7500000000102496,
|
|
-0.08999999992526098,
|
|
0.00030000013693766095
|
|
],
|
|
"observed_m": [
|
|
0.7500000000651522,
|
|
-0.08999999999118834,
|
|
0.00030000004390770064
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"error_m": [
|
|
6.827982623747175e-12,
|
|
-3.7700648158889294e-11,
|
|
-5.069396210319668e-11
|
|
],
|
|
"error_norm_m": 6.354398486112511e-11,
|
|
"predicted_m": [
|
|
0.6500000000143696,
|
|
-0.009999999920111104,
|
|
0.0003000001410430143
|
|
],
|
|
"observed_m": [
|
|
0.6500000000075417,
|
|
-0.009999999882410456,
|
|
0.0003000001917369764
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.425781880395107e-11,
|
|
1.4403794129647096e-11,
|
|
7.014771473108986e-11
|
|
],
|
|
"error_norm_m": 7.938368419598551e-11,
|
|
"predicted_m": [
|
|
0.7500000000143695,
|
|
-0.00999999992526104,
|
|
0.0003000001385446136
|
|
],
|
|
"observed_m": [
|
|
0.7500000000486273,
|
|
-0.009999999939664835,
|
|
0.00030000006839689885
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"error_m": [
|
|
7.159539627821232e-11,
|
|
-1.5204547343383723e-10,
|
|
-2.8029990779615196e-10
|
|
],
|
|
"error_norm_m": 3.268206925371851e-10,
|
|
"predicted_m": [
|
|
0.3500000000102497,
|
|
-0.08999999990466123,
|
|
0.00030000014693126384
|
|
],
|
|
"observed_m": [
|
|
0.3499999999386543,
|
|
-0.08999999975261576,
|
|
0.00030000042723117164
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.2297030461435625e-11,
|
|
-8.491484598804888e-11,
|
|
-4.74245199859856e-11
|
|
],
|
|
"error_norm_m": 1.0605967636633078e-10,
|
|
"predicted_m": [
|
|
0.020000000013854876,
|
|
-0.0199999998876665,
|
|
0.00030000015658206977
|
|
],
|
|
"observed_m": [
|
|
0.019999999971557846,
|
|
-0.019999999802751654,
|
|
0.00030000020400658975
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.269240847624815e-11,
|
|
8.939949475150755e-12,
|
|
-7.327679863713618e-11
|
|
],
|
|
"error_norm_m": 1.1084875432195134e-10,
|
|
"predicted_m": [
|
|
0.2500000000143698,
|
|
-0.009999999899511358,
|
|
0.0003000001510366172
|
|
],
|
|
"observed_m": [
|
|
0.24999999993167737,
|
|
-0.009999999908451308,
|
|
0.00030000022431341585
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.195955025769308e-11,
|
|
-1.3042663997431259e-10,
|
|
-2.399532524717182e-10
|
|
],
|
|
"error_norm_m": 2.851421394062765e-10,
|
|
"predicted_m": [
|
|
0.3500000000143697,
|
|
-0.009999999904661295,
|
|
0.0003000001485382165
|
|
],
|
|
"observed_m": [
|
|
0.34999999993241016,
|
|
-0.009999999774234655,
|
|
0.00030000038849146895
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.306532825320119e-11,
|
|
-2.1928098226098314e-11,
|
|
-8.054044632827342e-11
|
|
],
|
|
"error_norm_m": 8.97826314999892e-11,
|
|
"predicted_m": [
|
|
0.6500000000102497,
|
|
-0.08999999992011104,
|
|
0.0003000001394360617
|
|
],
|
|
"observed_m": [
|
|
0.650000000043315,
|
|
-0.08999999989818294,
|
|
0.000300000219976508
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
-0.017081102340388954,
|
|
0.007776543509965095,
|
|
-0.11643952562047
|
|
],
|
|
"error_norm_m": 0.11794236648823574,
|
|
"predicted_m": [
|
|
0.1493205827198828,
|
|
-0.14404999642186878,
|
|
0.04700717159713171
|
|
],
|
|
"observed_m": [
|
|
0.16640168506027175,
|
|
-0.15182653993183387,
|
|
0.16344669721760172
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
-0.019159307752486893,
|
|
-6.329556374951029e-05,
|
|
-0.11219902955088909
|
|
],
|
|
"error_norm_m": 0.1138231317089992,
|
|
"predicted_m": [
|
|
0.1493205827174358,
|
|
-0.17162312720235756,
|
|
0.00590093777594735
|
|
],
|
|
"observed_m": [
|
|
0.1684798904699227,
|
|
-0.17155983163860805,
|
|
0.11809996732683645
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.018781622267737774,
|
|
-0.11721890900263672,
|
|
-0.04835783508828224
|
|
],
|
|
"error_norm_m": 0.12818542107900538,
|
|
"predicted_m": [
|
|
0.2743205827192178,
|
|
-0.13728344490795844,
|
|
0.012667489293172152
|
|
],
|
|
"observed_m": [
|
|
0.25553896045148,
|
|
-0.02006453590532172,
|
|
0.06102532438145439
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
-0.0012923579839241028,
|
|
-0.03581624704026484,
|
|
-0.05562032425330392
|
|
],
|
|
"error_norm_m": 0.06616716868092937,
|
|
"predicted_m": [
|
|
0.2393205827208373,
|
|
-0.10307986608725822,
|
|
0.005243528358178585
|
|
],
|
|
"observed_m": [
|
|
0.2406129407047614,
|
|
-0.06726361904699338,
|
|
0.060863852611482507
|
|
]
|
|
}
|
|
],
|
|
"stage_idx": 1,
|
|
"num_active_links": 4
|
|
},
|
|
{
|
|
"method": "deterministic_geometric_prefix",
|
|
"active_links": [
|
|
"Board",
|
|
"Base",
|
|
"Arm1",
|
|
"Ellbow",
|
|
"Arm2"
|
|
],
|
|
"active_observations": 45,
|
|
"joint_updates": [
|
|
{
|
|
"pass": 0,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.03932058271128886,
|
|
"new": 0.061424393266096756,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
0.999999999999,
|
|
-5.149936365026286e-11,
|
|
-2.498400728865456e-11
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.020569436918359538,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.05640168504907344,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.05847989046087151,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"q_i": 0.020538960436246312,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"q_i": 0.040612940691898886,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"q_i": 0.08041659529056591,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"q_i": 0.1529512440156617,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": -0.19455509564487805,
|
|
"new": -0.7910842723533982,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.7910842723533981,
|
|
"theta_alt_rad": 2.350508381236395,
|
|
"score_theta": 1.2880497008950933,
|
|
"score_theta_alt": 1.4048023209131617,
|
|
"best_score": 1.2880497008950933,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": -1.1625044027189215,
|
|
"new": 1.1318079310686837,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -2.00978472252111,
|
|
"theta_alt_rad": 1.1318079310686837,
|
|
"score_theta": 1.0166317982331423,
|
|
"score_theta_alt": 0.4101893718122774,
|
|
"best_score": 0.4101893718122774,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm2",
|
|
"joint_variable": "a",
|
|
"joint_type": "revolute",
|
|
"old": 0.0,
|
|
"new": 1.0153860392028387,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
-4.0189905110185184e-11,
|
|
-0.9425130878626945,
|
|
0.3341692373716179
|
|
],
|
|
"axis_id": 1,
|
|
"theta_rad": 1.0153860392028389,
|
|
"theta_alt_rad": -2.1262066143869545,
|
|
"score_theta": 0.3863100111606848,
|
|
"score_theta_alt": 0.4069970169228545,
|
|
"best_score": 0.3863100111606848,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"pass": 1,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.061424393266096756,
|
|
"new": 0.06270235665096582,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
0.999999999999,
|
|
-5.149936365026286e-11,
|
|
-2.498400728865456e-11
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.020569436918359524,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.056401685049073426,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.058479890460871514,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"q_i": 0.020538960436308828,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"q_i": 0.040612940691943884,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"q_i": 0.10590712040382723,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"q_i": 0.13640646259637637,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": -0.7910842723533982,
|
|
"new": -0.2287079652555155,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.22870796525551543,
|
|
"theta_alt_rad": 2.9128846883342776,
|
|
"score_theta": 0.18186566319216765,
|
|
"score_theta_alt": 2.569250446108988,
|
|
"best_score": 0.18186566319216765,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": 1.1318079310686837,
|
|
"new": 1.5266209153694081,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.999999999999,
|
|
5.149936365026286e-11,
|
|
2.498400728865456e-11
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.6149717382203848,
|
|
"theta_alt_rad": 1.5266209153694081,
|
|
"score_theta": 0.7410795027983774,
|
|
"score_theta_alt": 0.13348211091489365,
|
|
"best_score": 0.13348211091489365,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm2",
|
|
"joint_variable": "a",
|
|
"joint_type": "revolute",
|
|
"old": 1.0153860392028387,
|
|
"new": 0.4456159985371926,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
1.017999436589031e-11,
|
|
-0.26950923860227566,
|
|
0.9629978038947035
|
|
],
|
|
"axis_id": 2,
|
|
"theta_rad": -2.6959766550526005,
|
|
"theta_alt_rad": 0.4456159985371926,
|
|
"score_theta": 0.12151226922327332,
|
|
"score_theta_alt": 0.1015432472034222,
|
|
"best_score": 0.1015432472034222,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"root_link": "Board",
|
|
"root_pose": {
|
|
"reason": "kabsch",
|
|
"used_markers": [
|
|
210,
|
|
211,
|
|
214,
|
|
208,
|
|
206,
|
|
205,
|
|
207,
|
|
217,
|
|
46,
|
|
47,
|
|
51,
|
|
53,
|
|
54,
|
|
55,
|
|
56,
|
|
58,
|
|
60,
|
|
61,
|
|
62,
|
|
63,
|
|
64,
|
|
66,
|
|
68,
|
|
69,
|
|
72,
|
|
75,
|
|
79,
|
|
83,
|
|
84,
|
|
85,
|
|
86,
|
|
92,
|
|
95,
|
|
96,
|
|
97,
|
|
102,
|
|
103,
|
|
105
|
|
]
|
|
},
|
|
"marker_stats": {
|
|
"num_markers_used": 45,
|
|
"mean_error_m": 0.02227395365630121,
|
|
"rms_error_m": 0.05721833765327737,
|
|
"median_error_m": 1.0605967636633078e-10,
|
|
"worst_error_m": 0.18532001325970596
|
|
},
|
|
"marker_reports": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.921452300190367e-11,
|
|
2.350980521370616e-12,
|
|
7.356334291719335e-11
|
|
],
|
|
"error_norm_m": 1.0103337431238005e-10,
|
|
"predicted_m": [
|
|
0.5367100000237451,
|
|
0.1854400000862775,
|
|
-0.02729999985220077
|
|
],
|
|
"observed_m": [
|
|
0.5367100000929597,
|
|
0.18544000008392653,
|
|
-0.027299999925764113
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.194888880704184e-11,
|
|
1.2825074335864883e-11,
|
|
-9.619756380363498e-12
|
|
],
|
|
"error_norm_m": 4.490803398818038e-11,
|
|
"predicted_m": [
|
|
0.34422999999943854,
|
|
-0.2865399999038096,
|
|
-0.027299999856872467
|
|
],
|
|
"observed_m": [
|
|
0.34423000004138743,
|
|
-0.28653999991663465,
|
|
-0.02729999984725271
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.139469322872458e-11,
|
|
6.881378800116522e-11,
|
|
6.761477142069872e-11
|
|
],
|
|
"error_norm_m": 1.0497911868958923e-10,
|
|
"predicted_m": [
|
|
0.16780000000533324,
|
|
-0.17207999989472358,
|
|
-0.02729999985016539
|
|
],
|
|
"observed_m": [
|
|
0.16779999996393855,
|
|
-0.17207999996353737,
|
|
-0.027299999917780163
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-2.6609547898459596e-11,
|
|
-3.455066788227157e-11,
|
|
2.512753893846309e-12
|
|
],
|
|
"error_norm_m": 4.3682154509621976e-11,
|
|
"predicted_m": [
|
|
0.48625000002512525,
|
|
0.21224000008887617,
|
|
-0.027299999850401747
|
|
],
|
|
"observed_m": [
|
|
0.4862500000517348,
|
|
0.21224000012342684,
|
|
-0.0272999998529145
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.6582626644919856e-11,
|
|
6.04571948059629e-11,
|
|
1.2305761618036648e-10
|
|
],
|
|
"error_norm_m": 1.4480397235207513e-10,
|
|
"predicted_m": [
|
|
0.34226999999716995,
|
|
-0.3305899999037086,
|
|
-0.02729999985770833
|
|
],
|
|
"observed_m": [
|
|
0.3422700000437526,
|
|
-0.33058999996416577,
|
|
-0.027299999980765946
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"error_m": [
|
|
5.331846075762314e-12,
|
|
4.191130775765828e-11,
|
|
3.601537471031868e-11
|
|
],
|
|
"error_norm_m": 5.551660576852147e-11,
|
|
"predicted_m": [
|
|
0.2837200000006725,
|
|
-0.2625799999006933,
|
|
-0.027299999854879402
|
|
],
|
|
"observed_m": [
|
|
0.28371999999534064,
|
|
-0.2625799999426046,
|
|
-0.027299999890894776
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.747152670958599e-11,
|
|
3.597028230828414e-11,
|
|
1.0086134011322301e-10
|
|
],
|
|
"error_norm_m": 1.1713418368227034e-10,
|
|
"predicted_m": [
|
|
0.49868000002288143,
|
|
0.16867000008823602,
|
|
-0.027299999851587486
|
|
],
|
|
"observed_m": [
|
|
0.49868000007035296,
|
|
0.16867000005226573,
|
|
-0.027299999952448827
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"error_m": [
|
|
5.776350925357221e-11,
|
|
-1.0487305468487307e-11,
|
|
-6.714264561002992e-12
|
|
],
|
|
"error_norm_m": 5.909050622453684e-11,
|
|
"predicted_m": [
|
|
0.05009000000296277,
|
|
-0.2181099998886616,
|
|
-0.027299999848149126
|
|
],
|
|
"observed_m": [
|
|
0.05008999994519926,
|
|
-0.21810999987817428,
|
|
-0.02729999984143486
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.88974408238596e-11,
|
|
4.0529801736965965e-11,
|
|
6.540252367459587e-11
|
|
],
|
|
"error_norm_m": 8.621580965512939e-11,
|
|
"predicted_m": [
|
|
0.43436000002881114,
|
|
0.2838100000915484,
|
|
-0.027299999847667705
|
|
],
|
|
"observed_m": [
|
|
0.4343599999899137,
|
|
0.2838100000510186,
|
|
-0.02729999991307023
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"error_m": [
|
|
2.7931441881623442e-12,
|
|
4.307881829035409e-11,
|
|
1.0390255669734394e-10
|
|
],
|
|
"error_norm_m": 1.1251367707080763e-10,
|
|
"predicted_m": [
|
|
-0.022419999968509654,
|
|
0.3358300001150722,
|
|
-0.027299999835210594
|
|
],
|
|
"observed_m": [
|
|
-0.022419999971302798,
|
|
0.3358300000719934,
|
|
-0.02729999993911315
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-2.3758495171222194e-11,
|
|
8.230527370756135e-12,
|
|
-2.646639851722199e-12
|
|
],
|
|
"error_norm_m": 2.528264970501467e-11,
|
|
"predicted_m": [
|
|
0.4047000000051776,
|
|
-0.1750999999069238,
|
|
-0.027299999856144765
|
|
],
|
|
"observed_m": [
|
|
0.4047000000289361,
|
|
-0.17509999991515432,
|
|
-0.027299999853498125
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-7.193201589927867e-11,
|
|
9.119155430781234e-11,
|
|
9.76514528960859e-11
|
|
],
|
|
"error_norm_m": 1.5174294296976465e-10,
|
|
"predicted_m": [
|
|
0.7774000000020334,
|
|
-0.23614999992611754,
|
|
-0.02729999986668261
|
|
],
|
|
"observed_m": [
|
|
0.7774000000739654,
|
|
-0.2361500000173091,
|
|
-0.027299999964334062
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.32130267469644e-11,
|
|
-2.4742902171581704e-11,
|
|
-7.563099452267963e-11
|
|
],
|
|
"error_norm_m": 1.1513759751164288e-10,
|
|
"predicted_m": [
|
|
-0.021269999995498393,
|
|
-0.18822999988498657,
|
|
-0.02729999984576607
|
|
],
|
|
"observed_m": [
|
|
-0.02127000007871142,
|
|
-0.18822999986024366,
|
|
-0.027299999770135076
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.608047442568932e-12,
|
|
1.0081047108201346e-11,
|
|
3.1897609553688255e-11
|
|
],
|
|
"error_norm_m": 3.409913924193044e-11,
|
|
"predicted_m": [
|
|
0.2097499999954891,
|
|
-0.3632299998968839,
|
|
-0.027299999855053082
|
|
],
|
|
"observed_m": [
|
|
0.20975000000209715,
|
|
-0.363229999906965,
|
|
-0.027299999886950692
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.352573608670582e-11,
|
|
3.0912244985970005e-11,
|
|
1.0560027852157816e-10
|
|
],
|
|
"error_norm_m": 1.1085996234256408e-10,
|
|
"predicted_m": [
|
|
0.5737300000229829,
|
|
0.170640000084371,
|
|
-0.027299999853422966
|
|
],
|
|
"observed_m": [
|
|
0.5737300000365086,
|
|
0.17064000005345875,
|
|
-0.027299999959023245
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-4.271276561607085e-11,
|
|
4.2441605785370484e-11,
|
|
1.3482569227729613e-10
|
|
],
|
|
"error_norm_m": 1.476605483745281e-10,
|
|
"predicted_m": [
|
|
0.007609999999713185,
|
|
-0.28120999988647377,
|
|
-0.027299999848355287
|
|
],
|
|
"observed_m": [
|
|
0.00761000004242595,
|
|
-0.2812099999289154,
|
|
-0.02729999998318098
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.1204204231063386e-11,
|
|
-1.1101033980942532e-10,
|
|
-1.3621226715998525e-10
|
|
],
|
|
"error_norm_m": 1.760755845139202e-10,
|
|
"predicted_m": [
|
|
0.4409900000242024,
|
|
0.19432000009120703,
|
|
-0.02729999984963093
|
|
],
|
|
"observed_m": [
|
|
0.4409900000354066,
|
|
0.19432000020221737,
|
|
-0.027299999713418663
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.744133475480638e-11,
|
|
4.427902489112512e-12,
|
|
7.917074634766763e-11
|
|
],
|
|
"error_norm_m": 8.768960568916528e-11,
|
|
"predicted_m": [
|
|
-0.025699999975783934,
|
|
0.19458000011524126,
|
|
-0.02729999983796592
|
|
],
|
|
"observed_m": [
|
|
-0.02570000001322527,
|
|
0.19458000011081336,
|
|
-0.027299999917136667
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.0256906435301971e-11,
|
|
-2.787770014833768e-12,
|
|
6.730345447625297e-12
|
|
],
|
|
"error_norm_m": 1.2580673317534154e-11,
|
|
"predicted_m": [
|
|
0.3123000000060011,
|
|
-0.1591099999021653,
|
|
-0.027299999853515052
|
|
],
|
|
"observed_m": [
|
|
0.312300000016258,
|
|
-0.15910999989937752,
|
|
-0.027299999860245398
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.928993935753411e-11,
|
|
2.7480240305521875e-12,
|
|
6.992308121400725e-11
|
|
],
|
|
"error_norm_m": 8.025265264931655e-11,
|
|
"predicted_m": [
|
|
0.044160000031664884,
|
|
0.3392200001116434,
|
|
-0.027299999836805935
|
|
],
|
|
"observed_m": [
|
|
0.044159999992374944,
|
|
0.33922000010889536,
|
|
-0.027299999906729017
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"error_m": [
|
|
1.2232381774168744e-11,
|
|
-9.382705723481877e-11,
|
|
-1.1213998132864056e-10
|
|
],
|
|
"error_norm_m": 1.467260142088063e-10,
|
|
"predicted_m": [
|
|
0.4074900000275036,
|
|
0.2584200000929322,
|
|
-0.027299999847506397
|
|
],
|
|
"observed_m": [
|
|
0.4074900000152712,
|
|
0.25842000018675926,
|
|
-0.027299999735366415
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-2.044575619919442e-11,
|
|
2.2512602892987843e-11,
|
|
-3.777428370099756e-11
|
|
],
|
|
"error_norm_m": 4.849477028193567e-11,
|
|
"predicted_m": [
|
|
0.5045799999980887,
|
|
-0.3127499999120675,
|
|
-0.02729999986140513
|
|
],
|
|
"observed_m": [
|
|
0.5045800000185344,
|
|
-0.3127499999345801,
|
|
-0.027299999823630846
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.23500115584352e-11,
|
|
-2.6180668744046898e-11,
|
|
-6.783550804412286e-11
|
|
],
|
|
"error_norm_m": 7.958396079186222e-11,
|
|
"predicted_m": [
|
|
0.3628900000292334,
|
|
0.29201000009522904,
|
|
-0.027299999845717387
|
|
],
|
|
"observed_m": [
|
|
0.3628899999968834,
|
|
0.2920100001214097,
|
|
-0.02729999977788188
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.7151948184543926e-11,
|
|
2.1886936707460336e-12,
|
|
-5.762684079924085e-11
|
|
],
|
|
"error_norm_m": 6.859963858791422e-11,
|
|
"predicted_m": [
|
|
0.645090000004676,
|
|
-0.18483999991930372,
|
|
-0.027299999862346318
|
|
],
|
|
"observed_m": [
|
|
0.6450900000418279,
|
|
-0.18483999992149241,
|
|
-0.027299999804719477
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2901459334766514e-12,
|
|
3.6927239044359794e-11,
|
|
4.4867467380305115e-11
|
|
],
|
|
"error_norm_m": 5.820254008911988e-11,
|
|
"predicted_m": [
|
|
0.18604000000008075,
|
|
-0.27406999989566283,
|
|
-0.027299999852669763
|
|
],
|
|
"observed_m": [
|
|
0.1860399999967906,
|
|
-0.27406999993259007,
|
|
-0.02729999989753723
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.8183177186159583e-11,
|
|
7.180533945216894e-12,
|
|
1.1835185609321286e-12
|
|
],
|
|
"error_norm_m": 1.9585421019364308e-11,
|
|
"predicted_m": [
|
|
0.369770000004591,
|
|
-0.1864899999051249,
|
|
-0.027299999855500863
|
|
],
|
|
"observed_m": [
|
|
0.36977000002277416,
|
|
-0.18648999991230544,
|
|
-0.02729999985668438
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"error_m": [
|
|
9.351963647930006e-13,
|
|
1.6471490837943747e-11,
|
|
1.973084196027486e-11
|
|
],
|
|
"error_norm_m": 2.5719462030270577e-11,
|
|
"predicted_m": [
|
|
0.3043499999956724,
|
|
-0.35966999990175574,
|
|
-0.02729999985734506
|
|
],
|
|
"observed_m": [
|
|
0.3043499999947372,
|
|
-0.35966999991822723,
|
|
-0.027299999877075903
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-9.682676882505348e-11,
|
|
6.800027207987114e-11,
|
|
6.65371993613384e-11
|
|
],
|
|
"error_norm_m": 1.3574483070410947e-10,
|
|
"predicted_m": [
|
|
0.6496900000027108,
|
|
-0.2229999999195406,
|
|
-0.027299999863227762
|
|
],
|
|
"observed_m": [
|
|
0.6496900000995376,
|
|
-0.22299999998754086,
|
|
-0.02729999992976496
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.42121511412941e-11,
|
|
-2.9430458070578425e-11,
|
|
-7.908350710406076e-11
|
|
],
|
|
"error_norm_m": 1.192142581991192e-10,
|
|
"predicted_m": [
|
|
0.10571000000452832,
|
|
-0.187709999891526,
|
|
-0.027299999848928096
|
|
],
|
|
"observed_m": [
|
|
0.10570999992031617,
|
|
-0.18770999986209555,
|
|
-0.02729999976984459
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.7853163392089755e-11,
|
|
2.1510460079809945e-11,
|
|
-3.6753270565847984e-11
|
|
],
|
|
"error_norm_m": 4.617616520713017e-11,
|
|
"predicted_m": [
|
|
0.5248400000004835,
|
|
-0.2662499999131108,
|
|
-0.027299999860977264
|
|
],
|
|
"observed_m": [
|
|
0.5248400000183366,
|
|
-0.2662499999346213,
|
|
-0.027299999824223993
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"link": "Arm2",
|
|
"error_m": [
|
|
-0.030644652805159767,
|
|
0.04025042912766644,
|
|
-0.16370726397448698
|
|
],
|
|
"error_norm_m": 0.17134544075791,
|
|
"predicted_m": [
|
|
0.24977194249877693,
|
|
-0.1584720183887424,
|
|
0.1868814818684093
|
|
],
|
|
"observed_m": [
|
|
0.2804165953039367,
|
|
-0.19872244751640883,
|
|
0.3505887458428963
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"link": "Arm2",
|
|
"error_m": [
|
|
-0.08683097401328738,
|
|
0.029967373144186404,
|
|
-0.1609529304278692
|
|
],
|
|
"error_norm_m": 0.18532001325970596,
|
|
"predicted_m": [
|
|
0.23112027001432411,
|
|
-0.20903984461274458,
|
|
0.2111510114168477
|
|
],
|
|
"observed_m": [
|
|
0.3179512440276115,
|
|
-0.23900721775693098,
|
|
0.3721039418447169
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.04213291973016145,
|
|
0.018124355568954517,
|
|
-0.13188104822402633
|
|
],
|
|
"error_norm_m": 0.1396291018034782,
|
|
"predicted_m": [
|
|
0.17270235666437775,
|
|
-0.05576879813149038,
|
|
0.05881351330514362
|
|
],
|
|
"observed_m": [
|
|
0.1305694369342163,
|
|
-0.0738931537004449,
|
|
0.19069456152916994
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.490263799146078e-11,
|
|
6.59273607928057e-11,
|
|
9.302996030859448e-11
|
|
],
|
|
"error_norm_m": 1.2655153130067147e-10,
|
|
"predicted_m": [
|
|
0.7500000000102496,
|
|
-0.08999999992526098,
|
|
0.00030000013693766095
|
|
],
|
|
"observed_m": [
|
|
0.7500000000651522,
|
|
-0.08999999999118834,
|
|
0.00030000004390770064
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"error_m": [
|
|
6.827982623747175e-12,
|
|
-3.7700648158889294e-11,
|
|
-5.069396210319668e-11
|
|
],
|
|
"error_norm_m": 6.354398486112511e-11,
|
|
"predicted_m": [
|
|
0.6500000000143696,
|
|
-0.009999999920111104,
|
|
0.0003000001410430143
|
|
],
|
|
"observed_m": [
|
|
0.6500000000075417,
|
|
-0.009999999882410456,
|
|
0.0003000001917369764
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.425781880395107e-11,
|
|
1.4403794129647096e-11,
|
|
7.014771473108986e-11
|
|
],
|
|
"error_norm_m": 7.938368419598551e-11,
|
|
"predicted_m": [
|
|
0.7500000000143695,
|
|
-0.00999999992526104,
|
|
0.0003000001385446136
|
|
],
|
|
"observed_m": [
|
|
0.7500000000486273,
|
|
-0.009999999939664835,
|
|
0.00030000006839689885
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"error_m": [
|
|
7.159539627821232e-11,
|
|
-1.5204547343383723e-10,
|
|
-2.8029990779615196e-10
|
|
],
|
|
"error_norm_m": 3.268206925371851e-10,
|
|
"predicted_m": [
|
|
0.3500000000102497,
|
|
-0.08999999990466123,
|
|
0.00030000014693126384
|
|
],
|
|
"observed_m": [
|
|
0.3499999999386543,
|
|
-0.08999999975261576,
|
|
0.00030000042723117164
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.2297030461435625e-11,
|
|
-8.491484598804888e-11,
|
|
-4.74245199859856e-11
|
|
],
|
|
"error_norm_m": 1.0605967636633078e-10,
|
|
"predicted_m": [
|
|
0.020000000013854876,
|
|
-0.0199999998876665,
|
|
0.00030000015658206977
|
|
],
|
|
"observed_m": [
|
|
0.019999999971557846,
|
|
-0.019999999802751654,
|
|
0.00030000020400658975
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.269240847624815e-11,
|
|
8.939949475150755e-12,
|
|
-7.327679863713618e-11
|
|
],
|
|
"error_norm_m": 1.1084875432195134e-10,
|
|
"predicted_m": [
|
|
0.2500000000143698,
|
|
-0.009999999899511358,
|
|
0.0003000001510366172
|
|
],
|
|
"observed_m": [
|
|
0.24999999993167737,
|
|
-0.009999999908451308,
|
|
0.00030000022431341585
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.195955025769308e-11,
|
|
-1.3042663997431259e-10,
|
|
-2.399532524717182e-10
|
|
],
|
|
"error_norm_m": 2.851421394062765e-10,
|
|
"predicted_m": [
|
|
0.3500000000143697,
|
|
-0.009999999904661295,
|
|
0.0003000001485382165
|
|
],
|
|
"observed_m": [
|
|
0.34999999993241016,
|
|
-0.009999999774234655,
|
|
0.00030000038849146895
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.306532825320119e-11,
|
|
-2.1928098226098314e-11,
|
|
-8.054044632827342e-11
|
|
],
|
|
"error_norm_m": 8.97826314999892e-11,
|
|
"predicted_m": [
|
|
0.6500000000102497,
|
|
-0.08999999992011104,
|
|
0.0003000001394360617
|
|
],
|
|
"observed_m": [
|
|
0.650000000043315,
|
|
-0.08999999989818294,
|
|
0.000300000219976508
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.006300671599081958,
|
|
0.008401329461027535,
|
|
-0.12503792296491786
|
|
],
|
|
"error_norm_m": 0.12547813745307562,
|
|
"predicted_m": [
|
|
0.1727023566593537,
|
|
-0.14342521047080634,
|
|
0.03840877425268385
|
|
],
|
|
"observed_m": [
|
|
0.16640168506027175,
|
|
-0.15182653993183387,
|
|
0.16344669721760172
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.004222466187034202,
|
|
0.0019811926673575786,
|
|
-0.1217149741709543
|
|
],
|
|
"error_norm_m": 0.12180430732335336,
|
|
"predicted_m": [
|
|
0.1727023566569569,
|
|
-0.16957863897125047,
|
|
-0.003615006844117849
|
|
],
|
|
"observed_m": [
|
|
0.1684798904699227,
|
|
-0.17155983163860805,
|
|
0.11809996732683645
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.04216339620718518,
|
|
-0.11542549827374328,
|
|
-0.056705154930516435
|
|
],
|
|
"error_norm_m": 0.13533762310296374,
|
|
"predicted_m": [
|
|
0.2977023566586652,
|
|
-0.135490034179065,
|
|
0.004320169450937953
|
|
],
|
|
"observed_m": [
|
|
0.25553896045148,
|
|
-0.02006453590532172,
|
|
0.06102532438145439
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.022089415952001035,
|
|
-0.10193133826658204,
|
|
-0.06597650651074931
|
|
],
|
|
"error_norm_m": 0.12341328708562882,
|
|
"predicted_m": [
|
|
0.26270235665676245,
|
|
-0.16919495731357542,
|
|
-0.005112653899266803
|
|
],
|
|
"observed_m": [
|
|
0.2406129407047614,
|
|
-0.06726361904699338,
|
|
0.060863852611482507
|
|
]
|
|
}
|
|
],
|
|
"stage_idx": 2,
|
|
"num_active_links": 5
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"link": "FingerA",
|
|
"observed_position_m": [
|
|
0.15713392862090453,
|
|
-0.2416989061052508,
|
|
0.5552827001989805
|
|
],
|
|
"predicted_position_m": [
|
|
0.2565450998126874,
|
|
-0.18819114848542082,
|
|
0.2878063432568203
|
|
],
|
|
"error_m": [
|
|
0.09941117119178289,
|
|
0.05350775761982998,
|
|
-0.2674763569421602
|
|
],
|
|
"error_norm_m": 0.29032613145611663
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"link": "FingerA",
|
|
"observed_position_m": [
|
|
0.1479206585855855,
|
|
-0.19726420703716735,
|
|
0.5690351925925898
|
|
],
|
|
"predicted_position_m": [
|
|
0.2788543381184665,
|
|
-0.2156508669929633,
|
|
0.3193737591424451
|
|
],
|
|
"error_m": [
|
|
0.130933679532881,
|
|
-0.018386659955795942,
|
|
-0.24966143345014474
|
|
],
|
|
"error_norm_m": 0.2825111131490765
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"link": "FingerB",
|
|
"observed_position_m": [
|
|
0.19954393633774076,
|
|
-0.17868114374099459,
|
|
0.5441410607893239
|
|
],
|
|
"predicted_position_m": [
|
|
0.24089449526547008,
|
|
-0.21055027706202617,
|
|
0.30418645151648965
|
|
],
|
|
"error_m": [
|
|
0.04135055892772932,
|
|
-0.031869133321031584,
|
|
-0.23995460927283424
|
|
],
|
|
"error_norm_m": 0.2455681675086326
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5367100000929597,
|
|
0.18544000008392653,
|
|
-0.027299999925764113
|
|
],
|
|
"predicted_position_m": [
|
|
0.5367100000237451,
|
|
0.1854400000862775,
|
|
-0.02729999985220077
|
|
],
|
|
"error_m": [
|
|
-6.921452300190367e-11,
|
|
2.350980521370616e-12,
|
|
7.356334291719335e-11
|
|
],
|
|
"error_norm_m": 1.0103337431238005e-10
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.34423000004138743,
|
|
-0.28653999991663465,
|
|
-0.02729999984725271
|
|
],
|
|
"predicted_position_m": [
|
|
0.34422999999943854,
|
|
-0.2865399999038096,
|
|
-0.027299999856872467
|
|
],
|
|
"error_m": [
|
|
-4.194888880704184e-11,
|
|
1.2825074335864883e-11,
|
|
-9.619756380363498e-12
|
|
],
|
|
"error_norm_m": 4.490803398818038e-11
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.16779999996393855,
|
|
-0.17207999996353737,
|
|
-0.027299999917780163
|
|
],
|
|
"predicted_position_m": [
|
|
0.16780000000533324,
|
|
-0.17207999989472358,
|
|
-0.02729999985016539
|
|
],
|
|
"error_m": [
|
|
4.139469322872458e-11,
|
|
6.881378800116522e-11,
|
|
6.761477142069872e-11
|
|
],
|
|
"error_norm_m": 1.0497911868958923e-10
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.4862500000517348,
|
|
0.21224000012342684,
|
|
-0.0272999998529145
|
|
],
|
|
"predicted_position_m": [
|
|
0.48625000002512525,
|
|
0.21224000008887617,
|
|
-0.027299999850401747
|
|
],
|
|
"error_m": [
|
|
-2.6609547898459596e-11,
|
|
-3.455066788227157e-11,
|
|
2.512753893846309e-12
|
|
],
|
|
"error_norm_m": 4.3682154509621976e-11
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3422700000437526,
|
|
-0.33058999996416577,
|
|
-0.027299999980765946
|
|
],
|
|
"predicted_position_m": [
|
|
0.34226999999716995,
|
|
-0.3305899999037086,
|
|
-0.02729999985770833
|
|
],
|
|
"error_m": [
|
|
-4.6582626644919856e-11,
|
|
6.04571948059629e-11,
|
|
1.2305761618036648e-10
|
|
],
|
|
"error_norm_m": 1.4480397235207513e-10
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.28371999999534064,
|
|
-0.2625799999426046,
|
|
-0.027299999890894776
|
|
],
|
|
"predicted_position_m": [
|
|
0.2837200000006725,
|
|
-0.2625799999006933,
|
|
-0.027299999854879402
|
|
],
|
|
"error_m": [
|
|
5.331846075762314e-12,
|
|
4.191130775765828e-11,
|
|
3.601537471031868e-11
|
|
],
|
|
"error_norm_m": 5.551660576852147e-11
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.49868000007035296,
|
|
0.16867000005226573,
|
|
-0.027299999952448827
|
|
],
|
|
"predicted_position_m": [
|
|
0.49868000002288143,
|
|
0.16867000008823602,
|
|
-0.027299999851587486
|
|
],
|
|
"error_m": [
|
|
-4.747152670958599e-11,
|
|
3.597028230828414e-11,
|
|
1.0086134011322301e-10
|
|
],
|
|
"error_norm_m": 1.1713418368227034e-10
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.05008999994519926,
|
|
-0.21810999987817428,
|
|
-0.02729999984143486
|
|
],
|
|
"predicted_position_m": [
|
|
0.05009000000296277,
|
|
-0.2181099998886616,
|
|
-0.027299999848149126
|
|
],
|
|
"error_m": [
|
|
5.776350925357221e-11,
|
|
-1.0487305468487307e-11,
|
|
-6.714264561002992e-12
|
|
],
|
|
"error_norm_m": 5.909050622453684e-11
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.4343599999899137,
|
|
0.2838100000510186,
|
|
-0.02729999991307023
|
|
],
|
|
"predicted_position_m": [
|
|
0.43436000002881114,
|
|
0.2838100000915484,
|
|
-0.027299999847667705
|
|
],
|
|
"error_m": [
|
|
3.88974408238596e-11,
|
|
4.0529801736965965e-11,
|
|
6.540252367459587e-11
|
|
],
|
|
"error_norm_m": 8.621580965512939e-11
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
-0.022419999971302798,
|
|
0.3358300000719934,
|
|
-0.02729999993911315
|
|
],
|
|
"predicted_position_m": [
|
|
-0.022419999968509654,
|
|
0.3358300001150722,
|
|
-0.027299999835210594
|
|
],
|
|
"error_m": [
|
|
2.7931441881623442e-12,
|
|
4.307881829035409e-11,
|
|
1.0390255669734394e-10
|
|
],
|
|
"error_norm_m": 1.1251367707080763e-10
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.4047000000289361,
|
|
-0.17509999991515432,
|
|
-0.027299999853498125
|
|
],
|
|
"predicted_position_m": [
|
|
0.4047000000051776,
|
|
-0.1750999999069238,
|
|
-0.027299999856144765
|
|
],
|
|
"error_m": [
|
|
-2.3758495171222194e-11,
|
|
8.230527370756135e-12,
|
|
-2.646639851722199e-12
|
|
],
|
|
"error_norm_m": 2.528264970501467e-11
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.7774000000739654,
|
|
-0.2361500000173091,
|
|
-0.027299999964334062
|
|
],
|
|
"predicted_position_m": [
|
|
0.7774000000020334,
|
|
-0.23614999992611754,
|
|
-0.02729999986668261
|
|
],
|
|
"error_m": [
|
|
-7.193201589927867e-11,
|
|
9.119155430781234e-11,
|
|
9.76514528960859e-11
|
|
],
|
|
"error_norm_m": 1.5174294296976465e-10
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
-0.02127000007871142,
|
|
-0.18822999986024366,
|
|
-0.027299999770135076
|
|
],
|
|
"predicted_position_m": [
|
|
-0.021269999995498393,
|
|
-0.18822999988498657,
|
|
-0.02729999984576607
|
|
],
|
|
"error_m": [
|
|
8.32130267469644e-11,
|
|
-2.4742902171581704e-11,
|
|
-7.563099452267963e-11
|
|
],
|
|
"error_norm_m": 1.1513759751164288e-10
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.20975000000209715,
|
|
-0.363229999906965,
|
|
-0.027299999886950692
|
|
],
|
|
"predicted_position_m": [
|
|
0.2097499999954891,
|
|
-0.3632299998968839,
|
|
-0.027299999855053082
|
|
],
|
|
"error_m": [
|
|
-6.608047442568932e-12,
|
|
1.0081047108201346e-11,
|
|
3.1897609553688255e-11
|
|
],
|
|
"error_norm_m": 3.409913924193044e-11
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5737300000365086,
|
|
0.17064000005345875,
|
|
-0.027299999959023245
|
|
],
|
|
"predicted_position_m": [
|
|
0.5737300000229829,
|
|
0.170640000084371,
|
|
-0.027299999853422966
|
|
],
|
|
"error_m": [
|
|
-1.352573608670582e-11,
|
|
3.0912244985970005e-11,
|
|
1.0560027852157816e-10
|
|
],
|
|
"error_norm_m": 1.1085996234256408e-10
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.00761000004242595,
|
|
-0.2812099999289154,
|
|
-0.02729999998318098
|
|
],
|
|
"predicted_position_m": [
|
|
0.007609999999713185,
|
|
-0.28120999988647377,
|
|
-0.027299999848355287
|
|
],
|
|
"error_m": [
|
|
-4.271276561607085e-11,
|
|
4.2441605785370484e-11,
|
|
1.3482569227729613e-10
|
|
],
|
|
"error_norm_m": 1.476605483745281e-10
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.4409900000354066,
|
|
0.19432000020221737,
|
|
-0.027299999713418663
|
|
],
|
|
"predicted_position_m": [
|
|
0.4409900000242024,
|
|
0.19432000009120703,
|
|
-0.02729999984963093
|
|
],
|
|
"error_m": [
|
|
-1.1204204231063386e-11,
|
|
-1.1101033980942532e-10,
|
|
-1.3621226715998525e-10
|
|
],
|
|
"error_norm_m": 1.760755845139202e-10
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
-0.02570000001322527,
|
|
0.19458000011081336,
|
|
-0.027299999917136667
|
|
],
|
|
"predicted_position_m": [
|
|
-0.025699999975783934,
|
|
0.19458000011524126,
|
|
-0.02729999983796592
|
|
],
|
|
"error_m": [
|
|
3.744133475480638e-11,
|
|
4.427902489112512e-12,
|
|
7.917074634766763e-11
|
|
],
|
|
"error_norm_m": 8.768960568916528e-11
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.312300000016258,
|
|
-0.15910999989937752,
|
|
-0.027299999860245398
|
|
],
|
|
"predicted_position_m": [
|
|
0.3123000000060011,
|
|
-0.1591099999021653,
|
|
-0.027299999853515052
|
|
],
|
|
"error_m": [
|
|
-1.0256906435301971e-11,
|
|
-2.787770014833768e-12,
|
|
6.730345447625297e-12
|
|
],
|
|
"error_norm_m": 1.2580673317534154e-11
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.044159999992374944,
|
|
0.33922000010889536,
|
|
-0.027299999906729017
|
|
],
|
|
"predicted_position_m": [
|
|
0.044160000031664884,
|
|
0.3392200001116434,
|
|
-0.027299999836805935
|
|
],
|
|
"error_m": [
|
|
3.928993935753411e-11,
|
|
2.7480240305521875e-12,
|
|
6.992308121400725e-11
|
|
],
|
|
"error_norm_m": 8.025265264931655e-11
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.4074900000152712,
|
|
0.25842000018675926,
|
|
-0.027299999735366415
|
|
],
|
|
"predicted_position_m": [
|
|
0.4074900000275036,
|
|
0.2584200000929322,
|
|
-0.027299999847506397
|
|
],
|
|
"error_m": [
|
|
1.2232381774168744e-11,
|
|
-9.382705723481877e-11,
|
|
-1.1213998132864056e-10
|
|
],
|
|
"error_norm_m": 1.467260142088063e-10
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5045800000185344,
|
|
-0.3127499999345801,
|
|
-0.027299999823630846
|
|
],
|
|
"predicted_position_m": [
|
|
0.5045799999980887,
|
|
-0.3127499999120675,
|
|
-0.02729999986140513
|
|
],
|
|
"error_m": [
|
|
-2.044575619919442e-11,
|
|
2.2512602892987843e-11,
|
|
-3.777428370099756e-11
|
|
],
|
|
"error_norm_m": 4.849477028193567e-11
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3628899999968834,
|
|
0.2920100001214097,
|
|
-0.02729999977788188
|
|
],
|
|
"predicted_position_m": [
|
|
0.3628900000292334,
|
|
0.29201000009522904,
|
|
-0.027299999845717387
|
|
],
|
|
"error_m": [
|
|
3.23500115584352e-11,
|
|
-2.6180668744046898e-11,
|
|
-6.783550804412286e-11
|
|
],
|
|
"error_norm_m": 7.958396079186222e-11
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6450900000418279,
|
|
-0.18483999992149241,
|
|
-0.027299999804719477
|
|
],
|
|
"predicted_position_m": [
|
|
0.645090000004676,
|
|
-0.18483999991930372,
|
|
-0.027299999862346318
|
|
],
|
|
"error_m": [
|
|
-3.7151948184543926e-11,
|
|
2.1886936707460336e-12,
|
|
-5.762684079924085e-11
|
|
],
|
|
"error_norm_m": 6.859963858791422e-11
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.1860399999967906,
|
|
-0.27406999993259007,
|
|
-0.02729999989753723
|
|
],
|
|
"predicted_position_m": [
|
|
0.18604000000008075,
|
|
-0.27406999989566283,
|
|
-0.027299999852669763
|
|
],
|
|
"error_m": [
|
|
3.2901459334766514e-12,
|
|
3.6927239044359794e-11,
|
|
4.4867467380305115e-11
|
|
],
|
|
"error_norm_m": 5.820254008911988e-11
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.36977000002277416,
|
|
-0.18648999991230544,
|
|
-0.02729999985668438
|
|
],
|
|
"predicted_position_m": [
|
|
0.369770000004591,
|
|
-0.1864899999051249,
|
|
-0.027299999855500863
|
|
],
|
|
"error_m": [
|
|
-1.8183177186159583e-11,
|
|
7.180533945216894e-12,
|
|
1.1835185609321286e-12
|
|
],
|
|
"error_norm_m": 1.9585421019364308e-11
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3043499999947372,
|
|
-0.35966999991822723,
|
|
-0.027299999877075903
|
|
],
|
|
"predicted_position_m": [
|
|
0.3043499999956724,
|
|
-0.35966999990175574,
|
|
-0.02729999985734506
|
|
],
|
|
"error_m": [
|
|
9.351963647930006e-13,
|
|
1.6471490837943747e-11,
|
|
1.973084196027486e-11
|
|
],
|
|
"error_norm_m": 2.5719462030270577e-11
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6496900000995376,
|
|
-0.22299999998754086,
|
|
-0.02729999992976496
|
|
],
|
|
"predicted_position_m": [
|
|
0.6496900000027108,
|
|
-0.2229999999195406,
|
|
-0.027299999863227762
|
|
],
|
|
"error_m": [
|
|
-9.682676882505348e-11,
|
|
6.800027207987114e-11,
|
|
6.65371993613384e-11
|
|
],
|
|
"error_norm_m": 1.3574483070410947e-10
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.10570999992031617,
|
|
-0.18770999986209555,
|
|
-0.02729999976984459
|
|
],
|
|
"predicted_position_m": [
|
|
0.10571000000452832,
|
|
-0.187709999891526,
|
|
-0.027299999848928096
|
|
],
|
|
"error_m": [
|
|
8.42121511412941e-11,
|
|
-2.9430458070578425e-11,
|
|
-7.908350710406076e-11
|
|
],
|
|
"error_norm_m": 1.192142581991192e-10
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5248400000183366,
|
|
-0.2662499999346213,
|
|
-0.027299999824223993
|
|
],
|
|
"predicted_position_m": [
|
|
0.5248400000004835,
|
|
-0.2662499999131108,
|
|
-0.027299999860977264
|
|
],
|
|
"error_m": [
|
|
-1.7853163392089755e-11,
|
|
2.1510460079809945e-11,
|
|
-3.6753270565847984e-11
|
|
],
|
|
"error_norm_m": 4.617616520713017e-11
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"link": "Arm2",
|
|
"observed_position_m": [
|
|
0.2804165953039367,
|
|
-0.19872244751640883,
|
|
0.3505887458428963
|
|
],
|
|
"predicted_position_m": [
|
|
0.24977194249877693,
|
|
-0.1584720183887424,
|
|
0.1868814818684093
|
|
],
|
|
"error_m": [
|
|
-0.030644652805159767,
|
|
0.04025042912766644,
|
|
-0.16370726397448698
|
|
],
|
|
"error_norm_m": 0.17134544075791
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"link": "Arm2",
|
|
"observed_position_m": [
|
|
0.3179512440276115,
|
|
-0.23900721775693098,
|
|
0.3721039418447169
|
|
],
|
|
"predicted_position_m": [
|
|
0.23112027001432411,
|
|
-0.20903984461274458,
|
|
0.2111510114168477
|
|
],
|
|
"error_m": [
|
|
-0.08683097401328738,
|
|
0.029967373144186404,
|
|
-0.1609529304278692
|
|
],
|
|
"error_norm_m": 0.18532001325970596
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"observed_position_m": [
|
|
0.1305694369342163,
|
|
-0.0738931537004449,
|
|
0.19069456152916994
|
|
],
|
|
"predicted_position_m": [
|
|
0.17270235666437775,
|
|
-0.05576879813149038,
|
|
0.05881351330514362
|
|
],
|
|
"error_m": [
|
|
0.04213291973016145,
|
|
0.018124355568954517,
|
|
-0.13188104822402633
|
|
],
|
|
"error_norm_m": 0.1396291018034782
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.7500000000651522,
|
|
-0.08999999999118834,
|
|
0.00030000004390770064
|
|
],
|
|
"predicted_position_m": [
|
|
0.7500000000102496,
|
|
-0.08999999992526098,
|
|
0.00030000013693766095
|
|
],
|
|
"error_m": [
|
|
-5.490263799146078e-11,
|
|
6.59273607928057e-11,
|
|
9.302996030859448e-11
|
|
],
|
|
"error_norm_m": 1.2655153130067147e-10
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6500000000075417,
|
|
-0.009999999882410456,
|
|
0.0003000001917369764
|
|
],
|
|
"predicted_position_m": [
|
|
0.6500000000143696,
|
|
-0.009999999920111104,
|
|
0.0003000001410430143
|
|
],
|
|
"error_m": [
|
|
6.827982623747175e-12,
|
|
-3.7700648158889294e-11,
|
|
-5.069396210319668e-11
|
|
],
|
|
"error_norm_m": 6.354398486112511e-11
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.7500000000486273,
|
|
-0.009999999939664835,
|
|
0.00030000006839689885
|
|
],
|
|
"predicted_position_m": [
|
|
0.7500000000143695,
|
|
-0.00999999992526104,
|
|
0.0003000001385446136
|
|
],
|
|
"error_m": [
|
|
-3.425781880395107e-11,
|
|
1.4403794129647096e-11,
|
|
7.014771473108986e-11
|
|
],
|
|
"error_norm_m": 7.938368419598551e-11
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3499999999386543,
|
|
-0.08999999975261576,
|
|
0.00030000042723117164
|
|
],
|
|
"predicted_position_m": [
|
|
0.3500000000102497,
|
|
-0.08999999990466123,
|
|
0.00030000014693126384
|
|
],
|
|
"error_m": [
|
|
7.159539627821232e-11,
|
|
-1.5204547343383723e-10,
|
|
-2.8029990779615196e-10
|
|
],
|
|
"error_norm_m": 3.268206925371851e-10
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.019999999971557846,
|
|
-0.019999999802751654,
|
|
0.00030000020400658975
|
|
],
|
|
"predicted_position_m": [
|
|
0.020000000013854876,
|
|
-0.0199999998876665,
|
|
0.00030000015658206977
|
|
],
|
|
"error_m": [
|
|
4.2297030461435625e-11,
|
|
-8.491484598804888e-11,
|
|
-4.74245199859856e-11
|
|
],
|
|
"error_norm_m": 1.0605967636633078e-10
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.24999999993167737,
|
|
-0.009999999908451308,
|
|
0.00030000022431341585
|
|
],
|
|
"predicted_position_m": [
|
|
0.2500000000143698,
|
|
-0.009999999899511358,
|
|
0.0003000001510366172
|
|
],
|
|
"error_m": [
|
|
8.269240847624815e-11,
|
|
8.939949475150755e-12,
|
|
-7.327679863713618e-11
|
|
],
|
|
"error_norm_m": 1.1084875432195134e-10
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.34999999993241016,
|
|
-0.009999999774234655,
|
|
0.00030000038849146895
|
|
],
|
|
"predicted_position_m": [
|
|
0.3500000000143697,
|
|
-0.009999999904661295,
|
|
0.0003000001485382165
|
|
],
|
|
"error_m": [
|
|
8.195955025769308e-11,
|
|
-1.3042663997431259e-10,
|
|
-2.399532524717182e-10
|
|
],
|
|
"error_norm_m": 2.851421394062765e-10
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.650000000043315,
|
|
-0.08999999989818294,
|
|
0.000300000219976508
|
|
],
|
|
"predicted_position_m": [
|
|
0.6500000000102497,
|
|
-0.08999999992011104,
|
|
0.0003000001394360617
|
|
],
|
|
"error_m": [
|
|
-3.306532825320119e-11,
|
|
-2.1928098226098314e-11,
|
|
-8.054044632827342e-11
|
|
],
|
|
"error_norm_m": 8.97826314999892e-11
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"observed_position_m": [
|
|
0.16640168506027175,
|
|
-0.15182653993183387,
|
|
0.16344669721760172
|
|
],
|
|
"predicted_position_m": [
|
|
0.1727023566593537,
|
|
-0.14342521047080634,
|
|
0.03840877425268385
|
|
],
|
|
"error_m": [
|
|
0.006300671599081958,
|
|
0.008401329461027535,
|
|
-0.12503792296491786
|
|
],
|
|
"error_norm_m": 0.12547813745307562
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"observed_position_m": [
|
|
0.1684798904699227,
|
|
-0.17155983163860805,
|
|
0.11809996732683645
|
|
],
|
|
"predicted_position_m": [
|
|
0.1727023566569569,
|
|
-0.16957863897125047,
|
|
-0.003615006844117849
|
|
],
|
|
"error_m": [
|
|
0.004222466187034202,
|
|
0.0019811926673575786,
|
|
-0.1217149741709543
|
|
],
|
|
"error_norm_m": 0.12180430732335336
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"link": "Ellbow",
|
|
"observed_position_m": [
|
|
0.25553896045148,
|
|
-0.02006453590532172,
|
|
0.06102532438145439
|
|
],
|
|
"predicted_position_m": [
|
|
0.2977023566586652,
|
|
-0.135490034179065,
|
|
0.004320169450937953
|
|
],
|
|
"error_m": [
|
|
0.04216339620718518,
|
|
-0.11542549827374328,
|
|
-0.056705154930516435
|
|
],
|
|
"error_norm_m": 0.13533762310296374
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"link": "Ellbow",
|
|
"observed_position_m": [
|
|
0.2406129407047614,
|
|
-0.06726361904699338,
|
|
0.060863852611482507
|
|
],
|
|
"predicted_position_m": [
|
|
0.26270235665676245,
|
|
-0.16919495731357542,
|
|
-0.005112653899266803
|
|
],
|
|
"error_m": [
|
|
0.022089415952001035,
|
|
-0.10193133826658204,
|
|
-0.06597650651074931
|
|
],
|
|
"error_norm_m": 0.12341328708562882
|
|
}
|
|
]
|
|
} |