4867 lines
125 KiB
JSON
4867 lines
125 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"method": "deterministic_geometric_sequential_prefix",
|
|
"created_utc": "2026-05-31T08:49:12Z",
|
|
"root_pose": {
|
|
"translation_m": [
|
|
0.001526507103262853,
|
|
0.0022330480587029536,
|
|
0.0006287159025313571
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999775934898915,
|
|
0.004425233522945128,
|
|
0.005022930064517553
|
|
],
|
|
[
|
|
-0.004500750690443569,
|
|
0.9998754947010853,
|
|
0.015124097972558738
|
|
],
|
|
[
|
|
-0.004955377017755958,
|
|
-0.015146366050260571,
|
|
0.9998730078535389
|
|
]
|
|
],
|
|
"euler_xyz_deg": [
|
|
-0.867866691064683,
|
|
0.28392335101396876,
|
|
-0.25787805606298114
|
|
]
|
|
},
|
|
"movements": {
|
|
"x": {
|
|
"value_m": 0.1233454219218383,
|
|
"value_mm": 123.3454219218383,
|
|
"joint_type": "linear",
|
|
"link": "Base"
|
|
},
|
|
"y": {
|
|
"value_rad": -0.7659818573540562,
|
|
"value_deg": -43.88752760997928,
|
|
"joint_type": "revolute",
|
|
"link": "Arm1"
|
|
},
|
|
"z": {
|
|
"value_rad": 1.3783860329557154,
|
|
"value_deg": 78.9757022281429,
|
|
"joint_type": "revolute",
|
|
"link": "Ellbow"
|
|
},
|
|
"a": {
|
|
"value_rad": 2.003495699359215,
|
|
"value_deg": 114.79184784589425,
|
|
"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": [
|
|
0.001526507103262853,
|
|
0.0022330480587029536,
|
|
0.0006287159025313571
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999775934898915,
|
|
0.004425233522945128,
|
|
0.005022930064517553
|
|
],
|
|
[
|
|
-0.004500750690443569,
|
|
0.9998754947010853,
|
|
0.015124097972558738
|
|
],
|
|
[
|
|
-0.004955377017755958,
|
|
-0.015146366050260571,
|
|
0.9998730078535389
|
|
]
|
|
]
|
|
},
|
|
"Base": {
|
|
"translation_m": [
|
|
0.12494953216556696,
|
|
0.0019198866333866814,
|
|
0.0160154609591517
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999775934898915,
|
|
0.004425233522945128,
|
|
0.005022930064517553
|
|
],
|
|
[
|
|
-0.004500750690443569,
|
|
0.9998754947010853,
|
|
0.015124097972558738
|
|
],
|
|
[
|
|
-0.004955377017755958,
|
|
-0.015146366050260571,
|
|
0.9998730078535389
|
|
]
|
|
]
|
|
},
|
|
"Arm1": {
|
|
"translation_m": [
|
|
0.23565102452283637,
|
|
0.11009194189392024,
|
|
0.05882884730717966
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999775934893328,
|
|
0.006671395763080112,
|
|
0.0005522650975259166
|
|
],
|
|
[
|
|
-0.0045007506904410546,
|
|
0.7310970107381736,
|
|
-0.6822586783119503
|
|
],
|
|
[
|
|
-0.004955377017753189,
|
|
0.6822409056684585,
|
|
0.7311106556946985
|
|
]
|
|
]
|
|
},
|
|
"Ellbow": {
|
|
"translation_m": [
|
|
0.23398317558206636,
|
|
-0.07268231079062315,
|
|
-0.11173137910993497
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999775934877152,
|
|
0.0007336657128729166,
|
|
0.006653890049231119
|
|
],
|
|
[
|
|
-0.004500750690433774,
|
|
0.809472615910375,
|
|
0.5871403812816404
|
|
],
|
|
[
|
|
-0.004955377017745173,
|
|
-0.5871571730149848,
|
|
0.8094577805004872
|
|
]
|
|
]
|
|
},
|
|
"Arm2": {
|
|
"translation_m": [
|
|
0.3239811589959607,
|
|
-0.07308737835276219,
|
|
-0.11217736304153203
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.41327287372752697,
|
|
0.0007336657128708341,
|
|
-0.9106069369215308
|
|
],
|
|
[
|
|
0.5349151181844798,
|
|
0.8094726159080773,
|
|
-0.24211546919898194
|
|
],
|
|
[
|
|
0.7369337474792982,
|
|
-0.5871571730133182,
|
|
-0.3349255230632639
|
|
]
|
|
]
|
|
},
|
|
"Hand": {
|
|
"translation_m": [
|
|
0.32379774256774296,
|
|
-0.2754555323297815,
|
|
0.03461193021179751
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.41327287372752697,
|
|
0.0007336657128708341,
|
|
-0.9106069369215308
|
|
],
|
|
[
|
|
0.5349151181844798,
|
|
0.8094726159080773,
|
|
-0.24211546919898194
|
|
],
|
|
[
|
|
0.7369337474792982,
|
|
-0.5871571730133182,
|
|
-0.3349255230632639
|
|
]
|
|
]
|
|
},
|
|
"Palm": {
|
|
"translation_m": [
|
|
0.32379774256774296,
|
|
-0.2754555323297815,
|
|
0.03461193021179751
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.41327287372752697,
|
|
0.0007336657128708341,
|
|
-0.9106069369215308
|
|
],
|
|
[
|
|
0.5349151181844798,
|
|
0.8094726159080773,
|
|
-0.24211546919898194
|
|
],
|
|
[
|
|
0.7369337474792982,
|
|
-0.5871571730133182,
|
|
-0.3349255230632639
|
|
]
|
|
]
|
|
},
|
|
"FingerA": {
|
|
"translation_m": [
|
|
0.3221189727728824,
|
|
-0.3016474134138263,
|
|
0.05811016625718084
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.41327287372752697,
|
|
0.0007336657128708341,
|
|
-0.9106069369215308
|
|
],
|
|
[
|
|
0.5349151181844798,
|
|
0.8094726159080773,
|
|
-0.24211546919898194
|
|
],
|
|
[
|
|
0.7369337474792982,
|
|
-0.5871571730133182,
|
|
-0.3349255230632639
|
|
]
|
|
]
|
|
},
|
|
"FingerB": {
|
|
"translation_m": [
|
|
0.3254251557627026,
|
|
-0.3059267343593021,
|
|
0.052214696277346456
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.41327287372752697,
|
|
0.0007336657128708341,
|
|
-0.9106069369215308
|
|
],
|
|
[
|
|
0.5349151181844798,
|
|
0.8094726159080773,
|
|
-0.24211546919898194
|
|
],
|
|
[
|
|
0.7369337474792982,
|
|
-0.5871571730133182,
|
|
-0.3349255230632639
|
|
]
|
|
]
|
|
}
|
|
},
|
|
"stage_reports": [
|
|
{
|
|
"method": "deterministic_geometric_prefix",
|
|
"active_links": [
|
|
"Board",
|
|
"Base",
|
|
"Arm1"
|
|
],
|
|
"active_observations": 42,
|
|
"joint_updates": [
|
|
{
|
|
"pass": 0,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.0,
|
|
"new": 0.1031317241613468,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
0.9999775934888914,
|
|
-0.004500750690439068,
|
|
-0.004955377017751002
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"q_i": 0.11550957814977855,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.09075387017291507,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 0.0,
|
|
"new": 2.096762593257374,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
-0.9999775934888914,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.0448300603324192,
|
|
"theta_alt_rad": 2.096762593257374,
|
|
"score_theta": 0.5692254767720216,
|
|
"score_theta_alt": 0.2655203999270917,
|
|
"best_score": 0.2655203999270917,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"pass": 1,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.1031317241613468,
|
|
"new": 0.10313172416134683,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
0.9999775934888914,
|
|
-0.004500750690439068,
|
|
-0.004955377017751002
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"q_i": 0.11550957814977858,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.0907538701729151,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 2.096762593257374,
|
|
"new": 2.096762593257374,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
-0.9999775934888914,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.0448300603324192,
|
|
"theta_alt_rad": 2.096762593257374,
|
|
"score_theta": 0.5692254767720216,
|
|
"score_theta_alt": 0.2655203999270917,
|
|
"best_score": 0.2655203999270917,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"root_link": "Board",
|
|
"root_pose": {
|
|
"reason": "kabsch",
|
|
"used_markers": [
|
|
210,
|
|
211,
|
|
215,
|
|
214,
|
|
208,
|
|
206,
|
|
205,
|
|
207,
|
|
217,
|
|
46,
|
|
47,
|
|
51,
|
|
52,
|
|
53,
|
|
54,
|
|
55,
|
|
56,
|
|
58,
|
|
60,
|
|
61,
|
|
62,
|
|
63,
|
|
64,
|
|
66,
|
|
68,
|
|
69,
|
|
72,
|
|
75,
|
|
77,
|
|
79,
|
|
83,
|
|
84,
|
|
85,
|
|
92,
|
|
95,
|
|
96,
|
|
97,
|
|
102,
|
|
103,
|
|
105
|
|
]
|
|
},
|
|
"marker_stats": {
|
|
"num_markers_used": 42,
|
|
"mean_error_m": 0.024795553679170555,
|
|
"rms_error_m": 0.06876215360086076,
|
|
"median_error_m": 0.006530513939207956,
|
|
"worst_error_m": 0.34134712367740216
|
|
},
|
|
"marker_reports": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.012908357952040372,
|
|
-0.010207876075251116,
|
|
0.013985073276577477
|
|
],
|
|
"error_norm_m": 0.02159649771460478,
|
|
"predicted_m": [
|
|
0.5389079706189561,
|
|
0.18482147401835336,
|
|
-0.03213615973143038
|
|
],
|
|
"observed_m": [
|
|
0.5518163285709965,
|
|
0.19502935009360448,
|
|
-0.046121233008007856
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0010498932317613008,
|
|
0.0017773294998767453,
|
|
0.005477075623620271
|
|
],
|
|
"error_norm_m": 0.005853164386559265,
|
|
"predicted_m": [
|
|
0.3443436617058622,
|
|
-0.2862334574777683,
|
|
-0.024033566914650726
|
|
],
|
|
"observed_m": [
|
|
0.3432937684741009,
|
|
-0.28801078697764504,
|
|
-0.029510642538270997
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0017812069836050382,
|
|
-0.0025230722927245264,
|
|
0.009849544619266973
|
|
],
|
|
"error_norm_m": 0.010322408697570956,
|
|
"predicted_m": [
|
|
0.1684241271154769,
|
|
-0.1709936409099671,
|
|
-0.024892942805520867
|
|
],
|
|
"observed_m": [
|
|
0.16664292013187187,
|
|
-0.16847056861724258,
|
|
-0.03474248742478784
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.01305464812148073,
|
|
0.028814662356838328,
|
|
-0.032153336918371744
|
|
],
|
|
"error_norm_m": 0.04510593840394636,
|
|
"predicted_m": [
|
|
0.09699062889102218,
|
|
0.21002804983300935,
|
|
-0.030297433047958764
|
|
],
|
|
"observed_m": [
|
|
0.08393598076954145,
|
|
0.18121338747617102,
|
|
0.0018559038704129825
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.1524115299229614e-05,
|
|
-0.0012827615591776698,
|
|
-0.0030325351542050474
|
|
],
|
|
"error_norm_m": 0.0032929425946020894,
|
|
"predicted_m": [
|
|
0.48856769750987117,
|
|
0.21184524515618225,
|
|
-0.0322920340172614
|
|
],
|
|
"observed_m": [
|
|
0.48852617339457194,
|
|
0.21312800671535992,
|
|
-0.02925949886305635
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0027467583153943376,
|
|
-0.0030001436330559517,
|
|
-0.013548808173682477
|
|
],
|
|
"error_norm_m": 0.014146227270526909,
|
|
"predicted_m": [
|
|
0.34218877408593623,
|
|
-0.3302691515479978,
|
|
-0.023356656951181946
|
|
],
|
|
"observed_m": [
|
|
0.3394420157705419,
|
|
-0.32726900791494185,
|
|
-0.009807848777499469
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0005006658137158282,
|
|
0.0004989649485536707,
|
|
0.003841826723756093
|
|
],
|
|
"error_norm_m": 0.003906310900616511,
|
|
"predicted_m": [
|
|
0.2839410461189986,
|
|
-0.2620041002004515,
|
|
-0.024096623981870555
|
|
],
|
|
"observed_m": [
|
|
0.2834403803052828,
|
|
-0.2625030651490052,
|
|
-0.027938450705626647
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.01190849449372866,
|
|
-0.013896424983166983,
|
|
0.02006965740903304
|
|
],
|
|
"error_norm_m": 0.027160891313355463,
|
|
"predicted_m": [
|
|
0.5008046115723558,
|
|
0.16822472552097373,
|
|
-0.03169370218478225
|
|
],
|
|
"observed_m": [
|
|
0.5127131060660844,
|
|
0.1821211505041407,
|
|
-0.05176335959381529
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00015397302462388102,
|
|
0.0024949618172493693,
|
|
0.0046951907132772135
|
|
],
|
|
"error_norm_m": 0.0053191501196985114,
|
|
"predicted_m": [
|
|
0.05051307108672063,
|
|
-0.21648812656728597,
|
|
-0.02361245814746732
|
|
],
|
|
"observed_m": [
|
|
0.05066704411134451,
|
|
-0.21898308838453534,
|
|
-0.028307648860744532
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002738275425795633,
|
|
-0.004390002132968696,
|
|
-0.0021702321777583855
|
|
],
|
|
"error_norm_m": 0.005610719984134288,
|
|
"predicted_m": [
|
|
0.43699557414691786,
|
|
0.28363987826526604,
|
|
-0.033118924922027185
|
|
],
|
|
"observed_m": [
|
|
0.43425729872112223,
|
|
0.28802988039823474,
|
|
-0.0309486927442688
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.008729810989958155,
|
|
-0.02488936097269756,
|
|
0.026906938996231748
|
|
],
|
|
"error_norm_m": 0.03767855166665209,
|
|
"predicted_m": [
|
|
-0.01954399035953118,
|
|
0.3377092543999973,
|
|
-0.03164332176979118
|
|
],
|
|
"observed_m": [
|
|
-0.010814179369573025,
|
|
0.3625986153726949,
|
|
-0.058550260766022925
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0013449455751512462,
|
|
0.0057384518817231445,
|
|
0.0025783362342821463
|
|
],
|
|
"error_norm_m": 0.00643323607028244,
|
|
"predicted_m": [
|
|
0.4053054548079929,
|
|
-0.17507949274253046,
|
|
-0.026021129595555467
|
|
],
|
|
"observed_m": [
|
|
0.40396050923284166,
|
|
-0.1808179446242536,
|
|
-0.028599465829837613
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.017218916952065455,
|
|
0.007683261787512163,
|
|
0.022191846824885876
|
|
],
|
|
"error_norm_m": 0.029120468371864643,
|
|
"predicted_m": [
|
|
0.7777269433950996,
|
|
-0.23779932147636001,
|
|
-0.026943312962704705
|
|
],
|
|
"observed_m": [
|
|
0.7949458603471651,
|
|
-0.24548258326387218,
|
|
-0.04913515978759058
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0007745268570881099,
|
|
0.0010794065666502872,
|
|
0.0038781198291383476
|
|
],
|
|
"error_norm_m": 0.004099368707207805,
|
|
"predicted_m": [
|
|
-0.02071310400705243,
|
|
-0.18629067321634743,
|
|
-0.02371141586106204
|
|
],
|
|
"observed_m": [
|
|
-0.01993857714996432,
|
|
-0.18737007978299772,
|
|
-0.027589535690200388
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0013877997390944474,
|
|
-0.0036044874051766596,
|
|
0.0010242476523267298
|
|
],
|
|
"error_norm_m": 0.00399592302518512,
|
|
"predicted_m": [
|
|
0.20952730377446688,
|
|
-0.3623086482135437,
|
|
-0.022205593000908422
|
|
],
|
|
"observed_m": [
|
|
0.21091510351356133,
|
|
-0.35870416080836703,
|
|
-0.02322984065323515
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.005485929757955144,
|
|
-0.0014348902038141542,
|
|
-0.012081451413012121
|
|
],
|
|
"error_norm_m": 0.013346003276306813,
|
|
"predicted_m": [
|
|
0.5758616476738124,
|
|
0.1698566989062171,
|
|
-0.03209544157108385
|
|
],
|
|
"observed_m": [
|
|
0.5703757179158573,
|
|
0.17129158911003126,
|
|
-0.020013990158071728
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.010464061630526619,
|
|
-0.004823523607819236,
|
|
-0.034683082209372426
|
|
],
|
|
"error_norm_m": 0.03654694456920763,
|
|
"predicted_m": [
|
|
0.007754790679972199,
|
|
-0.27938907839359434,
|
|
-0.022446218033981606
|
|
],
|
|
"observed_m": [
|
|
0.01821885231049882,
|
|
-0.2745655547857751,
|
|
0.012236864175390822
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.001534801108487971,
|
|
-0.006298543811810525,
|
|
0.0013568973548418045
|
|
],
|
|
"error_norm_m": 0.006623325375027959,
|
|
"predicted_m": [
|
|
0.44322941144378747,
|
|
0.19413118026738826,
|
|
-0.03179633077381709
|
|
],
|
|
"observed_m": [
|
|
0.4416946103352995,
|
|
0.2004297240791988,
|
|
-0.033153228128658896
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0041405703327046135,
|
|
-0.0024574201299061293,
|
|
0.006523450247215179
|
|
],
|
|
"error_norm_m": 0.008107936821586195,
|
|
"predicted_m": [
|
|
-0.023448981101294022,
|
|
0.19649160323573367,
|
|
-0.02948764392857363
|
|
],
|
|
"observed_m": [
|
|
-0.027589551433998636,
|
|
0.1989490233656398,
|
|
-0.03601109417578881
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.004270521640567546,
|
|
-0.0010700376682142854,
|
|
0.005579068628516835
|
|
],
|
|
"error_norm_m": 0.00710692215066789,
|
|
"predicted_m": [
|
|
0.020426715524073248,
|
|
0.19328444004887982,
|
|
-0.029659544864071657
|
|
],
|
|
"observed_m": [
|
|
0.016156193883505702,
|
|
0.1943544777170941,
|
|
-0.03523861349258849
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002931254485037893,
|
|
0.0025320231883179944,
|
|
0.0029217590403681735
|
|
],
|
|
"error_norm_m": 0.004851811019836607,
|
|
"predicted_m": [
|
|
0.31297828465355887,
|
|
-0.15867561421846313,
|
|
-0.025805443152258484
|
|
],
|
|
"observed_m": [
|
|
0.310047030168521,
|
|
-0.16120763740678112,
|
|
-0.028727202192626658
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.004416573031188281,
|
|
0.0022472712894280322,
|
|
-0.005247746703131745
|
|
],
|
|
"error_norm_m": 0.007217699844710729,
|
|
"predicted_m": [
|
|
0.047049519356668575,
|
|
0.34079917234606427,
|
|
-0.03202459695254375
|
|
],
|
|
"observed_m": [
|
|
0.04263294632548029,
|
|
0.33855190105663624,
|
|
-0.026776850249412003
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0034965065337434487,
|
|
-0.0052207668163380405,
|
|
-0.0014007317484231105
|
|
],
|
|
"error_norm_m": 0.006437702503387954,
|
|
"predicted_m": [
|
|
0.4100138195306969,
|
|
0.25837397462585776,
|
|
-0.03260120770754397
|
|
],
|
|
"observed_m": [
|
|
0.40651731299695343,
|
|
0.2635947414421958,
|
|
-0.031200475959120857
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.000158309018039815,
|
|
0.0015219089989804147,
|
|
0.0043452100564496735
|
|
],
|
|
"error_norm_m": 0.004606747136650944,
|
|
"predicted_m": [
|
|
0.5045740834513299,
|
|
-0.3131618895670964,
|
|
-0.024431175365270563
|
|
],
|
|
"observed_m": [
|
|
0.5047323924693697,
|
|
-0.3146837985660768,
|
|
-0.028776385421720237
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00212962694819796,
|
|
0.0018920028557388169,
|
|
-0.00020486768449404572
|
|
],
|
|
"error_norm_m": 0.0028560386049149874,
|
|
"predicted_m": [
|
|
0.6456469667325145,
|
|
-0.18590021551939476,
|
|
-0.027064827071524283
|
|
],
|
|
"observed_m": [
|
|
0.6477765936807125,
|
|
-0.18779221837513357,
|
|
-0.026859959387030237
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00023614883342362725,
|
|
-0.0032603744778859634,
|
|
0.0025756886423556474
|
|
],
|
|
"error_norm_m": 0.004161728005280666,
|
|
"predicted_m": [
|
|
0.18621238885372735,
|
|
-0.2730530363071244,
|
|
-0.023438551008858662
|
|
],
|
|
"observed_m": [
|
|
0.18644853768715097,
|
|
-0.26979266182923844,
|
|
-0.02601423965121431
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002421877949804585,
|
|
0.0014184365837894009,
|
|
0.004337564752345511
|
|
],
|
|
"error_norm_m": 0.005166422662420486,
|
|
"predicted_m": [
|
|
0.37032583405756464,
|
|
-0.18631086340555864,
|
|
-0.025675521167012782
|
|
],
|
|
"observed_m": [
|
|
0.36790395610776006,
|
|
-0.18772929998934804,
|
|
-0.030013085919358293
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0011327202459437413,
|
|
-0.004886750791674721,
|
|
0.006727836164899831
|
|
],
|
|
"error_norm_m": 0.00839208960374223,
|
|
"predicted_m": [
|
|
0.3041409379499523,
|
|
-0.3591748624677238,
|
|
-0.02272829272992706
|
|
],
|
|
"observed_m": [
|
|
0.305273658195896,
|
|
-0.35428811167604907,
|
|
-0.02945612889482689
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0036196954645962842,
|
|
0.0012816379700715252,
|
|
0.005929273616382149
|
|
],
|
|
"error_norm_m": 0.0070640694192988665,
|
|
"predicted_m": [
|
|
0.6500779967513324,
|
|
-0.2240761678503642,
|
|
-0.026509636477328017
|
|
],
|
|
"observed_m": [
|
|
0.6536976922159287,
|
|
-0.2253578058204357,
|
|
-0.032438910093710166
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0003242889664059334,
|
|
0.001622982535756462,
|
|
0.004493728241626731
|
|
],
|
|
"error_norm_m": 0.004788823358059554,
|
|
"predicted_m": [
|
|
0.10626635193572592,
|
|
-0.18634224328177543,
|
|
-0.024348525745122827
|
|
],
|
|
"observed_m": [
|
|
0.10594206296931999,
|
|
-0.1879652258175319,
|
|
-0.02884225398674956
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0013771188155533576,
|
|
0.0020728698609000507,
|
|
0.0032204719764331556
|
|
],
|
|
"error_norm_m": 0.004069973641606313,
|
|
"predicted_m": [
|
|
0.5250394028542521,
|
|
-0.26675886427248424,
|
|
-0.025235877324987416
|
|
],
|
|
"observed_m": [
|
|
0.5264165216698055,
|
|
-0.2688317341333843,
|
|
-0.02845634930142057
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002123522868188177,
|
|
0.00355099196488598,
|
|
-0.012924145855992514
|
|
],
|
|
"error_norm_m": 0.01357027779425946,
|
|
"predicted_m": [
|
|
0.7511129380826358,
|
|
-0.09112677225283562,
|
|
-0.001424682013906098
|
|
],
|
|
"observed_m": [
|
|
0.7489894152144476,
|
|
-0.0946777642177216,
|
|
0.011499463842086416
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.004407783312130542,
|
|
0.0033610498377350875,
|
|
-0.00958468342380566
|
|
],
|
|
"error_norm_m": 0.011072098539708296,
|
|
"predicted_m": [
|
|
0.6514691974154823,
|
|
-0.010686657607704453,
|
|
-0.0021408535961513478
|
|
],
|
|
"observed_m": [
|
|
0.6470614141033517,
|
|
-0.01404770744543954,
|
|
0.007443829827654312
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0045394819520063745,
|
|
0.0035746544876030777,
|
|
-0.015209448083898255
|
|
],
|
|
"error_norm_m": 0.01626998347003244,
|
|
"predicted_m": [
|
|
0.7514669567644714,
|
|
-0.01113673267674881,
|
|
-0.0026363912979269436
|
|
],
|
|
"observed_m": [
|
|
0.746927474812465,
|
|
-0.014711387164351887,
|
|
0.012573056785971311
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0014958510198512798,
|
|
0.005577486017852337,
|
|
-0.002283577048813676
|
|
],
|
|
"error_norm_m": 0.006209721788518147,
|
|
"predicted_m": [
|
|
0.35112190068667914,
|
|
-0.08932647197665819,
|
|
0.0005574687931962849
|
|
],
|
|
"observed_m": [
|
|
0.34962604966682787,
|
|
-0.09490395799451053,
|
|
0.002841045842009961
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0029859404973339512,
|
|
0.0009089798627957904,
|
|
-0.0006488778148887697
|
|
],
|
|
"error_norm_m": 0.0031879660385960833,
|
|
"predicted_m": [
|
|
0.021439061181621134,
|
|
-0.01784993961973586,
|
|
0.0011324975855375112
|
|
],
|
|
"observed_m": [
|
|
0.018453120684287182,
|
|
-0.01875891948253165,
|
|
0.0017813754004262809
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0012006611953802038,
|
|
0.0023910104886489016,
|
|
-0.005121018919816317
|
|
],
|
|
"error_norm_m": 0.005777832919013629,
|
|
"predicted_m": [
|
|
0.2514781600195256,
|
|
-0.008886357331527026,
|
|
-0.00015870278904896488
|
|
],
|
|
"observed_m": [
|
|
0.2502774988241454,
|
|
-0.011277367820175927,
|
|
0.004962316130767351
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0006537704774116637,
|
|
0.005677611115683188,
|
|
-0.007518377465722685
|
|
],
|
|
"error_norm_m": 0.009443976044820902,
|
|
"predicted_m": [
|
|
0.35147591936851474,
|
|
-0.009336432400571382,
|
|
-0.0006542404908245607
|
|
],
|
|
"observed_m": [
|
|
0.3508221488911031,
|
|
-0.01501404351625457,
|
|
0.006864136974898124
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0014944641967270522,
|
|
0.0022812277349999743,
|
|
0.0004203055332924506
|
|
],
|
|
"error_norm_m": 0.0027593622371026964,
|
|
"predicted_m": [
|
|
0.25112414133769,
|
|
-0.08887639690761384,
|
|
0.0010530064949718808
|
|
],
|
|
"observed_m": [
|
|
0.24962967714096296,
|
|
-0.09115762464261382,
|
|
0.0006327009616794301
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0010178440577507386,
|
|
0.003247252910091175,
|
|
-0.00511619136173409
|
|
],
|
|
"error_norm_m": 0.006144596979288114,
|
|
"predicted_m": [
|
|
0.6511151787336467,
|
|
-0.09067669718379126,
|
|
-0.0009291443121305022
|
|
],
|
|
"observed_m": [
|
|
0.6500973346758959,
|
|
-0.09392395009388244,
|
|
0.004187047049603587
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 242,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
-0.011307736236661037,
|
|
0.26892788214491414,
|
|
-0.02825339663277876
|
|
],
|
|
"error_norm_m": 0.2706442778169083,
|
|
"predicted_m": [
|
|
0.21703351977024246,
|
|
0.208949647958361,
|
|
0.29123826201648123
|
|
],
|
|
"observed_m": [
|
|
0.2283412560069035,
|
|
-0.05997823418655316,
|
|
0.31949165864926
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.013624106489176474,
|
|
0.33671108594076904,
|
|
-0.05438646127296126
|
|
],
|
|
"error_norm_m": 0.34134712367740216,
|
|
"predicted_m": [
|
|
0.2173090072080299,
|
|
0.2569768169430436,
|
|
0.30320969242327495
|
|
],
|
|
"observed_m": [
|
|
0.20368490071885342,
|
|
-0.07973426899772547,
|
|
0.3575961536962362
|
|
]
|
|
}
|
|
],
|
|
"stage_idx": 0,
|
|
"num_active_links": 3
|
|
},
|
|
{
|
|
"method": "deterministic_geometric_prefix",
|
|
"active_links": [
|
|
"Board",
|
|
"Base",
|
|
"Arm1",
|
|
"Ellbow"
|
|
],
|
|
"active_observations": 44,
|
|
"joint_updates": [
|
|
{
|
|
"pass": 0,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.10313172416134683,
|
|
"new": 0.10161217017091784,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 4,
|
|
"axis_world": [
|
|
0.9999775934888914,
|
|
-0.004500750690439068,
|
|
-0.004955377017751002
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"q_i": 0.11550957814977858,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.0907538701729151,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"q_i": 0.10007298911323671,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"q_i": 0.10011224324774096,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 2.096762593257374,
|
|
"new": 2.1884393711045202,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 4,
|
|
"axis_world": [
|
|
-0.9999775934888914,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.953153282485273,
|
|
"theta_alt_rad": 2.1884393711045202,
|
|
"score_theta": 0.9945311727067739,
|
|
"score_theta_alt": 0.586705686223138,
|
|
"best_score": 0.586705686223138,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": 0.0,
|
|
"new": -2.7899290588118277,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
-0.9999775934888914,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -2.7899290588118277,
|
|
"theta_alt_rad": 0.3516635947779654,
|
|
"score_theta": 0.22230839952601722,
|
|
"score_theta_alt": 0.46290021674391657,
|
|
"best_score": 0.22230839952601722,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 246,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"pass": 1,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.10161217017091784,
|
|
"new": 0.10161217017106146,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 4,
|
|
"axis_world": [
|
|
0.9999775934888914,
|
|
-0.004500750690439068,
|
|
-0.004955377017751002
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"q_i": 0.11550957814977858,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.09075387017291509,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"q_i": 0.10007298911359955,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"q_i": 0.10011224324795258,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 2.1884393711045202,
|
|
"new": 2.056400223144066,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 4,
|
|
"axis_world": [
|
|
-0.9999775934888914,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.0851924304457272,
|
|
"theta_alt_rad": 2.056400223144066,
|
|
"score_theta": 1.1894444190708293,
|
|
"score_theta_alt": 0.41590464460358534,
|
|
"best_score": 0.41590464460358534,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": -2.7899290588118277,
|
|
"new": -2.892454712374793,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
-0.9999775934888914,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -2.892454712374793,
|
|
"theta_alt_rad": 0.24913794121500032,
|
|
"score_theta": 0.19401926635873062,
|
|
"score_theta_alt": 0.4078057460412389,
|
|
"best_score": 0.19401926635873062,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 246,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"root_link": "Board",
|
|
"root_pose": {
|
|
"reason": "kabsch",
|
|
"used_markers": [
|
|
210,
|
|
211,
|
|
215,
|
|
214,
|
|
208,
|
|
206,
|
|
205,
|
|
207,
|
|
217,
|
|
46,
|
|
47,
|
|
51,
|
|
52,
|
|
53,
|
|
54,
|
|
55,
|
|
56,
|
|
58,
|
|
60,
|
|
61,
|
|
62,
|
|
63,
|
|
64,
|
|
66,
|
|
68,
|
|
69,
|
|
72,
|
|
75,
|
|
77,
|
|
79,
|
|
83,
|
|
84,
|
|
85,
|
|
92,
|
|
95,
|
|
96,
|
|
97,
|
|
102,
|
|
103,
|
|
105
|
|
]
|
|
},
|
|
"marker_stats": {
|
|
"num_markers_used": 44,
|
|
"mean_error_m": 0.03614656263824695,
|
|
"rms_error_m": 0.0889790372493416,
|
|
"median_error_m": 0.0068436973971634125,
|
|
"worst_error_m": 0.330564882469931
|
|
},
|
|
"marker_reports": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.012908357952040372,
|
|
-0.010207876075251116,
|
|
0.013985073276577477
|
|
],
|
|
"error_norm_m": 0.02159649771460478,
|
|
"predicted_m": [
|
|
0.5389079706189561,
|
|
0.18482147401835336,
|
|
-0.03213615973143038
|
|
],
|
|
"observed_m": [
|
|
0.5518163285709965,
|
|
0.19502935009360448,
|
|
-0.046121233008007856
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0010498932317613008,
|
|
0.0017773294998767453,
|
|
0.005477075623620271
|
|
],
|
|
"error_norm_m": 0.005853164386559265,
|
|
"predicted_m": [
|
|
0.3443436617058622,
|
|
-0.2862334574777683,
|
|
-0.024033566914650726
|
|
],
|
|
"observed_m": [
|
|
0.3432937684741009,
|
|
-0.28801078697764504,
|
|
-0.029510642538270997
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0017812069836050382,
|
|
-0.0025230722927245264,
|
|
0.009849544619266973
|
|
],
|
|
"error_norm_m": 0.010322408697570956,
|
|
"predicted_m": [
|
|
0.1684241271154769,
|
|
-0.1709936409099671,
|
|
-0.024892942805520867
|
|
],
|
|
"observed_m": [
|
|
0.16664292013187187,
|
|
-0.16847056861724258,
|
|
-0.03474248742478784
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.01305464812148073,
|
|
0.028814662356838328,
|
|
-0.032153336918371744
|
|
],
|
|
"error_norm_m": 0.04510593840394636,
|
|
"predicted_m": [
|
|
0.09699062889102218,
|
|
0.21002804983300935,
|
|
-0.030297433047958764
|
|
],
|
|
"observed_m": [
|
|
0.08393598076954145,
|
|
0.18121338747617102,
|
|
0.0018559038704129825
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.1524115299229614e-05,
|
|
-0.0012827615591776698,
|
|
-0.0030325351542050474
|
|
],
|
|
"error_norm_m": 0.0032929425946020894,
|
|
"predicted_m": [
|
|
0.48856769750987117,
|
|
0.21184524515618225,
|
|
-0.0322920340172614
|
|
],
|
|
"observed_m": [
|
|
0.48852617339457194,
|
|
0.21312800671535992,
|
|
-0.02925949886305635
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0027467583153943376,
|
|
-0.0030001436330559517,
|
|
-0.013548808173682477
|
|
],
|
|
"error_norm_m": 0.014146227270526909,
|
|
"predicted_m": [
|
|
0.34218877408593623,
|
|
-0.3302691515479978,
|
|
-0.023356656951181946
|
|
],
|
|
"observed_m": [
|
|
0.3394420157705419,
|
|
-0.32726900791494185,
|
|
-0.009807848777499469
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0005006658137158282,
|
|
0.0004989649485536707,
|
|
0.003841826723756093
|
|
],
|
|
"error_norm_m": 0.003906310900616511,
|
|
"predicted_m": [
|
|
0.2839410461189986,
|
|
-0.2620041002004515,
|
|
-0.024096623981870555
|
|
],
|
|
"observed_m": [
|
|
0.2834403803052828,
|
|
-0.2625030651490052,
|
|
-0.027938450705626647
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.01190849449372866,
|
|
-0.013896424983166983,
|
|
0.02006965740903304
|
|
],
|
|
"error_norm_m": 0.027160891313355463,
|
|
"predicted_m": [
|
|
0.5008046115723558,
|
|
0.16822472552097373,
|
|
-0.03169370218478225
|
|
],
|
|
"observed_m": [
|
|
0.5127131060660844,
|
|
0.1821211505041407,
|
|
-0.05176335959381529
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00015397302462388102,
|
|
0.0024949618172493693,
|
|
0.0046951907132772135
|
|
],
|
|
"error_norm_m": 0.0053191501196985114,
|
|
"predicted_m": [
|
|
0.05051307108672063,
|
|
-0.21648812656728597,
|
|
-0.02361245814746732
|
|
],
|
|
"observed_m": [
|
|
0.05066704411134451,
|
|
-0.21898308838453534,
|
|
-0.028307648860744532
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002738275425795633,
|
|
-0.004390002132968696,
|
|
-0.0021702321777583855
|
|
],
|
|
"error_norm_m": 0.005610719984134288,
|
|
"predicted_m": [
|
|
0.43699557414691786,
|
|
0.28363987826526604,
|
|
-0.033118924922027185
|
|
],
|
|
"observed_m": [
|
|
0.43425729872112223,
|
|
0.28802988039823474,
|
|
-0.0309486927442688
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.008729810989958155,
|
|
-0.02488936097269756,
|
|
0.026906938996231748
|
|
],
|
|
"error_norm_m": 0.03767855166665209,
|
|
"predicted_m": [
|
|
-0.01954399035953118,
|
|
0.3377092543999973,
|
|
-0.03164332176979118
|
|
],
|
|
"observed_m": [
|
|
-0.010814179369573025,
|
|
0.3625986153726949,
|
|
-0.058550260766022925
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0013449455751512462,
|
|
0.0057384518817231445,
|
|
0.0025783362342821463
|
|
],
|
|
"error_norm_m": 0.00643323607028244,
|
|
"predicted_m": [
|
|
0.4053054548079929,
|
|
-0.17507949274253046,
|
|
-0.026021129595555467
|
|
],
|
|
"observed_m": [
|
|
0.40396050923284166,
|
|
-0.1808179446242536,
|
|
-0.028599465829837613
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.017218916952065455,
|
|
0.007683261787512163,
|
|
0.022191846824885876
|
|
],
|
|
"error_norm_m": 0.029120468371864643,
|
|
"predicted_m": [
|
|
0.7777269433950996,
|
|
-0.23779932147636001,
|
|
-0.026943312962704705
|
|
],
|
|
"observed_m": [
|
|
0.7949458603471651,
|
|
-0.24548258326387218,
|
|
-0.04913515978759058
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0007745268570881099,
|
|
0.0010794065666502872,
|
|
0.0038781198291383476
|
|
],
|
|
"error_norm_m": 0.004099368707207805,
|
|
"predicted_m": [
|
|
-0.02071310400705243,
|
|
-0.18629067321634743,
|
|
-0.02371141586106204
|
|
],
|
|
"observed_m": [
|
|
-0.01993857714996432,
|
|
-0.18737007978299772,
|
|
-0.027589535690200388
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0013877997390944474,
|
|
-0.0036044874051766596,
|
|
0.0010242476523267298
|
|
],
|
|
"error_norm_m": 0.00399592302518512,
|
|
"predicted_m": [
|
|
0.20952730377446688,
|
|
-0.3623086482135437,
|
|
-0.022205593000908422
|
|
],
|
|
"observed_m": [
|
|
0.21091510351356133,
|
|
-0.35870416080836703,
|
|
-0.02322984065323515
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.005485929757955144,
|
|
-0.0014348902038141542,
|
|
-0.012081451413012121
|
|
],
|
|
"error_norm_m": 0.013346003276306813,
|
|
"predicted_m": [
|
|
0.5758616476738124,
|
|
0.1698566989062171,
|
|
-0.03209544157108385
|
|
],
|
|
"observed_m": [
|
|
0.5703757179158573,
|
|
0.17129158911003126,
|
|
-0.020013990158071728
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.010464061630526619,
|
|
-0.004823523607819236,
|
|
-0.034683082209372426
|
|
],
|
|
"error_norm_m": 0.03654694456920763,
|
|
"predicted_m": [
|
|
0.007754790679972199,
|
|
-0.27938907839359434,
|
|
-0.022446218033981606
|
|
],
|
|
"observed_m": [
|
|
0.01821885231049882,
|
|
-0.2745655547857751,
|
|
0.012236864175390822
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.001534801108487971,
|
|
-0.006298543811810525,
|
|
0.0013568973548418045
|
|
],
|
|
"error_norm_m": 0.006623325375027959,
|
|
"predicted_m": [
|
|
0.44322941144378747,
|
|
0.19413118026738826,
|
|
-0.03179633077381709
|
|
],
|
|
"observed_m": [
|
|
0.4416946103352995,
|
|
0.2004297240791988,
|
|
-0.033153228128658896
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0041405703327046135,
|
|
-0.0024574201299061293,
|
|
0.006523450247215179
|
|
],
|
|
"error_norm_m": 0.008107936821586195,
|
|
"predicted_m": [
|
|
-0.023448981101294022,
|
|
0.19649160323573367,
|
|
-0.02948764392857363
|
|
],
|
|
"observed_m": [
|
|
-0.027589551433998636,
|
|
0.1989490233656398,
|
|
-0.03601109417578881
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.004270521640567546,
|
|
-0.0010700376682142854,
|
|
0.005579068628516835
|
|
],
|
|
"error_norm_m": 0.00710692215066789,
|
|
"predicted_m": [
|
|
0.020426715524073248,
|
|
0.19328444004887982,
|
|
-0.029659544864071657
|
|
],
|
|
"observed_m": [
|
|
0.016156193883505702,
|
|
0.1943544777170941,
|
|
-0.03523861349258849
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002931254485037893,
|
|
0.0025320231883179944,
|
|
0.0029217590403681735
|
|
],
|
|
"error_norm_m": 0.004851811019836607,
|
|
"predicted_m": [
|
|
0.31297828465355887,
|
|
-0.15867561421846313,
|
|
-0.025805443152258484
|
|
],
|
|
"observed_m": [
|
|
0.310047030168521,
|
|
-0.16120763740678112,
|
|
-0.028727202192626658
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.004416573031188281,
|
|
0.0022472712894280322,
|
|
-0.005247746703131745
|
|
],
|
|
"error_norm_m": 0.007217699844710729,
|
|
"predicted_m": [
|
|
0.047049519356668575,
|
|
0.34079917234606427,
|
|
-0.03202459695254375
|
|
],
|
|
"observed_m": [
|
|
0.04263294632548029,
|
|
0.33855190105663624,
|
|
-0.026776850249412003
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0034965065337434487,
|
|
-0.0052207668163380405,
|
|
-0.0014007317484231105
|
|
],
|
|
"error_norm_m": 0.006437702503387954,
|
|
"predicted_m": [
|
|
0.4100138195306969,
|
|
0.25837397462585776,
|
|
-0.03260120770754397
|
|
],
|
|
"observed_m": [
|
|
0.40651731299695343,
|
|
0.2635947414421958,
|
|
-0.031200475959120857
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.000158309018039815,
|
|
0.0015219089989804147,
|
|
0.0043452100564496735
|
|
],
|
|
"error_norm_m": 0.004606747136650944,
|
|
"predicted_m": [
|
|
0.5045740834513299,
|
|
-0.3131618895670964,
|
|
-0.024431175365270563
|
|
],
|
|
"observed_m": [
|
|
0.5047323924693697,
|
|
-0.3146837985660768,
|
|
-0.028776385421720237
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00212962694819796,
|
|
0.0018920028557388169,
|
|
-0.00020486768449404572
|
|
],
|
|
"error_norm_m": 0.0028560386049149874,
|
|
"predicted_m": [
|
|
0.6456469667325145,
|
|
-0.18590021551939476,
|
|
-0.027064827071524283
|
|
],
|
|
"observed_m": [
|
|
0.6477765936807125,
|
|
-0.18779221837513357,
|
|
-0.026859959387030237
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00023614883342362725,
|
|
-0.0032603744778859634,
|
|
0.0025756886423556474
|
|
],
|
|
"error_norm_m": 0.004161728005280666,
|
|
"predicted_m": [
|
|
0.18621238885372735,
|
|
-0.2730530363071244,
|
|
-0.023438551008858662
|
|
],
|
|
"observed_m": [
|
|
0.18644853768715097,
|
|
-0.26979266182923844,
|
|
-0.02601423965121431
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002421877949804585,
|
|
0.0014184365837894009,
|
|
0.004337564752345511
|
|
],
|
|
"error_norm_m": 0.005166422662420486,
|
|
"predicted_m": [
|
|
0.37032583405756464,
|
|
-0.18631086340555864,
|
|
-0.025675521167012782
|
|
],
|
|
"observed_m": [
|
|
0.36790395610776006,
|
|
-0.18772929998934804,
|
|
-0.030013085919358293
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0011327202459437413,
|
|
-0.004886750791674721,
|
|
0.006727836164899831
|
|
],
|
|
"error_norm_m": 0.00839208960374223,
|
|
"predicted_m": [
|
|
0.3041409379499523,
|
|
-0.3591748624677238,
|
|
-0.02272829272992706
|
|
],
|
|
"observed_m": [
|
|
0.305273658195896,
|
|
-0.35428811167604907,
|
|
-0.02945612889482689
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0036196954645962842,
|
|
0.0012816379700715252,
|
|
0.005929273616382149
|
|
],
|
|
"error_norm_m": 0.0070640694192988665,
|
|
"predicted_m": [
|
|
0.6500779967513324,
|
|
-0.2240761678503642,
|
|
-0.026509636477328017
|
|
],
|
|
"observed_m": [
|
|
0.6536976922159287,
|
|
-0.2253578058204357,
|
|
-0.032438910093710166
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0003242889664059334,
|
|
0.001622982535756462,
|
|
0.004493728241626731
|
|
],
|
|
"error_norm_m": 0.004788823358059554,
|
|
"predicted_m": [
|
|
0.10626635193572592,
|
|
-0.18634224328177543,
|
|
-0.024348525745122827
|
|
],
|
|
"observed_m": [
|
|
0.10594206296931999,
|
|
-0.1879652258175319,
|
|
-0.02884225398674956
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0013771188155533576,
|
|
0.0020728698609000507,
|
|
0.0032204719764331556
|
|
],
|
|
"error_norm_m": 0.004069973641606313,
|
|
"predicted_m": [
|
|
0.5250394028542521,
|
|
-0.26675886427248424,
|
|
-0.025235877324987416
|
|
],
|
|
"observed_m": [
|
|
0.5264165216698055,
|
|
-0.2688317341333843,
|
|
-0.02845634930142057
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002123522868188177,
|
|
0.00355099196488598,
|
|
-0.012924145855992514
|
|
],
|
|
"error_norm_m": 0.01357027779425946,
|
|
"predicted_m": [
|
|
0.7511129380826358,
|
|
-0.09112677225283562,
|
|
-0.001424682013906098
|
|
],
|
|
"observed_m": [
|
|
0.7489894152144476,
|
|
-0.0946777642177216,
|
|
0.011499463842086416
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.004407783312130542,
|
|
0.0033610498377350875,
|
|
-0.00958468342380566
|
|
],
|
|
"error_norm_m": 0.011072098539708296,
|
|
"predicted_m": [
|
|
0.6514691974154823,
|
|
-0.010686657607704453,
|
|
-0.0021408535961513478
|
|
],
|
|
"observed_m": [
|
|
0.6470614141033517,
|
|
-0.01404770744543954,
|
|
0.007443829827654312
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0045394819520063745,
|
|
0.0035746544876030777,
|
|
-0.015209448083898255
|
|
],
|
|
"error_norm_m": 0.01626998347003244,
|
|
"predicted_m": [
|
|
0.7514669567644714,
|
|
-0.01113673267674881,
|
|
-0.0026363912979269436
|
|
],
|
|
"observed_m": [
|
|
0.746927474812465,
|
|
-0.014711387164351887,
|
|
0.012573056785971311
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0014958510198512798,
|
|
0.005577486017852337,
|
|
-0.002283577048813676
|
|
],
|
|
"error_norm_m": 0.006209721788518147,
|
|
"predicted_m": [
|
|
0.35112190068667914,
|
|
-0.08932647197665819,
|
|
0.0005574687931962849
|
|
],
|
|
"observed_m": [
|
|
0.34962604966682787,
|
|
-0.09490395799451053,
|
|
0.002841045842009961
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0029859404973339512,
|
|
0.0009089798627957904,
|
|
-0.0006488778148887697
|
|
],
|
|
"error_norm_m": 0.0031879660385960833,
|
|
"predicted_m": [
|
|
0.021439061181621134,
|
|
-0.01784993961973586,
|
|
0.0011324975855375112
|
|
],
|
|
"observed_m": [
|
|
0.018453120684287182,
|
|
-0.01875891948253165,
|
|
0.0017813754004262809
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0012006611953802038,
|
|
0.0023910104886489016,
|
|
-0.005121018919816317
|
|
],
|
|
"error_norm_m": 0.005777832919013629,
|
|
"predicted_m": [
|
|
0.2514781600195256,
|
|
-0.008886357331527026,
|
|
-0.00015870278904896488
|
|
],
|
|
"observed_m": [
|
|
0.2502774988241454,
|
|
-0.011277367820175927,
|
|
0.004962316130767351
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0006537704774116637,
|
|
0.005677611115683188,
|
|
-0.007518377465722685
|
|
],
|
|
"error_norm_m": 0.009443976044820902,
|
|
"predicted_m": [
|
|
0.35147591936851474,
|
|
-0.009336432400571382,
|
|
-0.0006542404908245607
|
|
],
|
|
"observed_m": [
|
|
0.3508221488911031,
|
|
-0.01501404351625457,
|
|
0.006864136974898124
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0014944641967270522,
|
|
0.0022812277349999743,
|
|
0.0004203055332924506
|
|
],
|
|
"error_norm_m": 0.0027593622371026964,
|
|
"predicted_m": [
|
|
0.25112414133769,
|
|
-0.08887639690761384,
|
|
0.0010530064949718808
|
|
],
|
|
"observed_m": [
|
|
0.24962967714096296,
|
|
-0.09115762464261382,
|
|
0.0006327009616794301
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0010178440577507386,
|
|
0.003247252910091175,
|
|
-0.00511619136173409
|
|
],
|
|
"error_norm_m": 0.006144596979288114,
|
|
"predicted_m": [
|
|
0.6511151787336467,
|
|
-0.09067669718379126,
|
|
-0.0009291443121305022
|
|
],
|
|
"observed_m": [
|
|
0.6500973346758959,
|
|
-0.09392395009388244,
|
|
0.004187047049603587
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 242,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
-0.012850996848565804,
|
|
0.2594801655460293,
|
|
-0.02444949343801117
|
|
],
|
|
"error_norm_m": 0.2609461288487951,
|
|
"predicted_m": [
|
|
0.2154902591583377,
|
|
0.19950193135947614,
|
|
0.2950421652112488
|
|
],
|
|
"observed_m": [
|
|
0.2283412560069035,
|
|
-0.05997823418655316,
|
|
0.31949165864926
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.01208805069802879,
|
|
0.3267411452397805,
|
|
-0.04865433752583481
|
|
],
|
|
"error_norm_m": 0.330564882469931,
|
|
"predicted_m": [
|
|
0.2157729514168822,
|
|
0.24700687624205503,
|
|
0.3089418161704014
|
|
],
|
|
"observed_m": [
|
|
0.20368490071885342,
|
|
-0.07973426899772547,
|
|
0.3575961536962362
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.0025316754640963834,
|
|
0.27968205207623226,
|
|
-0.05374798067290365
|
|
],
|
|
"error_norm_m": 0.2848109988407095,
|
|
"predicted_m": [
|
|
0.30554609902720575,
|
|
0.20418767463792598,
|
|
0.30164765052287945
|
|
],
|
|
"observed_m": [
|
|
0.30301442356310937,
|
|
-0.07549437743830627,
|
|
0.3553956311957831
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.0024822641539412604,
|
|
0.27925065228379575,
|
|
-0.055405663976876574
|
|
],
|
|
"error_norm_m": 0.2847048928925773,
|
|
"predicted_m": [
|
|
0.2680469392715925,
|
|
0.20435645278881645,
|
|
0.30183347716104403
|
|
],
|
|
"observed_m": [
|
|
0.26556467511765125,
|
|
-0.07489419949497929,
|
|
0.3572391411379206
|
|
]
|
|
}
|
|
],
|
|
"stage_idx": 1,
|
|
"num_active_links": 4
|
|
},
|
|
{
|
|
"method": "deterministic_geometric_prefix",
|
|
"active_links": [
|
|
"Board",
|
|
"Base",
|
|
"Arm1",
|
|
"Ellbow",
|
|
"Arm2"
|
|
],
|
|
"active_observations": 47,
|
|
"joint_updates": [
|
|
{
|
|
"pass": 0,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.10161217017106146,
|
|
"new": 0.10479496292342079,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
0.9999775934888914,
|
|
-0.004500750690439068,
|
|
-0.004955377017751002
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"q_i": 0.11550957814977857,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.09075387017291509,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"q_i": 0.1000729891135848,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"q_i": 0.10011224324794396,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"q_i": 0.11110850970380752,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"q_i": 0.10261639638838083,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"q_i": 0.11339115368753475,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 2.056400223144066,
|
|
"new": 2.0632981155856047,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
-0.9999775934888914,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.0782945380041882,
|
|
"theta_alt_rad": 2.0632981155856047,
|
|
"score_theta": 1.5847231373576895,
|
|
"score_theta_alt": 0.6260049590203651,
|
|
"best_score": 0.6260049590203651,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": -2.892454712374793,
|
|
"new": 2.4610614063925897,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 5,
|
|
"axis_world": [
|
|
-0.9999775934888914,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": 2.46106140639259,
|
|
"theta_alt_rad": -0.6805312471972034,
|
|
"score_theta": 0.7973250612430984,
|
|
"score_theta_alt": 0.9460337292842431,
|
|
"best_score": 0.7973250612430984,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 246,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm2",
|
|
"joint_variable": "a",
|
|
"joint_type": "revolute",
|
|
"old": 0.0,
|
|
"new": 2.070072897714951,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.004107218408943283,
|
|
0.17204264848419182,
|
|
-0.985080939749362
|
|
],
|
|
"axis_id": 2,
|
|
"theta_rad": -1.0715197558748424,
|
|
"theta_alt_rad": 2.070072897714951,
|
|
"score_theta": 0.6355219085313033,
|
|
"score_theta_alt": 0.5596611812343568,
|
|
"best_score": 0.5596611812343568,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 218,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"pass": 1,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.10479496292342079,
|
|
"new": 0.1233454219218383,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
0.9999775934888914,
|
|
-0.004500750690439068,
|
|
-0.004955377017751002
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"q_i": 0.11550957814977858,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.09075387017291509,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"q_i": 0.10007298911355136,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"q_i": 0.10011224324792448,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"q_i": 0.16286617875949636,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"q_i": 0.1289542712659786,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"q_i": 0.16514882274322365,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 2.0632981155856047,
|
|
"new": -0.7659818573540562,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
-0.9999775934888914,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.7659818573540563,
|
|
"theta_alt_rad": 2.375610796235737,
|
|
"score_theta": 1.0452520474773592,
|
|
"score_theta_alt": 1.1781142683982038,
|
|
"best_score": 1.0452520474773592,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 242,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": 2.4610614063925897,
|
|
"new": 1.3783860329557154,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 5,
|
|
"axis_world": [
|
|
-0.9999775934888915,
|
|
0.004500750690439068,
|
|
0.004955377017751002
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.7632066206340777,
|
|
"theta_alt_rad": 1.3783860329557154,
|
|
"score_theta": 1.347222387000056,
|
|
"score_theta_alt": 0.5417624732573363,
|
|
"best_score": 0.5417624732573363,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 246,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm2",
|
|
"joint_variable": "a",
|
|
"joint_type": "revolute",
|
|
"old": 2.070072897714951,
|
|
"new": 2.003495699359215,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.0007336657128732422,
|
|
-0.8094726159107342,
|
|
0.5871571730152454
|
|
],
|
|
"axis_id": 1,
|
|
"theta_rad": -1.1380969542305777,
|
|
"theta_alt_rad": 2.003495699359215,
|
|
"score_theta": 0.20582647835344767,
|
|
"score_theta_alt": 0.19843121601978225,
|
|
"best_score": 0.19843121601978225,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 218,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"root_link": "Board",
|
|
"root_pose": {
|
|
"reason": "kabsch",
|
|
"used_markers": [
|
|
210,
|
|
211,
|
|
215,
|
|
214,
|
|
208,
|
|
206,
|
|
205,
|
|
207,
|
|
217,
|
|
46,
|
|
47,
|
|
51,
|
|
52,
|
|
53,
|
|
54,
|
|
55,
|
|
56,
|
|
58,
|
|
60,
|
|
61,
|
|
62,
|
|
63,
|
|
64,
|
|
66,
|
|
68,
|
|
69,
|
|
72,
|
|
75,
|
|
77,
|
|
79,
|
|
83,
|
|
84,
|
|
85,
|
|
92,
|
|
95,
|
|
96,
|
|
97,
|
|
102,
|
|
103,
|
|
105
|
|
]
|
|
},
|
|
"marker_stats": {
|
|
"num_markers_used": 47,
|
|
"mean_error_m": 0.06097964085363013,
|
|
"rms_error_m": 0.1446268119849034,
|
|
"median_error_m": 0.00710692215066789,
|
|
"worst_error_m": 0.4944690219643823
|
|
},
|
|
"marker_reports": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.012908357952040372,
|
|
-0.010207876075251116,
|
|
0.013985073276577477
|
|
],
|
|
"error_norm_m": 0.02159649771460478,
|
|
"predicted_m": [
|
|
0.5389079706189561,
|
|
0.18482147401835336,
|
|
-0.03213615973143038
|
|
],
|
|
"observed_m": [
|
|
0.5518163285709965,
|
|
0.19502935009360448,
|
|
-0.046121233008007856
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0010498932317613008,
|
|
0.0017773294998767453,
|
|
0.005477075623620271
|
|
],
|
|
"error_norm_m": 0.005853164386559265,
|
|
"predicted_m": [
|
|
0.3443436617058622,
|
|
-0.2862334574777683,
|
|
-0.024033566914650726
|
|
],
|
|
"observed_m": [
|
|
0.3432937684741009,
|
|
-0.28801078697764504,
|
|
-0.029510642538270997
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0017812069836050382,
|
|
-0.0025230722927245264,
|
|
0.009849544619266973
|
|
],
|
|
"error_norm_m": 0.010322408697570956,
|
|
"predicted_m": [
|
|
0.1684241271154769,
|
|
-0.1709936409099671,
|
|
-0.024892942805520867
|
|
],
|
|
"observed_m": [
|
|
0.16664292013187187,
|
|
-0.16847056861724258,
|
|
-0.03474248742478784
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.01305464812148073,
|
|
0.028814662356838328,
|
|
-0.032153336918371744
|
|
],
|
|
"error_norm_m": 0.04510593840394636,
|
|
"predicted_m": [
|
|
0.09699062889102218,
|
|
0.21002804983300935,
|
|
-0.030297433047958764
|
|
],
|
|
"observed_m": [
|
|
0.08393598076954145,
|
|
0.18121338747617102,
|
|
0.0018559038704129825
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.1524115299229614e-05,
|
|
-0.0012827615591776698,
|
|
-0.0030325351542050474
|
|
],
|
|
"error_norm_m": 0.0032929425946020894,
|
|
"predicted_m": [
|
|
0.48856769750987117,
|
|
0.21184524515618225,
|
|
-0.0322920340172614
|
|
],
|
|
"observed_m": [
|
|
0.48852617339457194,
|
|
0.21312800671535992,
|
|
-0.02925949886305635
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0027467583153943376,
|
|
-0.0030001436330559517,
|
|
-0.013548808173682477
|
|
],
|
|
"error_norm_m": 0.014146227270526909,
|
|
"predicted_m": [
|
|
0.34218877408593623,
|
|
-0.3302691515479978,
|
|
-0.023356656951181946
|
|
],
|
|
"observed_m": [
|
|
0.3394420157705419,
|
|
-0.32726900791494185,
|
|
-0.009807848777499469
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0005006658137158282,
|
|
0.0004989649485536707,
|
|
0.003841826723756093
|
|
],
|
|
"error_norm_m": 0.003906310900616511,
|
|
"predicted_m": [
|
|
0.2839410461189986,
|
|
-0.2620041002004515,
|
|
-0.024096623981870555
|
|
],
|
|
"observed_m": [
|
|
0.2834403803052828,
|
|
-0.2625030651490052,
|
|
-0.027938450705626647
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.01190849449372866,
|
|
-0.013896424983166983,
|
|
0.02006965740903304
|
|
],
|
|
"error_norm_m": 0.027160891313355463,
|
|
"predicted_m": [
|
|
0.5008046115723558,
|
|
0.16822472552097373,
|
|
-0.03169370218478225
|
|
],
|
|
"observed_m": [
|
|
0.5127131060660844,
|
|
0.1821211505041407,
|
|
-0.05176335959381529
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00015397302462388102,
|
|
0.0024949618172493693,
|
|
0.0046951907132772135
|
|
],
|
|
"error_norm_m": 0.0053191501196985114,
|
|
"predicted_m": [
|
|
0.05051307108672063,
|
|
-0.21648812656728597,
|
|
-0.02361245814746732
|
|
],
|
|
"observed_m": [
|
|
0.05066704411134451,
|
|
-0.21898308838453534,
|
|
-0.028307648860744532
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002738275425795633,
|
|
-0.004390002132968696,
|
|
-0.0021702321777583855
|
|
],
|
|
"error_norm_m": 0.005610719984134288,
|
|
"predicted_m": [
|
|
0.43699557414691786,
|
|
0.28363987826526604,
|
|
-0.033118924922027185
|
|
],
|
|
"observed_m": [
|
|
0.43425729872112223,
|
|
0.28802988039823474,
|
|
-0.0309486927442688
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.008729810989958155,
|
|
-0.02488936097269756,
|
|
0.026906938996231748
|
|
],
|
|
"error_norm_m": 0.03767855166665209,
|
|
"predicted_m": [
|
|
-0.01954399035953118,
|
|
0.3377092543999973,
|
|
-0.03164332176979118
|
|
],
|
|
"observed_m": [
|
|
-0.010814179369573025,
|
|
0.3625986153726949,
|
|
-0.058550260766022925
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0013449455751512462,
|
|
0.0057384518817231445,
|
|
0.0025783362342821463
|
|
],
|
|
"error_norm_m": 0.00643323607028244,
|
|
"predicted_m": [
|
|
0.4053054548079929,
|
|
-0.17507949274253046,
|
|
-0.026021129595555467
|
|
],
|
|
"observed_m": [
|
|
0.40396050923284166,
|
|
-0.1808179446242536,
|
|
-0.028599465829837613
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.017218916952065455,
|
|
0.007683261787512163,
|
|
0.022191846824885876
|
|
],
|
|
"error_norm_m": 0.029120468371864643,
|
|
"predicted_m": [
|
|
0.7777269433950996,
|
|
-0.23779932147636001,
|
|
-0.026943312962704705
|
|
],
|
|
"observed_m": [
|
|
0.7949458603471651,
|
|
-0.24548258326387218,
|
|
-0.04913515978759058
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0007745268570881099,
|
|
0.0010794065666502872,
|
|
0.0038781198291383476
|
|
],
|
|
"error_norm_m": 0.004099368707207805,
|
|
"predicted_m": [
|
|
-0.02071310400705243,
|
|
-0.18629067321634743,
|
|
-0.02371141586106204
|
|
],
|
|
"observed_m": [
|
|
-0.01993857714996432,
|
|
-0.18737007978299772,
|
|
-0.027589535690200388
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0013877997390944474,
|
|
-0.0036044874051766596,
|
|
0.0010242476523267298
|
|
],
|
|
"error_norm_m": 0.00399592302518512,
|
|
"predicted_m": [
|
|
0.20952730377446688,
|
|
-0.3623086482135437,
|
|
-0.022205593000908422
|
|
],
|
|
"observed_m": [
|
|
0.21091510351356133,
|
|
-0.35870416080836703,
|
|
-0.02322984065323515
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.005485929757955144,
|
|
-0.0014348902038141542,
|
|
-0.012081451413012121
|
|
],
|
|
"error_norm_m": 0.013346003276306813,
|
|
"predicted_m": [
|
|
0.5758616476738124,
|
|
0.1698566989062171,
|
|
-0.03209544157108385
|
|
],
|
|
"observed_m": [
|
|
0.5703757179158573,
|
|
0.17129158911003126,
|
|
-0.020013990158071728
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.010464061630526619,
|
|
-0.004823523607819236,
|
|
-0.034683082209372426
|
|
],
|
|
"error_norm_m": 0.03654694456920763,
|
|
"predicted_m": [
|
|
0.007754790679972199,
|
|
-0.27938907839359434,
|
|
-0.022446218033981606
|
|
],
|
|
"observed_m": [
|
|
0.01821885231049882,
|
|
-0.2745655547857751,
|
|
0.012236864175390822
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.001534801108487971,
|
|
-0.006298543811810525,
|
|
0.0013568973548418045
|
|
],
|
|
"error_norm_m": 0.006623325375027959,
|
|
"predicted_m": [
|
|
0.44322941144378747,
|
|
0.19413118026738826,
|
|
-0.03179633077381709
|
|
],
|
|
"observed_m": [
|
|
0.4416946103352995,
|
|
0.2004297240791988,
|
|
-0.033153228128658896
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0041405703327046135,
|
|
-0.0024574201299061293,
|
|
0.006523450247215179
|
|
],
|
|
"error_norm_m": 0.008107936821586195,
|
|
"predicted_m": [
|
|
-0.023448981101294022,
|
|
0.19649160323573367,
|
|
-0.02948764392857363
|
|
],
|
|
"observed_m": [
|
|
-0.027589551433998636,
|
|
0.1989490233656398,
|
|
-0.03601109417578881
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.004270521640567546,
|
|
-0.0010700376682142854,
|
|
0.005579068628516835
|
|
],
|
|
"error_norm_m": 0.00710692215066789,
|
|
"predicted_m": [
|
|
0.020426715524073248,
|
|
0.19328444004887982,
|
|
-0.029659544864071657
|
|
],
|
|
"observed_m": [
|
|
0.016156193883505702,
|
|
0.1943544777170941,
|
|
-0.03523861349258849
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002931254485037893,
|
|
0.0025320231883179944,
|
|
0.0029217590403681735
|
|
],
|
|
"error_norm_m": 0.004851811019836607,
|
|
"predicted_m": [
|
|
0.31297828465355887,
|
|
-0.15867561421846313,
|
|
-0.025805443152258484
|
|
],
|
|
"observed_m": [
|
|
0.310047030168521,
|
|
-0.16120763740678112,
|
|
-0.028727202192626658
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.004416573031188281,
|
|
0.0022472712894280322,
|
|
-0.005247746703131745
|
|
],
|
|
"error_norm_m": 0.007217699844710729,
|
|
"predicted_m": [
|
|
0.047049519356668575,
|
|
0.34079917234606427,
|
|
-0.03202459695254375
|
|
],
|
|
"observed_m": [
|
|
0.04263294632548029,
|
|
0.33855190105663624,
|
|
-0.026776850249412003
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0034965065337434487,
|
|
-0.0052207668163380405,
|
|
-0.0014007317484231105
|
|
],
|
|
"error_norm_m": 0.006437702503387954,
|
|
"predicted_m": [
|
|
0.4100138195306969,
|
|
0.25837397462585776,
|
|
-0.03260120770754397
|
|
],
|
|
"observed_m": [
|
|
0.40651731299695343,
|
|
0.2635947414421958,
|
|
-0.031200475959120857
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.000158309018039815,
|
|
0.0015219089989804147,
|
|
0.0043452100564496735
|
|
],
|
|
"error_norm_m": 0.004606747136650944,
|
|
"predicted_m": [
|
|
0.5045740834513299,
|
|
-0.3131618895670964,
|
|
-0.024431175365270563
|
|
],
|
|
"observed_m": [
|
|
0.5047323924693697,
|
|
-0.3146837985660768,
|
|
-0.028776385421720237
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00212962694819796,
|
|
0.0018920028557388169,
|
|
-0.00020486768449404572
|
|
],
|
|
"error_norm_m": 0.0028560386049149874,
|
|
"predicted_m": [
|
|
0.6456469667325145,
|
|
-0.18590021551939476,
|
|
-0.027064827071524283
|
|
],
|
|
"observed_m": [
|
|
0.6477765936807125,
|
|
-0.18779221837513357,
|
|
-0.026859959387030237
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00023614883342362725,
|
|
-0.0032603744778859634,
|
|
0.0025756886423556474
|
|
],
|
|
"error_norm_m": 0.004161728005280666,
|
|
"predicted_m": [
|
|
0.18621238885372735,
|
|
-0.2730530363071244,
|
|
-0.023438551008858662
|
|
],
|
|
"observed_m": [
|
|
0.18644853768715097,
|
|
-0.26979266182923844,
|
|
-0.02601423965121431
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002421877949804585,
|
|
0.0014184365837894009,
|
|
0.004337564752345511
|
|
],
|
|
"error_norm_m": 0.005166422662420486,
|
|
"predicted_m": [
|
|
0.37032583405756464,
|
|
-0.18631086340555864,
|
|
-0.025675521167012782
|
|
],
|
|
"observed_m": [
|
|
0.36790395610776006,
|
|
-0.18772929998934804,
|
|
-0.030013085919358293
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0011327202459437413,
|
|
-0.004886750791674721,
|
|
0.006727836164899831
|
|
],
|
|
"error_norm_m": 0.00839208960374223,
|
|
"predicted_m": [
|
|
0.3041409379499523,
|
|
-0.3591748624677238,
|
|
-0.02272829272992706
|
|
],
|
|
"observed_m": [
|
|
0.305273658195896,
|
|
-0.35428811167604907,
|
|
-0.02945612889482689
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0036196954645962842,
|
|
0.0012816379700715252,
|
|
0.005929273616382149
|
|
],
|
|
"error_norm_m": 0.0070640694192988665,
|
|
"predicted_m": [
|
|
0.6500779967513324,
|
|
-0.2240761678503642,
|
|
-0.026509636477328017
|
|
],
|
|
"observed_m": [
|
|
0.6536976922159287,
|
|
-0.2253578058204357,
|
|
-0.032438910093710166
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0003242889664059334,
|
|
0.001622982535756462,
|
|
0.004493728241626731
|
|
],
|
|
"error_norm_m": 0.004788823358059554,
|
|
"predicted_m": [
|
|
0.10626635193572592,
|
|
-0.18634224328177543,
|
|
-0.024348525745122827
|
|
],
|
|
"observed_m": [
|
|
0.10594206296931999,
|
|
-0.1879652258175319,
|
|
-0.02884225398674956
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0013771188155533576,
|
|
0.0020728698609000507,
|
|
0.0032204719764331556
|
|
],
|
|
"error_norm_m": 0.004069973641606313,
|
|
"predicted_m": [
|
|
0.5250394028542521,
|
|
-0.26675886427248424,
|
|
-0.025235877324987416
|
|
],
|
|
"observed_m": [
|
|
0.5264165216698055,
|
|
-0.2688317341333843,
|
|
-0.02845634930142057
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"link": "Arm2",
|
|
"error_m": [
|
|
-0.007820987587700945,
|
|
-0.0642540540822201,
|
|
-0.20695335684311733
|
|
],
|
|
"error_norm_m": 0.21683967169658436,
|
|
"predicted_m": [
|
|
0.2965294237285723,
|
|
-0.2276748585240017,
|
|
-0.015362523245006048
|
|
],
|
|
"observed_m": [
|
|
0.3043504113162732,
|
|
-0.16342080444178161,
|
|
0.19159083359811127
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.002123522868188177,
|
|
0.00355099196488598,
|
|
-0.012924145855992514
|
|
],
|
|
"error_norm_m": 0.01357027779425946,
|
|
"predicted_m": [
|
|
0.7511129380826358,
|
|
-0.09112677225283562,
|
|
-0.001424682013906098
|
|
],
|
|
"observed_m": [
|
|
0.7489894152144476,
|
|
-0.0946777642177216,
|
|
0.011499463842086416
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.004407783312130542,
|
|
0.0033610498377350875,
|
|
-0.00958468342380566
|
|
],
|
|
"error_norm_m": 0.011072098539708296,
|
|
"predicted_m": [
|
|
0.6514691974154823,
|
|
-0.010686657607704453,
|
|
-0.0021408535961513478
|
|
],
|
|
"observed_m": [
|
|
0.6470614141033517,
|
|
-0.01404770744543954,
|
|
0.007443829827654312
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0045394819520063745,
|
|
0.0035746544876030777,
|
|
-0.015209448083898255
|
|
],
|
|
"error_norm_m": 0.01626998347003244,
|
|
"predicted_m": [
|
|
0.7514669567644714,
|
|
-0.01113673267674881,
|
|
-0.0026363912979269436
|
|
],
|
|
"observed_m": [
|
|
0.746927474812465,
|
|
-0.014711387164351887,
|
|
0.012573056785971311
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0014958510198512798,
|
|
0.005577486017852337,
|
|
-0.002283577048813676
|
|
],
|
|
"error_norm_m": 0.006209721788518147,
|
|
"predicted_m": [
|
|
0.35112190068667914,
|
|
-0.08932647197665819,
|
|
0.0005574687931962849
|
|
],
|
|
"observed_m": [
|
|
0.34962604966682787,
|
|
-0.09490395799451053,
|
|
0.002841045842009961
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0029859404973339512,
|
|
0.0009089798627957904,
|
|
-0.0006488778148887697
|
|
],
|
|
"error_norm_m": 0.0031879660385960833,
|
|
"predicted_m": [
|
|
0.021439061181621134,
|
|
-0.01784993961973586,
|
|
0.0011324975855375112
|
|
],
|
|
"observed_m": [
|
|
0.018453120684287182,
|
|
-0.01875891948253165,
|
|
0.0017813754004262809
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0012006611953802038,
|
|
0.0023910104886489016,
|
|
-0.005121018919816317
|
|
],
|
|
"error_norm_m": 0.005777832919013629,
|
|
"predicted_m": [
|
|
0.2514781600195256,
|
|
-0.008886357331527026,
|
|
-0.00015870278904896488
|
|
],
|
|
"observed_m": [
|
|
0.2502774988241454,
|
|
-0.011277367820175927,
|
|
0.004962316130767351
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0006537704774116637,
|
|
0.005677611115683188,
|
|
-0.007518377465722685
|
|
],
|
|
"error_norm_m": 0.009443976044820902,
|
|
"predicted_m": [
|
|
0.35147591936851474,
|
|
-0.009336432400571382,
|
|
-0.0006542404908245607
|
|
],
|
|
"observed_m": [
|
|
0.3508221488911031,
|
|
-0.01501404351625457,
|
|
0.006864136974898124
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0014944641967270522,
|
|
0.0022812277349999743,
|
|
0.0004203055332924506
|
|
],
|
|
"error_norm_m": 0.0027593622371026964,
|
|
"predicted_m": [
|
|
0.25112414133769,
|
|
-0.08887639690761384,
|
|
0.0010530064949718808
|
|
],
|
|
"observed_m": [
|
|
0.24962967714096296,
|
|
-0.09115762464261382,
|
|
0.0006327009616794301
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.0010178440577507386,
|
|
0.003247252910091175,
|
|
-0.00511619136173409
|
|
],
|
|
"error_norm_m": 0.006144596979288114,
|
|
"predicted_m": [
|
|
0.6511151787336467,
|
|
-0.09067669718379126,
|
|
-0.0009291443121305022
|
|
],
|
|
"observed_m": [
|
|
0.6500973346758959,
|
|
-0.09392395009388244,
|
|
0.004187047049603587
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"link": "Arm2",
|
|
"error_m": [
|
|
-0.038837167845686194,
|
|
-0.023716587825385688,
|
|
-0.260356634765897
|
|
],
|
|
"error_norm_m": 0.2643035743439273,
|
|
"predicted_m": [
|
|
0.3094344378556557,
|
|
-0.14502628219801006,
|
|
-0.020623078502264955
|
|
],
|
|
"observed_m": [
|
|
0.3482716057013419,
|
|
-0.12130969437262437,
|
|
0.23973355626363202
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"link": "Arm2",
|
|
"error_m": [
|
|
-0.04046651582713162,
|
|
-0.053310895989553464,
|
|
-0.10163427915685158
|
|
],
|
|
"error_norm_m": 0.12169271643828697,
|
|
"predicted_m": [
|
|
0.3093559356243786,
|
|
-0.23163985210017432,
|
|
0.042202739010160084
|
|
],
|
|
"observed_m": [
|
|
0.3498224514515102,
|
|
-0.17832895611062086,
|
|
0.14383701816701167
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 242,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.005622590296749441,
|
|
0.011174977136848271,
|
|
-0.4568119107085094
|
|
],
|
|
"error_norm_m": 0.45698316752459645,
|
|
"predicted_m": [
|
|
0.23396384630365294,
|
|
-0.04880325704970489,
|
|
-0.13732025205924941
|
|
],
|
|
"observed_m": [
|
|
0.2283412560069035,
|
|
-0.05997823418655316,
|
|
0.31949165864926
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.030064776011505118,
|
|
-0.01853643716873378,
|
|
-0.4932059645045672
|
|
],
|
|
"error_norm_m": 0.4944690219643823,
|
|
"predicted_m": [
|
|
0.23374967673035854,
|
|
-0.09827070616645925,
|
|
-0.13560981080833104
|
|
],
|
|
"observed_m": [
|
|
0.20368490071885342,
|
|
-0.07973426899772547,
|
|
0.3575961536962362
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.021199621584574446,
|
|
0.022956912430401495,
|
|
-0.4392419719197981
|
|
],
|
|
"error_norm_m": 0.44035207922713265,
|
|
"predicted_m": [
|
|
0.3242140451476838,
|
|
-0.05253746500790477,
|
|
-0.08384634072401498
|
|
],
|
|
"observed_m": [
|
|
0.30301442356310937,
|
|
-0.07549437743830627,
|
|
0.3553956311957831
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.021150210274243242,
|
|
0.022525512637965782,
|
|
-0.44089965522377017
|
|
],
|
|
"error_norm_m": 0.4419810358948529,
|
|
"predicted_m": [
|
|
0.2867148853918945,
|
|
-0.052368686857013506,
|
|
-0.08366051408584954
|
|
],
|
|
"observed_m": [
|
|
0.26556467511765125,
|
|
-0.07489419949497929,
|
|
0.3572391411379206
|
|
]
|
|
}
|
|
],
|
|
"stage_idx": 2,
|
|
"num_active_links": 5
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 40,
|
|
"link": "FingerA",
|
|
"observed_position_m": [
|
|
0.3059738232371299,
|
|
-0.19852164065886133,
|
|
0.037977026884066324
|
|
],
|
|
"predicted_position_m": [
|
|
0.3327134689324013,
|
|
-0.3105156002541038,
|
|
0.08677236982363386
|
|
],
|
|
"error_m": [
|
|
0.026739645695271375,
|
|
-0.11199395959524247,
|
|
0.04879534293956753
|
|
],
|
|
"error_norm_m": 0.12505455261732557
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5518163285709965,
|
|
0.19502935009360448,
|
|
-0.046121233008007856
|
|
],
|
|
"predicted_position_m": [
|
|
0.5389079706189561,
|
|
0.18482147401835336,
|
|
-0.03213615973143038
|
|
],
|
|
"error_m": [
|
|
-0.012908357952040372,
|
|
-0.010207876075251116,
|
|
0.013985073276577477
|
|
],
|
|
"error_norm_m": 0.02159649771460478
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3432937684741009,
|
|
-0.28801078697764504,
|
|
-0.029510642538270997
|
|
],
|
|
"predicted_position_m": [
|
|
0.3443436617058622,
|
|
-0.2862334574777683,
|
|
-0.024033566914650726
|
|
],
|
|
"error_m": [
|
|
0.0010498932317613008,
|
|
0.0017773294998767453,
|
|
0.005477075623620271
|
|
],
|
|
"error_norm_m": 0.005853164386559265
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.16664292013187187,
|
|
-0.16847056861724258,
|
|
-0.03474248742478784
|
|
],
|
|
"predicted_position_m": [
|
|
0.1684241271154769,
|
|
-0.1709936409099671,
|
|
-0.024892942805520867
|
|
],
|
|
"error_m": [
|
|
0.0017812069836050382,
|
|
-0.0025230722927245264,
|
|
0.009849544619266973
|
|
],
|
|
"error_norm_m": 0.010322408697570956
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.08393598076954145,
|
|
0.18121338747617102,
|
|
0.0018559038704129825
|
|
],
|
|
"predicted_position_m": [
|
|
0.09699062889102218,
|
|
0.21002804983300935,
|
|
-0.030297433047958764
|
|
],
|
|
"error_m": [
|
|
0.01305464812148073,
|
|
0.028814662356838328,
|
|
-0.032153336918371744
|
|
],
|
|
"error_norm_m": 0.04510593840394636
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.48852617339457194,
|
|
0.21312800671535992,
|
|
-0.02925949886305635
|
|
],
|
|
"predicted_position_m": [
|
|
0.48856769750987117,
|
|
0.21184524515618225,
|
|
-0.0322920340172614
|
|
],
|
|
"error_m": [
|
|
4.1524115299229614e-05,
|
|
-0.0012827615591776698,
|
|
-0.0030325351542050474
|
|
],
|
|
"error_norm_m": 0.0032929425946020894
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3394420157705419,
|
|
-0.32726900791494185,
|
|
-0.009807848777499469
|
|
],
|
|
"predicted_position_m": [
|
|
0.34218877408593623,
|
|
-0.3302691515479978,
|
|
-0.023356656951181946
|
|
],
|
|
"error_m": [
|
|
0.0027467583153943376,
|
|
-0.0030001436330559517,
|
|
-0.013548808173682477
|
|
],
|
|
"error_norm_m": 0.014146227270526909
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.2834403803052828,
|
|
-0.2625030651490052,
|
|
-0.027938450705626647
|
|
],
|
|
"predicted_position_m": [
|
|
0.2839410461189986,
|
|
-0.2620041002004515,
|
|
-0.024096623981870555
|
|
],
|
|
"error_m": [
|
|
0.0005006658137158282,
|
|
0.0004989649485536707,
|
|
0.003841826723756093
|
|
],
|
|
"error_norm_m": 0.003906310900616511
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5127131060660844,
|
|
0.1821211505041407,
|
|
-0.05176335959381529
|
|
],
|
|
"predicted_position_m": [
|
|
0.5008046115723558,
|
|
0.16822472552097373,
|
|
-0.03169370218478225
|
|
],
|
|
"error_m": [
|
|
-0.01190849449372866,
|
|
-0.013896424983166983,
|
|
0.02006965740903304
|
|
],
|
|
"error_norm_m": 0.027160891313355463
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.05066704411134451,
|
|
-0.21898308838453534,
|
|
-0.028307648860744532
|
|
],
|
|
"predicted_position_m": [
|
|
0.05051307108672063,
|
|
-0.21648812656728597,
|
|
-0.02361245814746732
|
|
],
|
|
"error_m": [
|
|
-0.00015397302462388102,
|
|
0.0024949618172493693,
|
|
0.0046951907132772135
|
|
],
|
|
"error_norm_m": 0.0053191501196985114
|
|
},
|
|
{
|
|
"marker_id": 60,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.43425729872112223,
|
|
0.28802988039823474,
|
|
-0.0309486927442688
|
|
],
|
|
"predicted_position_m": [
|
|
0.43699557414691786,
|
|
0.28363987826526604,
|
|
-0.033118924922027185
|
|
],
|
|
"error_m": [
|
|
0.002738275425795633,
|
|
-0.004390002132968696,
|
|
-0.0021702321777583855
|
|
],
|
|
"error_norm_m": 0.005610719984134288
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
-0.010814179369573025,
|
|
0.3625986153726949,
|
|
-0.058550260766022925
|
|
],
|
|
"predicted_position_m": [
|
|
-0.01954399035953118,
|
|
0.3377092543999973,
|
|
-0.03164332176979118
|
|
],
|
|
"error_m": [
|
|
-0.008729810989958155,
|
|
-0.02488936097269756,
|
|
0.026906938996231748
|
|
],
|
|
"error_norm_m": 0.03767855166665209
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.40396050923284166,
|
|
-0.1808179446242536,
|
|
-0.028599465829837613
|
|
],
|
|
"predicted_position_m": [
|
|
0.4053054548079929,
|
|
-0.17507949274253046,
|
|
-0.026021129595555467
|
|
],
|
|
"error_m": [
|
|
0.0013449455751512462,
|
|
0.0057384518817231445,
|
|
0.0025783362342821463
|
|
],
|
|
"error_norm_m": 0.00643323607028244
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.7949458603471651,
|
|
-0.24548258326387218,
|
|
-0.04913515978759058
|
|
],
|
|
"predicted_position_m": [
|
|
0.7777269433950996,
|
|
-0.23779932147636001,
|
|
-0.026943312962704705
|
|
],
|
|
"error_m": [
|
|
-0.017218916952065455,
|
|
0.007683261787512163,
|
|
0.022191846824885876
|
|
],
|
|
"error_norm_m": 0.029120468371864643
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
-0.01993857714996432,
|
|
-0.18737007978299772,
|
|
-0.027589535690200388
|
|
],
|
|
"predicted_position_m": [
|
|
-0.02071310400705243,
|
|
-0.18629067321634743,
|
|
-0.02371141586106204
|
|
],
|
|
"error_m": [
|
|
-0.0007745268570881099,
|
|
0.0010794065666502872,
|
|
0.0038781198291383476
|
|
],
|
|
"error_norm_m": 0.004099368707207805
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.21091510351356133,
|
|
-0.35870416080836703,
|
|
-0.02322984065323515
|
|
],
|
|
"predicted_position_m": [
|
|
0.20952730377446688,
|
|
-0.3623086482135437,
|
|
-0.022205593000908422
|
|
],
|
|
"error_m": [
|
|
-0.0013877997390944474,
|
|
-0.0036044874051766596,
|
|
0.0010242476523267298
|
|
],
|
|
"error_norm_m": 0.00399592302518512
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5703757179158573,
|
|
0.17129158911003126,
|
|
-0.020013990158071728
|
|
],
|
|
"predicted_position_m": [
|
|
0.5758616476738124,
|
|
0.1698566989062171,
|
|
-0.03209544157108385
|
|
],
|
|
"error_m": [
|
|
0.005485929757955144,
|
|
-0.0014348902038141542,
|
|
-0.012081451413012121
|
|
],
|
|
"error_norm_m": 0.013346003276306813
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.01821885231049882,
|
|
-0.2745655547857751,
|
|
0.012236864175390822
|
|
],
|
|
"predicted_position_m": [
|
|
0.007754790679972199,
|
|
-0.27938907839359434,
|
|
-0.022446218033981606
|
|
],
|
|
"error_m": [
|
|
-0.010464061630526619,
|
|
-0.004823523607819236,
|
|
-0.034683082209372426
|
|
],
|
|
"error_norm_m": 0.03654694456920763
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.4416946103352995,
|
|
0.2004297240791988,
|
|
-0.033153228128658896
|
|
],
|
|
"predicted_position_m": [
|
|
0.44322941144378747,
|
|
0.19413118026738826,
|
|
-0.03179633077381709
|
|
],
|
|
"error_m": [
|
|
0.001534801108487971,
|
|
-0.006298543811810525,
|
|
0.0013568973548418045
|
|
],
|
|
"error_norm_m": 0.006623325375027959
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
-0.027589551433998636,
|
|
0.1989490233656398,
|
|
-0.03601109417578881
|
|
],
|
|
"predicted_position_m": [
|
|
-0.023448981101294022,
|
|
0.19649160323573367,
|
|
-0.02948764392857363
|
|
],
|
|
"error_m": [
|
|
0.0041405703327046135,
|
|
-0.0024574201299061293,
|
|
0.006523450247215179
|
|
],
|
|
"error_norm_m": 0.008107936821586195
|
|
},
|
|
{
|
|
"marker_id": 77,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.016156193883505702,
|
|
0.1943544777170941,
|
|
-0.03523861349258849
|
|
],
|
|
"predicted_position_m": [
|
|
0.020426715524073248,
|
|
0.19328444004887982,
|
|
-0.029659544864071657
|
|
],
|
|
"error_m": [
|
|
0.004270521640567546,
|
|
-0.0010700376682142854,
|
|
0.005579068628516835
|
|
],
|
|
"error_norm_m": 0.00710692215066789
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.310047030168521,
|
|
-0.16120763740678112,
|
|
-0.028727202192626658
|
|
],
|
|
"predicted_position_m": [
|
|
0.31297828465355887,
|
|
-0.15867561421846313,
|
|
-0.025805443152258484
|
|
],
|
|
"error_m": [
|
|
0.002931254485037893,
|
|
0.0025320231883179944,
|
|
0.0029217590403681735
|
|
],
|
|
"error_norm_m": 0.004851811019836607
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.04263294632548029,
|
|
0.33855190105663624,
|
|
-0.026776850249412003
|
|
],
|
|
"predicted_position_m": [
|
|
0.047049519356668575,
|
|
0.34079917234606427,
|
|
-0.03202459695254375
|
|
],
|
|
"error_m": [
|
|
0.004416573031188281,
|
|
0.0022472712894280322,
|
|
-0.005247746703131745
|
|
],
|
|
"error_norm_m": 0.007217699844710729
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.40651731299695343,
|
|
0.2635947414421958,
|
|
-0.031200475959120857
|
|
],
|
|
"predicted_position_m": [
|
|
0.4100138195306969,
|
|
0.25837397462585776,
|
|
-0.03260120770754397
|
|
],
|
|
"error_m": [
|
|
0.0034965065337434487,
|
|
-0.0052207668163380405,
|
|
-0.0014007317484231105
|
|
],
|
|
"error_norm_m": 0.006437702503387954
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5047323924693697,
|
|
-0.3146837985660768,
|
|
-0.028776385421720237
|
|
],
|
|
"predicted_position_m": [
|
|
0.5045740834513299,
|
|
-0.3131618895670964,
|
|
-0.024431175365270563
|
|
],
|
|
"error_m": [
|
|
-0.000158309018039815,
|
|
0.0015219089989804147,
|
|
0.0043452100564496735
|
|
],
|
|
"error_norm_m": 0.004606747136650944
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6477765936807125,
|
|
-0.18779221837513357,
|
|
-0.026859959387030237
|
|
],
|
|
"predicted_position_m": [
|
|
0.6456469667325145,
|
|
-0.18590021551939476,
|
|
-0.027064827071524283
|
|
],
|
|
"error_m": [
|
|
-0.00212962694819796,
|
|
0.0018920028557388169,
|
|
-0.00020486768449404572
|
|
],
|
|
"error_norm_m": 0.0028560386049149874
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.18644853768715097,
|
|
-0.26979266182923844,
|
|
-0.02601423965121431
|
|
],
|
|
"predicted_position_m": [
|
|
0.18621238885372735,
|
|
-0.2730530363071244,
|
|
-0.023438551008858662
|
|
],
|
|
"error_m": [
|
|
-0.00023614883342362725,
|
|
-0.0032603744778859634,
|
|
0.0025756886423556474
|
|
],
|
|
"error_norm_m": 0.004161728005280666
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.36790395610776006,
|
|
-0.18772929998934804,
|
|
-0.030013085919358293
|
|
],
|
|
"predicted_position_m": [
|
|
0.37032583405756464,
|
|
-0.18631086340555864,
|
|
-0.025675521167012782
|
|
],
|
|
"error_m": [
|
|
0.002421877949804585,
|
|
0.0014184365837894009,
|
|
0.004337564752345511
|
|
],
|
|
"error_norm_m": 0.005166422662420486
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.305273658195896,
|
|
-0.35428811167604907,
|
|
-0.02945612889482689
|
|
],
|
|
"predicted_position_m": [
|
|
0.3041409379499523,
|
|
-0.3591748624677238,
|
|
-0.02272829272992706
|
|
],
|
|
"error_m": [
|
|
-0.0011327202459437413,
|
|
-0.004886750791674721,
|
|
0.006727836164899831
|
|
],
|
|
"error_norm_m": 0.00839208960374223
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6536976922159287,
|
|
-0.2253578058204357,
|
|
-0.032438910093710166
|
|
],
|
|
"predicted_position_m": [
|
|
0.6500779967513324,
|
|
-0.2240761678503642,
|
|
-0.026509636477328017
|
|
],
|
|
"error_m": [
|
|
-0.0036196954645962842,
|
|
0.0012816379700715252,
|
|
0.005929273616382149
|
|
],
|
|
"error_norm_m": 0.0070640694192988665
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.10594206296931999,
|
|
-0.1879652258175319,
|
|
-0.02884225398674956
|
|
],
|
|
"predicted_position_m": [
|
|
0.10626635193572592,
|
|
-0.18634224328177543,
|
|
-0.024348525745122827
|
|
],
|
|
"error_m": [
|
|
0.0003242889664059334,
|
|
0.001622982535756462,
|
|
0.004493728241626731
|
|
],
|
|
"error_norm_m": 0.004788823358059554
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5264165216698055,
|
|
-0.2688317341333843,
|
|
-0.02845634930142057
|
|
],
|
|
"predicted_position_m": [
|
|
0.5250394028542521,
|
|
-0.26675886427248424,
|
|
-0.025235877324987416
|
|
],
|
|
"error_m": [
|
|
-0.0013771188155533576,
|
|
0.0020728698609000507,
|
|
0.0032204719764331556
|
|
],
|
|
"error_norm_m": 0.004069973641606313
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"link": "Arm2",
|
|
"observed_position_m": [
|
|
0.3043504113162732,
|
|
-0.16342080444178161,
|
|
0.19159083359811127
|
|
],
|
|
"predicted_position_m": [
|
|
0.2965294237285723,
|
|
-0.2276748585240017,
|
|
-0.015362523245006048
|
|
],
|
|
"error_m": [
|
|
-0.007820987587700945,
|
|
-0.0642540540822201,
|
|
-0.20695335684311733
|
|
],
|
|
"error_norm_m": 0.21683967169658436
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.7489894152144476,
|
|
-0.0946777642177216,
|
|
0.011499463842086416
|
|
],
|
|
"predicted_position_m": [
|
|
0.7511129380826358,
|
|
-0.09112677225283562,
|
|
-0.001424682013906098
|
|
],
|
|
"error_m": [
|
|
0.002123522868188177,
|
|
0.00355099196488598,
|
|
-0.012924145855992514
|
|
],
|
|
"error_norm_m": 0.01357027779425946
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6470614141033517,
|
|
-0.01404770744543954,
|
|
0.007443829827654312
|
|
],
|
|
"predicted_position_m": [
|
|
0.6514691974154823,
|
|
-0.010686657607704453,
|
|
-0.0021408535961513478
|
|
],
|
|
"error_m": [
|
|
0.004407783312130542,
|
|
0.0033610498377350875,
|
|
-0.00958468342380566
|
|
],
|
|
"error_norm_m": 0.011072098539708296
|
|
},
|
|
{
|
|
"marker_id": 207,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.746927474812465,
|
|
-0.014711387164351887,
|
|
0.012573056785971311
|
|
],
|
|
"predicted_position_m": [
|
|
0.7514669567644714,
|
|
-0.01113673267674881,
|
|
-0.0026363912979269436
|
|
],
|
|
"error_m": [
|
|
0.0045394819520063745,
|
|
0.0035746544876030777,
|
|
-0.015209448083898255
|
|
],
|
|
"error_norm_m": 0.01626998347003244
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.34962604966682787,
|
|
-0.09490395799451053,
|
|
0.002841045842009961
|
|
],
|
|
"predicted_position_m": [
|
|
0.35112190068667914,
|
|
-0.08932647197665819,
|
|
0.0005574687931962849
|
|
],
|
|
"error_m": [
|
|
0.0014958510198512798,
|
|
0.005577486017852337,
|
|
-0.002283577048813676
|
|
],
|
|
"error_norm_m": 0.006209721788518147
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.018453120684287182,
|
|
-0.01875891948253165,
|
|
0.0017813754004262809
|
|
],
|
|
"predicted_position_m": [
|
|
0.021439061181621134,
|
|
-0.01784993961973586,
|
|
0.0011324975855375112
|
|
],
|
|
"error_m": [
|
|
0.0029859404973339512,
|
|
0.0009089798627957904,
|
|
-0.0006488778148887697
|
|
],
|
|
"error_norm_m": 0.0031879660385960833
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.2502774988241454,
|
|
-0.011277367820175927,
|
|
0.004962316130767351
|
|
],
|
|
"predicted_position_m": [
|
|
0.2514781600195256,
|
|
-0.008886357331527026,
|
|
-0.00015870278904896488
|
|
],
|
|
"error_m": [
|
|
0.0012006611953802038,
|
|
0.0023910104886489016,
|
|
-0.005121018919816317
|
|
],
|
|
"error_norm_m": 0.005777832919013629
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3508221488911031,
|
|
-0.01501404351625457,
|
|
0.006864136974898124
|
|
],
|
|
"predicted_position_m": [
|
|
0.35147591936851474,
|
|
-0.009336432400571382,
|
|
-0.0006542404908245607
|
|
],
|
|
"error_m": [
|
|
0.0006537704774116637,
|
|
0.005677611115683188,
|
|
-0.007518377465722685
|
|
],
|
|
"error_norm_m": 0.009443976044820902
|
|
},
|
|
{
|
|
"marker_id": 215,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.24962967714096296,
|
|
-0.09115762464261382,
|
|
0.0006327009616794301
|
|
],
|
|
"predicted_position_m": [
|
|
0.25112414133769,
|
|
-0.08887639690761384,
|
|
0.0010530064949718808
|
|
],
|
|
"error_m": [
|
|
0.0014944641967270522,
|
|
0.0022812277349999743,
|
|
0.0004203055332924506
|
|
],
|
|
"error_norm_m": 0.0027593622371026964
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6500973346758959,
|
|
-0.09392395009388244,
|
|
0.004187047049603587
|
|
],
|
|
"predicted_position_m": [
|
|
0.6511151787336467,
|
|
-0.09067669718379126,
|
|
-0.0009291443121305022
|
|
],
|
|
"error_m": [
|
|
0.0010178440577507386,
|
|
0.003247252910091175,
|
|
-0.00511619136173409
|
|
],
|
|
"error_norm_m": 0.006144596979288114
|
|
},
|
|
{
|
|
"marker_id": 218,
|
|
"link": "Arm2",
|
|
"observed_position_m": [
|
|
0.3482716057013419,
|
|
-0.12130969437262437,
|
|
0.23973355626363202
|
|
],
|
|
"predicted_position_m": [
|
|
0.3094344378556557,
|
|
-0.14502628219801006,
|
|
-0.020623078502264955
|
|
],
|
|
"error_m": [
|
|
-0.038837167845686194,
|
|
-0.023716587825385688,
|
|
-0.260356634765897
|
|
],
|
|
"error_norm_m": 0.2643035743439273
|
|
},
|
|
{
|
|
"marker_id": 219,
|
|
"link": "Arm2",
|
|
"observed_position_m": [
|
|
0.3498224514515102,
|
|
-0.17832895611062086,
|
|
0.14383701816701167
|
|
],
|
|
"predicted_position_m": [
|
|
0.3093559356243786,
|
|
-0.23163985210017432,
|
|
0.042202739010160084
|
|
],
|
|
"error_m": [
|
|
-0.04046651582713162,
|
|
-0.053310895989553464,
|
|
-0.10163427915685158
|
|
],
|
|
"error_norm_m": 0.12169271643828697
|
|
},
|
|
{
|
|
"marker_id": 242,
|
|
"link": "Arm1",
|
|
"observed_position_m": [
|
|
0.2283412560069035,
|
|
-0.05997823418655316,
|
|
0.31949165864926
|
|
],
|
|
"predicted_position_m": [
|
|
0.23396384630365294,
|
|
-0.04880325704970489,
|
|
-0.13732025205924941
|
|
],
|
|
"error_m": [
|
|
0.005622590296749441,
|
|
0.011174977136848271,
|
|
-0.4568119107085094
|
|
],
|
|
"error_norm_m": 0.45698316752459645
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"observed_position_m": [
|
|
0.20368490071885342,
|
|
-0.07973426899772547,
|
|
0.3575961536962362
|
|
],
|
|
"predicted_position_m": [
|
|
0.23374967673035854,
|
|
-0.09827070616645925,
|
|
-0.13560981080833104
|
|
],
|
|
"error_m": [
|
|
0.030064776011505118,
|
|
-0.01853643716873378,
|
|
-0.4932059645045672
|
|
],
|
|
"error_norm_m": 0.4944690219643823
|
|
},
|
|
{
|
|
"marker_id": 246,
|
|
"link": "Ellbow",
|
|
"observed_position_m": [
|
|
0.30301442356310937,
|
|
-0.07549437743830627,
|
|
0.3553956311957831
|
|
],
|
|
"predicted_position_m": [
|
|
0.3242140451476838,
|
|
-0.05253746500790477,
|
|
-0.08384634072401498
|
|
],
|
|
"error_m": [
|
|
0.021199621584574446,
|
|
0.022956912430401495,
|
|
-0.4392419719197981
|
|
],
|
|
"error_norm_m": 0.44035207922713265
|
|
},
|
|
{
|
|
"marker_id": 247,
|
|
"link": "Ellbow",
|
|
"observed_position_m": [
|
|
0.26556467511765125,
|
|
-0.07489419949497929,
|
|
0.3572391411379206
|
|
],
|
|
"predicted_position_m": [
|
|
0.2867148853918945,
|
|
-0.052368686857013506,
|
|
-0.08366051408584954
|
|
],
|
|
"error_m": [
|
|
0.021150210274243242,
|
|
0.022525512637965782,
|
|
-0.44089965522377017
|
|
],
|
|
"error_norm_m": 0.4419810358948529
|
|
}
|
|
]
|
|
} |