5424 lines
141 KiB
JSON
5424 lines
141 KiB
JSON
{
|
|
"schema_version": "1.0",
|
|
"method": "deterministic_geometric_sequential_prefix",
|
|
"created_utc": "2026-06-01T19:27:59Z",
|
|
"root_pose": {
|
|
"translation_m": [
|
|
-8.479327062105302e-06,
|
|
-2.8150239758079065e-05,
|
|
-2.388519351807436e-05
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.999999985279972,
|
|
-1.287683160108343e-05,
|
|
-0.00017109717028595433
|
|
],
|
|
[
|
|
1.2858126598057163e-05,
|
|
0.9999999939414096,
|
|
-0.00010932450729209883
|
|
],
|
|
[
|
|
0.00017109857700261104,
|
|
0.00010932230569375881,
|
|
0.9999999793869551
|
|
]
|
|
],
|
|
"euler_xyz_deg": [
|
|
0.006263706827052173,
|
|
-0.009803226390774869,
|
|
0.0007367163973174677
|
|
]
|
|
},
|
|
"movements": {
|
|
"x": {
|
|
"value_m": 0.06288473646290764,
|
|
"value_mm": 62.88473646290764,
|
|
"joint_type": "linear",
|
|
"link": "Base"
|
|
},
|
|
"y": {
|
|
"value_rad": -0.015357962435373018,
|
|
"value_deg": -0.8799464294673333,
|
|
"joint_type": "revolute",
|
|
"link": "Arm1"
|
|
},
|
|
"z": {
|
|
"value_rad": 1.6434434670117941,
|
|
"value_deg": 94.16237452812334,
|
|
"joint_type": "revolute",
|
|
"link": "Ellbow"
|
|
},
|
|
"a": {
|
|
"value_rad": -2.8415003090099202,
|
|
"value_deg": -162.8059751913877,
|
|
"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": [
|
|
-8.479327062105302e-06,
|
|
-2.8150239758079065e-05,
|
|
-2.388519351807436e-05
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.999999985279972,
|
|
-1.287683160108343e-05,
|
|
-0.00017109717028595433
|
|
],
|
|
[
|
|
1.2858126598057163e-05,
|
|
0.9999999939414096,
|
|
-0.00010932450729209883
|
|
],
|
|
[
|
|
0.00017109857700261104,
|
|
0.00010932230569375881,
|
|
0.9999999793869551
|
|
]
|
|
]
|
|
},
|
|
"Base": {
|
|
"translation_m": [
|
|
0.062873518655393,
|
|
-2.909085197222793e-05,
|
|
0.015986873965597184
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.999999985279972,
|
|
-1.287683160108343e-05,
|
|
-0.00017109717028595433
|
|
],
|
|
[
|
|
1.2858126598057163e-05,
|
|
0.9999999939414096,
|
|
-0.00010932450729209883
|
|
],
|
|
[
|
|
0.00017109857700261104,
|
|
0.00010932230569375881,
|
|
0.9999999793869551
|
|
]
|
|
]
|
|
},
|
|
"Arm1": {
|
|
"translation_m": [
|
|
0.17286442696571414,
|
|
0.10796740328479766,
|
|
0.06101750069049537
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999999852799718,
|
|
-1.550291363820221e-05,
|
|
-0.00017087923847170533
|
|
],
|
|
[
|
|
1.285812659805716e-05,
|
|
0.9998803838194011,
|
|
-0.015466670224509985
|
|
],
|
|
[
|
|
0.000171098577002611,
|
|
0.015466667799653304,
|
|
0.9998803693004737
|
|
]
|
|
]
|
|
},
|
|
"Ellbow": {
|
|
"translation_m": [
|
|
0.17286830269412368,
|
|
-0.1420026926700526,
|
|
0.057150833740582045
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
0.9999999852778266,
|
|
0.00017155377197724918,
|
|
-3.0590508761579057e-06
|
|
],
|
|
[
|
|
1.2858126598029577e-05,
|
|
-0.05714869976811381,
|
|
0.9983656774686773
|
|
],
|
|
[
|
|
0.00017109857700224398,
|
|
-0.9983656628120418,
|
|
-0.057148701132743555
|
|
]
|
|
]
|
|
},
|
|
"Arm2": {
|
|
"translation_m": [
|
|
0.2628683013691281,
|
|
-0.1420015354386588,
|
|
0.05716623261251225
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.9553082770175498,
|
|
0.0001715537719765783,
|
|
0.29561134353504936
|
|
],
|
|
[
|
|
-0.29513758952386976,
|
|
-0.05714869976789033,
|
|
-0.95374411105007
|
|
],
|
|
[
|
|
0.01673018552001786,
|
|
-0.9983656628081377,
|
|
0.054645257876122344
|
|
]
|
|
]
|
|
},
|
|
"Hand": {
|
|
"translation_m": [
|
|
0.26282541292613393,
|
|
-0.12771436049668622,
|
|
0.30675764831454666
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.9553082770175498,
|
|
0.0001715537719765783,
|
|
0.29561134353504936
|
|
],
|
|
[
|
|
-0.29513758952386976,
|
|
-0.05714869976789033,
|
|
-0.95374411105007
|
|
],
|
|
[
|
|
0.01673018552001786,
|
|
-0.9983656628081377,
|
|
0.054645257876122344
|
|
]
|
|
]
|
|
},
|
|
"Palm": {
|
|
"translation_m": [
|
|
0.26282541292613393,
|
|
-0.12771436049668622,
|
|
0.30675764831454666
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.9553082770175498,
|
|
0.0001715537719765783,
|
|
0.29561134353504936
|
|
],
|
|
[
|
|
-0.29513758952386976,
|
|
-0.05714869976789033,
|
|
-0.95374411105007
|
|
],
|
|
[
|
|
0.01673018552001786,
|
|
-0.9983656628081377,
|
|
0.054645257876122344
|
|
]
|
|
]
|
|
},
|
|
"FingerA": {
|
|
"translation_m": [
|
|
0.25899817543604453,
|
|
-0.12689470636290553,
|
|
0.3417673672549115
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.9553082770175498,
|
|
0.0001715537719765783,
|
|
0.29561134353504936
|
|
],
|
|
[
|
|
-0.29513758952386976,
|
|
-0.05714869976789033,
|
|
-0.95374411105007
|
|
],
|
|
[
|
|
0.01673018552001786,
|
|
-0.9983656628081377,
|
|
0.054645257876122344
|
|
]
|
|
]
|
|
},
|
|
"FingerB": {
|
|
"translation_m": [
|
|
0.26664064165218493,
|
|
-0.12453360564671458,
|
|
0.3416335257707514
|
|
],
|
|
"rotation_matrix": [
|
|
[
|
|
-0.9553082770175498,
|
|
0.0001715537719765783,
|
|
0.29561134353504936
|
|
],
|
|
[
|
|
-0.29513758952386976,
|
|
-0.05714869976789033,
|
|
-0.95374411105007
|
|
],
|
|
[
|
|
0.01673018552001786,
|
|
-0.9983656628081377,
|
|
0.054645257876122344
|
|
]
|
|
]
|
|
}
|
|
},
|
|
"stage_reports": [
|
|
{
|
|
"method": "deterministic_geometric_prefix",
|
|
"active_links": [
|
|
"Board",
|
|
"Base",
|
|
"Arm1"
|
|
],
|
|
"active_observations": 46,
|
|
"joint_updates": [
|
|
{
|
|
"pass": 0,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.0,
|
|
"new": 0.06006418184257047,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
0.9999999852789727,
|
|
1.2858126598044313e-05,
|
|
0.00017109857700244006
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.05996038671724187,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.060247689944372976,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.05998446886609658,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 0.0,
|
|
"new": 0.03568545225045616,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044313e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": 0.03568545225045606,
|
|
"theta_alt_rad": -3.1059072013393365,
|
|
"score_theta": 0.0009383039527867685,
|
|
"score_theta_alt": 0.8862993883988893,
|
|
"best_score": 0.0009383039527867685,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"pass": 1,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.06006418184257047,
|
|
"new": 0.06006418184257047,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
0.9999999852789727,
|
|
1.2858126598044313e-05,
|
|
0.00017109857700244006
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.059960386717241854,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.06024768994437296,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.059984468866096596,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 0.03568545225045616,
|
|
"new": 0.03568545225045616,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044313e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": 0.03568545225045606,
|
|
"theta_alt_rad": -3.1059072013393365,
|
|
"score_theta": 0.0009383039527867685,
|
|
"score_theta_alt": 0.8862993883988893,
|
|
"best_score": 0.0009383039527867685,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"root_link": "Board",
|
|
"root_pose": {
|
|
"reason": "kabsch",
|
|
"used_markers": [
|
|
210,
|
|
211,
|
|
214,
|
|
208,
|
|
206,
|
|
205,
|
|
217,
|
|
46,
|
|
47,
|
|
48,
|
|
51,
|
|
52,
|
|
53,
|
|
54,
|
|
55,
|
|
56,
|
|
57,
|
|
58,
|
|
59,
|
|
61,
|
|
62,
|
|
63,
|
|
64,
|
|
66,
|
|
68,
|
|
69,
|
|
71,
|
|
72,
|
|
75,
|
|
76,
|
|
79,
|
|
82,
|
|
83,
|
|
84,
|
|
85,
|
|
86,
|
|
92,
|
|
95,
|
|
96,
|
|
97,
|
|
102,
|
|
103,
|
|
105
|
|
]
|
|
},
|
|
"marker_stats": {
|
|
"num_markers_used": 46,
|
|
"mean_error_m": 0.0013203291187321798,
|
|
"rms_error_m": 0.004373262333470625,
|
|
"median_error_m": 0.0002179931004873895,
|
|
"worst_error_m": 0.020536012920074523
|
|
},
|
|
"marker_reports": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00012266096678137384,
|
|
0.0002720972312892922,
|
|
-0.0004599460971514008
|
|
],
|
|
"error_norm_m": 0.0005483001261461151,
|
|
"predicted_m": [
|
|
0.5367037958456484,
|
|
0.1854217342809124,
|
|
-0.027211781585151026
|
|
],
|
|
"observed_m": [
|
|
0.536581134878867,
|
|
0.18514963704962312,
|
|
-0.026751835487999625
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00010506887416117383,
|
|
-0.00011211212409811822,
|
|
8.627090275896421e-05
|
|
],
|
|
"error_norm_m": 0.0001762136922890361,
|
|
"predicted_m": [
|
|
0.3442298762859385,
|
|
-0.28656073779176167,
|
|
-0.02729631258109383
|
|
],
|
|
"observed_m": [
|
|
0.3441248074117773,
|
|
-0.28644862566766355,
|
|
-0.027382583483852793
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.608150511411282e-05,
|
|
-9.771944972392088e-05,
|
|
2.26039537217608e-05
|
|
],
|
|
"error_norm_m": 0.00012011159351348196,
|
|
"predicted_m": [
|
|
0.6886903113455818,
|
|
-0.3207363084743911,
|
|
-0.02724111260166812
|
|
],
|
|
"observed_m": [
|
|
0.6887563928506959,
|
|
-0.3206385890246672,
|
|
-0.02726371655538988
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.063231709162788e-05,
|
|
-0.00012661165565933108,
|
|
4.257963147162244e-05
|
|
],
|
|
"error_norm_m": 0.00015602918613073975,
|
|
"predicted_m": [
|
|
0.16779840500084794,
|
|
-0.17210300704450363,
|
|
-0.02731398647192469
|
|
],
|
|
"observed_m": [
|
|
0.16771777268375632,
|
|
-0.1719763953888443,
|
|
-0.02735656610339631
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.860959265065191e-05,
|
|
-0.00024263976409186205,
|
|
1.075645704878836e-05
|
|
],
|
|
"error_norm_m": 0.0002498496364565541,
|
|
"predicted_m": [
|
|
0.09467350335231259,
|
|
0.20863605046253184,
|
|
-0.02728487382520528
|
|
],
|
|
"observed_m": [
|
|
0.09473211294496324,
|
|
0.2088786902266237,
|
|
-0.02729563028225407
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00014997734750449299,
|
|
0.00012786478294601888,
|
|
-0.00014659530542126056
|
|
],
|
|
"error_norm_m": 0.0002456273418287725,
|
|
"predicted_m": [
|
|
0.48624345148933407,
|
|
0.21222108529747408,
|
|
-0.027217485381553982
|
|
],
|
|
"observed_m": [
|
|
0.48639342883683856,
|
|
0.21209322051452806,
|
|
-0.027070890076132722
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-8.516290546001226e-05,
|
|
8.271215205174487e-05,
|
|
-2.5309206973446463e-05
|
|
],
|
|
"error_norm_m": 0.00012138606394906583,
|
|
"predicted_m": [
|
|
0.3422704435392217,
|
|
-0.33061076272680884,
|
|
-0.027301463581870564
|
|
],
|
|
"observed_m": [
|
|
0.3423556064446817,
|
|
-0.3306934748788606,
|
|
-0.027276154374897117
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.7586947554402172e-06,
|
|
-0.0001081669409384034,
|
|
0.00014232213706751387
|
|
],
|
|
"error_norm_m": 0.0001788010223620123,
|
|
"predicted_m": [
|
|
0.28371956864776215,
|
|
-0.2626015159821659,
|
|
-0.027304046393543835
|
|
],
|
|
"observed_m": [
|
|
0.2837158099530067,
|
|
-0.2624933490412275,
|
|
-0.02744636853061135
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00014670678802053416,
|
|
0.00014325441100929148,
|
|
-0.00013413290070153627
|
|
],
|
|
"error_norm_m": 0.0002450231478361364,
|
|
"predicted_m": [
|
|
0.49867401234991704,
|
|
0.16865124538796045,
|
|
-0.02722012179910092
|
|
],
|
|
"observed_m": [
|
|
0.4985273055618965,
|
|
0.16850799097695116,
|
|
-0.027085988898399384
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00019859905475438921,
|
|
7.491991631358719e-06,
|
|
-2.389853633888786e-05
|
|
],
|
|
"error_norm_m": 0.00020017206230411473,
|
|
"predicted_m": [
|
|
0.602860870562115,
|
|
-0.36406741182487834,
|
|
-0.02726053492803797
|
|
],
|
|
"observed_m": [
|
|
0.6030594696168694,
|
|
-0.3640749038165097,
|
|
-0.02723663639169908
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.242795048694906e-05,
|
|
0.00011770961580406802,
|
|
-0.00019255147423278413
|
|
],
|
|
"error_norm_m": 0.000240262337671635,
|
|
"predicted_m": [
|
|
0.050088999454101016,
|
|
-0.2181345202957086,
|
|
-0.027339158591154752
|
|
],
|
|
"observed_m": [
|
|
0.05000657150361407,
|
|
-0.21825222991151266,
|
|
-0.02714660711692197
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.832706211492347e-05,
|
|
-6.411948621365404e-05,
|
|
9.036830084380512e-05
|
|
],
|
|
"error_norm_m": 0.00014170182853990624,
|
|
"predicted_m": [
|
|
0.6262097718246669,
|
|
-0.27876711210441996,
|
|
-0.027247214583589276
|
|
],
|
|
"observed_m": [
|
|
0.6261214447625519,
|
|
-0.2787029926182063,
|
|
-0.02733758288443308
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.308269811662032e-05,
|
|
-8.199454664647998e-05,
|
|
0.00020670040729176692
|
|
],
|
|
"error_norm_m": 0.00022481687874583516,
|
|
"predicted_m": [
|
|
-0.02242813247064687,
|
|
0.33580454400543625,
|
|
-0.02729100695095721
|
|
],
|
|
"observed_m": [
|
|
-0.02246121516876349,
|
|
0.3358865385520827,
|
|
-0.027497707358248975
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.630348753935202e-05,
|
|
-7.818520068877954e-05,
|
|
0.00010450501679128144
|
|
],
|
|
"error_norm_m": 0.00015646889819624166,
|
|
"predicted_m": [
|
|
0.4046984404017047,
|
|
-0.1751199609360156,
|
|
-0.027273783372395968
|
|
],
|
|
"observed_m": [
|
|
0.40461213691416537,
|
|
-0.1750417757353268,
|
|
-0.02737828838918725
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"error_m": [
|
|
6.3540586809685e-05,
|
|
5.574886194659179e-05,
|
|
0.00019572703955176088
|
|
],
|
|
"error_norm_m": 0.0002132004122701357,
|
|
"predicted_m": [
|
|
0.7773992210461196,
|
|
-0.23616516834235557,
|
|
-0.0272166890595097
|
|
],
|
|
"observed_m": [
|
|
0.7773356804593099,
|
|
-0.23622091720430216,
|
|
-0.027412416099061462
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00013137489217825843,
|
|
-0.0002610234014372437,
|
|
1.985082723181611e-05
|
|
],
|
|
"error_norm_m": 0.00029289355358987486,
|
|
"predicted_m": [
|
|
-0.021271384255206034,
|
|
-0.18825543803265327,
|
|
-0.027348101635115526
|
|
],
|
|
"observed_m": [
|
|
-0.021402759147384293,
|
|
-0.18799441463121602,
|
|
-0.027367952462347342
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.5166163730928606e-05,
|
|
0.0001172489336461191,
|
|
-0.00025563338518324805
|
|
],
|
|
"error_norm_m": 0.00028164827814796284,
|
|
"predicted_m": [
|
|
0.20975086578970328,
|
|
-0.36325246648799325,
|
|
-0.027327705845352792
|
|
],
|
|
"observed_m": [
|
|
0.2097660319534342,
|
|
-0.36336971542163937,
|
|
-0.027072072460169544
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00014611127730057571,
|
|
-0.00023454957078758443,
|
|
0.0003142080276700432
|
|
],
|
|
"error_norm_m": 0.0004184360060551009,
|
|
"predicted_m": [
|
|
0.5737239858778207,
|
|
0.1706222103784262,
|
|
-0.027207065485954657
|
|
],
|
|
"observed_m": [
|
|
0.5738700971551213,
|
|
0.1708567599492138,
|
|
-0.0275212735136247
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00023588840247147635,
|
|
5.317540130017617e-05,
|
|
-7.059555447262722e-05
|
|
],
|
|
"error_norm_m": 0.00025190215170831245,
|
|
"predicted_m": [
|
|
0.00760981260748183,
|
|
-0.2812350661266293,
|
|
-0.0273533250961951
|
|
],
|
|
"observed_m": [
|
|
0.007373924205010354,
|
|
-0.2812882415279295,
|
|
-0.02728272954172247
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00015575098299880352,
|
|
-7.517608562868094e-05,
|
|
5.4660915238178426e-05
|
|
],
|
|
"error_norm_m": 0.00018137703330416363,
|
|
"predicted_m": [
|
|
0.7497498377382888,
|
|
-0.2840255235795919,
|
|
-0.027226652100714323
|
|
],
|
|
"observed_m": [
|
|
0.7499055887212877,
|
|
-0.2839503474939632,
|
|
-0.0272813130159525
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"error_m": [
|
|
7.235639409453043e-05,
|
|
-0.00011622867082114463,
|
|
-0.0002093505656265808
|
|
],
|
|
"error_norm_m": 0.00025014438033939984,
|
|
"predicted_m": [
|
|
0.4409836829083848,
|
|
0.19430050344723418,
|
|
-0.027227188358867154
|
|
],
|
|
"observed_m": [
|
|
0.44091132651429027,
|
|
0.19441673211805532,
|
|
-0.027017837793240573
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.635572041458008e-05,
|
|
9.133511818748552e-06,
|
|
-0.00011223106787883186
|
|
],
|
|
"error_norm_m": 0.00012177063049241759,
|
|
"predicted_m": [
|
|
-0.025706313569901523,
|
|
0.1945545026865569,
|
|
-0.027307009929969022
|
|
],
|
|
"observed_m": [
|
|
-0.025752669290316103,
|
|
0.19454536917473816,
|
|
-0.02719477886209019
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00047710371717957223,
|
|
0.0005180138227024178,
|
|
-0.00045171247880214024
|
|
],
|
|
"error_norm_m": 0.0008366662661795987,
|
|
"predicted_m": [
|
|
0.6852040336838654,
|
|
0.16678364382564437,
|
|
-0.02718841121424427
|
|
],
|
|
"observed_m": [
|
|
0.6847269299666858,
|
|
0.16626563000294195,
|
|
-0.02673669873544213
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.4284727998823428e-06,
|
|
-7.178526943751873e-05,
|
|
0.00021606676970338523
|
|
],
|
|
"error_norm_m": 0.00022770535413997714,
|
|
"predicted_m": [
|
|
0.31229823586129807,
|
|
-0.15913114912379014,
|
|
-0.027287844817242966
|
|
],
|
|
"observed_m": [
|
|
0.3122948073884982,
|
|
-0.15905936385435263,
|
|
-0.02750391158694635
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"link": "Board",
|
|
"error_m": [
|
|
6.690563194633459e-05,
|
|
-0.00010158928760989339,
|
|
0.0005867419685286583
|
|
],
|
|
"error_norm_m": 0.0005992185616084578,
|
|
"predicted_m": [
|
|
0.21915236089022028,
|
|
0.2972176505054608,
|
|
-0.02725389170450164
|
|
],
|
|
"observed_m": [
|
|
0.21908545525827394,
|
|
0.2973192397930707,
|
|
-0.027840633673030298
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00013966716982932725,
|
|
-5.133651643424164e-05,
|
|
6.425629274161432e-06
|
|
],
|
|
"error_norm_m": 0.00014894175022238146,
|
|
"predicted_m": [
|
|
0.044151822896834544,
|
|
0.3391954000789666,
|
|
-0.027279244605084074
|
|
],
|
|
"observed_m": [
|
|
0.04429149006666387,
|
|
0.33924673659540083,
|
|
-0.027285670234358236
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00029820094294547017,
|
|
3.064195246643697e-05,
|
|
1.5812422708715718e-05
|
|
],
|
|
"error_norm_m": 0.0003001878817281638,
|
|
"predicted_m": [
|
|
0.40748285799660017,
|
|
0.2584000723116376,
|
|
-0.02722591260140177
|
|
],
|
|
"observed_m": [
|
|
0.4071846570536547,
|
|
0.25836943035917115,
|
|
-0.027241725024110486
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.4427636602774037e-05,
|
|
0.00011485320267634602,
|
|
3.954158681259909e-05
|
|
],
|
|
"error_norm_m": 0.00012625394019485014,
|
|
"predicted_m": [
|
|
0.5045802114273383,
|
|
-0.31276867583236606,
|
|
-0.027271742261903695
|
|
],
|
|
"observed_m": [
|
|
0.5045457837907356,
|
|
-0.3128835290350424,
|
|
-0.027311283848716294
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.316371883913208e-05,
|
|
-1.1601395179527962e-06,
|
|
8.731630121837364e-05
|
|
],
|
|
"error_norm_m": 0.00010777354851607978,
|
|
"predicted_m": [
|
|
0.36288242612033994,
|
|
0.2919894986356832,
|
|
-0.027229871461687837
|
|
],
|
|
"observed_m": [
|
|
0.3629455898391791,
|
|
0.29199065877520114,
|
|
-0.02731718776290621
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.201957914324762e-05,
|
|
-1.596451489493944e-05,
|
|
-2.6133409074535763e-06
|
|
],
|
|
"error_norm_m": 5.4476893273845157e-05,
|
|
"predicted_m": [
|
|
0.6450885622834971,
|
|
-0.184856869911952,
|
|
-0.027233717784727766
|
|
],
|
|
"observed_m": [
|
|
0.6451405818626403,
|
|
-0.18484090539705705,
|
|
-0.027231104443820313
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-7.241557910009355e-05,
|
|
-0.00026339859453988756,
|
|
-1.92165665611789e-05
|
|
],
|
|
"error_norm_m": 0.00027384687716384536,
|
|
"predicted_m": [
|
|
0.18603971804040959,
|
|
-0.27409277189435877,
|
|
-0.02732201541583787
|
|
],
|
|
"observed_m": [
|
|
0.18611213361950968,
|
|
-0.2738293732998189,
|
|
-0.02730279884927669
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00022768547175078258,
|
|
-0.00013026883538527767,
|
|
0.00011838057161814991
|
|
],
|
|
"error_norm_m": 0.00028779263933543,
|
|
"predicted_m": [
|
|
0.36976858758298725,
|
|
-0.18651041000137034,
|
|
-0.02728100502675252
|
|
],
|
|
"observed_m": [
|
|
0.36999627305473803,
|
|
-0.18638014116598506,
|
|
-0.02739938559837067
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00013770712350635872,
|
|
0.0001046288767443393,
|
|
-3.6735355882337034e-05
|
|
],
|
|
"error_norm_m": 0.00017680480786726256,
|
|
"predicted_m": [
|
|
0.30435081855566815,
|
|
-0.35969125013078573,
|
|
-0.027311130732560078
|
|
],
|
|
"observed_m": [
|
|
0.3044885256791745,
|
|
-0.3597958790075301,
|
|
-0.02727439537667774
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2822092041251416e-05,
|
|
-2.1676624550770462e-05,
|
|
-8.114564552626907e-06
|
|
],
|
|
"error_norm_m": 4.016231985030488e-05,
|
|
"predicted_m": [
|
|
0.6496890535956789,
|
|
-0.22301681053337385,
|
|
-0.027237102470458827
|
|
],
|
|
"observed_m": [
|
|
0.6496562315036376,
|
|
-0.22299513390882308,
|
|
-0.0272289879059062
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"error_m": [
|
|
1.8804454714985153e-05,
|
|
0.00015775921935021198,
|
|
-0.0001059129439842342
|
|
],
|
|
"error_norm_m": 0.0001909427414449781,
|
|
"predicted_m": [
|
|
0.10570860717969238,
|
|
-0.18773380531088832,
|
|
-0.027326318690208778
|
|
],
|
|
"observed_m": [
|
|
0.1056898027249774,
|
|
-0.18789156453023853,
|
|
-0.027220405746224544
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00010321125854917401,
|
|
1.3678578404174857e-05,
|
|
-4.97444155892271e-06
|
|
],
|
|
"error_norm_m": 0.00010423249237779332,
|
|
"predicted_m": [
|
|
0.5248396123564412,
|
|
-0.26626841560844555,
|
|
-0.02726319231751886
|
|
],
|
|
"observed_m": [
|
|
0.524736401097892,
|
|
-0.2662820941868497,
|
|
-0.027258217875959938
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.00010183730001106506,
|
|
0.002467975442709075,
|
|
0.0112572131783229
|
|
],
|
|
"error_norm_m": 0.011525021568903695,
|
|
"predicted_m": [
|
|
0.17003895399876903,
|
|
-0.050686488950487156,
|
|
0.10168585090874108
|
|
],
|
|
"observed_m": [
|
|
0.16993711669875797,
|
|
-0.05315446439319623,
|
|
0.09042863773041818
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.929535465554192e-05,
|
|
-0.0001457274538154557,
|
|
3.5767984756064153e-06
|
|
],
|
|
"error_norm_m": 0.00015736970282299376,
|
|
"predicted_m": [
|
|
0.74999261721861,
|
|
-0.09001853889688859,
|
|
0.00039459972553753216
|
|
],
|
|
"observed_m": [
|
|
0.7500519125732655,
|
|
-0.08987281144307313,
|
|
0.00039102292706192575
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2159119592423124e-05,
|
|
-0.00019912679522503945,
|
|
0.00018029795753697178
|
|
],
|
|
"error_norm_m": 0.00027054212803472635,
|
|
"predicted_m": [
|
|
0.6499915885440848,
|
|
-0.010019825194235625,
|
|
0.00038623565229277174
|
|
],
|
|
"observed_m": [
|
|
0.6499594294244924,
|
|
-0.009820698399010586,
|
|
0.00020593769475579996
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2221247853181367e-06,
|
|
-0.0001796945090693225,
|
|
0.0001316548858605444
|
|
],
|
|
"error_norm_m": 0.0002227857887046433,
|
|
"predicted_m": [
|
|
0.3499926231066211,
|
|
-0.09002368214752782,
|
|
0.0003261602947364877
|
|
],
|
|
"observed_m": [
|
|
0.3499894009818358,
|
|
-0.0898439876384585,
|
|
0.00019450540887594328
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.307185548948044e-05,
|
|
-0.00014468028646748982,
|
|
1.2894139159153278e-05
|
|
],
|
|
"error_norm_m": 0.0001489711104291285,
|
|
"predicted_m": [
|
|
0.01999172658601827,
|
|
-0.0200279257534065,
|
|
0.0002773503257241892
|
|
],
|
|
"observed_m": [
|
|
0.02002479844150775,
|
|
-0.01988324546693901,
|
|
0.0002644561865650359
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0008137031989705334,
|
|
0.0009814813567515582,
|
|
-0.0002987738044046123
|
|
],
|
|
"error_norm_m": 0.0013094595586974668,
|
|
"predicted_m": [
|
|
0.24999159443209581,
|
|
-0.010024968444874847,
|
|
0.0003177962214917273
|
|
],
|
|
"observed_m": [
|
|
0.25080529763106635,
|
|
-0.011006449801626406,
|
|
0.0006165700258963396
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.567277445149953e-05,
|
|
-7.017418795133776e-06,
|
|
-6.546747580824327e-05
|
|
],
|
|
"error_norm_m": 8.013262058204987e-05,
|
|
"predicted_m": [
|
|
0.349991592960093,
|
|
-0.010023682632215043,
|
|
0.0003349060791919884
|
|
],
|
|
"observed_m": [
|
|
0.3499459201856415,
|
|
-0.01001666521341991,
|
|
0.0004003735550002317
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"error_m": [
|
|
5.974482015014271e-05,
|
|
2.4459239938698363e-05,
|
|
-6.549758114156383e-05
|
|
],
|
|
"error_norm_m": 9.196537983691174e-05,
|
|
"predicted_m": [
|
|
0.6499926186906129,
|
|
-0.09001982470954839,
|
|
0.000377489867837271
|
|
],
|
|
"observed_m": [
|
|
0.6499328738704627,
|
|
-0.09004428394948709,
|
|
0.00044298744897883484
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
-0.0001865750357913365,
|
|
0.0023054895843451495,
|
|
0.017751677999534185
|
|
],
|
|
"error_norm_m": 0.017901736347814154,
|
|
"predicted_m": [
|
|
0.17003956278121135,
|
|
-0.14062954021098062,
|
|
0.10488702718967219
|
|
],
|
|
"observed_m": [
|
|
0.1702261378170027,
|
|
-0.14293502979532577,
|
|
0.087135349190138
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
7.619614895726379e-05,
|
|
0.0002702003839371858,
|
|
0.02053409390630305
|
|
],
|
|
"error_norm_m": 0.020536012920074523,
|
|
"predicted_m": [
|
|
0.17004580019796578,
|
|
-0.17685229530714675,
|
|
0.07115407632056207
|
|
],
|
|
"observed_m": [
|
|
0.16996960404900852,
|
|
-0.17712249569108393,
|
|
0.050619982414259024
|
|
]
|
|
}
|
|
],
|
|
"stage_idx": 0,
|
|
"num_active_links": 3
|
|
},
|
|
{
|
|
"method": "deterministic_geometric_prefix",
|
|
"active_links": [
|
|
"Board",
|
|
"Base",
|
|
"Arm1",
|
|
"Ellbow"
|
|
],
|
|
"active_observations": 50,
|
|
"joint_updates": [
|
|
{
|
|
"pass": 0,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.06006418184257047,
|
|
"new": 0.06002787277325323,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
0.9999999852789727,
|
|
1.2858126598044313e-05,
|
|
0.00017109857700244006
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.059960386717241854,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.06024768994437296,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.059984468866096596,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"q_i": 0.0602349588045183,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"q_i": 0.05994610226876931,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"q_i": 0.06002027365646245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"q_i": 0.05980122915531114,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 0.03568545225045616,
|
|
"new": -0.01669227835088094,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044313e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.01669227835088111,
|
|
"theta_alt_rad": 3.124900375238912,
|
|
"score_theta": 0.007345793846783672,
|
|
"score_theta_alt": 1.9673853916067159,
|
|
"best_score": 0.007345793846783672,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": 0.0,
|
|
"new": 1.6260238901870858,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044312e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.5155687634027073,
|
|
"theta_alt_rad": 1.6260238901870858,
|
|
"score_theta": 0.195424412731184,
|
|
"score_theta_alt": 0.11995905860633287,
|
|
"best_score": 0.11995905860633287,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"pass": 1,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.06002787277325323,
|
|
"new": 0.06002787277336095,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
0.9999999852789727,
|
|
1.2858126598044313e-05,
|
|
0.00017109857700244006
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.05996038671724186,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.06024768994437296,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.059984468866096596,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"q_i": 0.06023495880478198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"q_i": 0.05994610226895911,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"q_i": 0.060020273656573184,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"q_i": 0.05980122915550092,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": -0.01669227835088094,
|
|
"new": 0.03434075916590995,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 7,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044313e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": 0.03434075916590982,
|
|
"theta_alt_rad": -3.107251894423883,
|
|
"score_theta": 0.0022960286477675734,
|
|
"score_theta_alt": 2.0931568832604057,
|
|
"best_score": 0.0022960286477675734,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": 1.6260238901870858,
|
|
"new": -1.1930805102575741,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 3,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044313e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.1930805102575741,
|
|
"theta_alt_rad": 1.948512143332219,
|
|
"score_theta": 0.14398556194657194,
|
|
"score_theta_alt": 0.1747742034387638,
|
|
"best_score": 0.14398556194657194,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"root_link": "Board",
|
|
"root_pose": {
|
|
"reason": "kabsch",
|
|
"used_markers": [
|
|
210,
|
|
211,
|
|
214,
|
|
208,
|
|
206,
|
|
205,
|
|
217,
|
|
46,
|
|
47,
|
|
48,
|
|
51,
|
|
52,
|
|
53,
|
|
54,
|
|
55,
|
|
56,
|
|
57,
|
|
58,
|
|
59,
|
|
61,
|
|
62,
|
|
63,
|
|
64,
|
|
66,
|
|
68,
|
|
69,
|
|
71,
|
|
72,
|
|
75,
|
|
76,
|
|
79,
|
|
82,
|
|
83,
|
|
84,
|
|
85,
|
|
86,
|
|
92,
|
|
95,
|
|
96,
|
|
97,
|
|
102,
|
|
103,
|
|
105
|
|
]
|
|
},
|
|
"marker_stats": {
|
|
"num_markers_used": 50,
|
|
"mean_error_m": 0.0058466113236803315,
|
|
"rms_error_m": 0.018237656895770338,
|
|
"median_error_m": 0.00022626111644290616,
|
|
"worst_error_m": 0.07991436513162384
|
|
},
|
|
"marker_reports": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00012266096678137384,
|
|
0.0002720972312892922,
|
|
-0.0004599460971514008
|
|
],
|
|
"error_norm_m": 0.0005483001261461151,
|
|
"predicted_m": [
|
|
0.5367037958456484,
|
|
0.1854217342809124,
|
|
-0.027211781585151026
|
|
],
|
|
"observed_m": [
|
|
0.536581134878867,
|
|
0.18514963704962312,
|
|
-0.026751835487999625
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00010506887416117383,
|
|
-0.00011211212409811822,
|
|
8.627090275896421e-05
|
|
],
|
|
"error_norm_m": 0.0001762136922890361,
|
|
"predicted_m": [
|
|
0.3442298762859385,
|
|
-0.28656073779176167,
|
|
-0.02729631258109383
|
|
],
|
|
"observed_m": [
|
|
0.3441248074117773,
|
|
-0.28644862566766355,
|
|
-0.027382583483852793
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.608150511411282e-05,
|
|
-9.771944972392088e-05,
|
|
2.26039537217608e-05
|
|
],
|
|
"error_norm_m": 0.00012011159351348196,
|
|
"predicted_m": [
|
|
0.6886903113455818,
|
|
-0.3207363084743911,
|
|
-0.02724111260166812
|
|
],
|
|
"observed_m": [
|
|
0.6887563928506959,
|
|
-0.3206385890246672,
|
|
-0.02726371655538988
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.063231709162788e-05,
|
|
-0.00012661165565933108,
|
|
4.257963147162244e-05
|
|
],
|
|
"error_norm_m": 0.00015602918613073975,
|
|
"predicted_m": [
|
|
0.16779840500084794,
|
|
-0.17210300704450363,
|
|
-0.02731398647192469
|
|
],
|
|
"observed_m": [
|
|
0.16771777268375632,
|
|
-0.1719763953888443,
|
|
-0.02735656610339631
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.860959265065191e-05,
|
|
-0.00024263976409186205,
|
|
1.075645704878836e-05
|
|
],
|
|
"error_norm_m": 0.0002498496364565541,
|
|
"predicted_m": [
|
|
0.09467350335231259,
|
|
0.20863605046253184,
|
|
-0.02728487382520528
|
|
],
|
|
"observed_m": [
|
|
0.09473211294496324,
|
|
0.2088786902266237,
|
|
-0.02729563028225407
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00014997734750449299,
|
|
0.00012786478294601888,
|
|
-0.00014659530542126056
|
|
],
|
|
"error_norm_m": 0.0002456273418287725,
|
|
"predicted_m": [
|
|
0.48624345148933407,
|
|
0.21222108529747408,
|
|
-0.027217485381553982
|
|
],
|
|
"observed_m": [
|
|
0.48639342883683856,
|
|
0.21209322051452806,
|
|
-0.027070890076132722
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-8.516290546001226e-05,
|
|
8.271215205174487e-05,
|
|
-2.5309206973446463e-05
|
|
],
|
|
"error_norm_m": 0.00012138606394906583,
|
|
"predicted_m": [
|
|
0.3422704435392217,
|
|
-0.33061076272680884,
|
|
-0.027301463581870564
|
|
],
|
|
"observed_m": [
|
|
0.3423556064446817,
|
|
-0.3306934748788606,
|
|
-0.027276154374897117
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.7586947554402172e-06,
|
|
-0.0001081669409384034,
|
|
0.00014232213706751387
|
|
],
|
|
"error_norm_m": 0.0001788010223620123,
|
|
"predicted_m": [
|
|
0.28371956864776215,
|
|
-0.2626015159821659,
|
|
-0.027304046393543835
|
|
],
|
|
"observed_m": [
|
|
0.2837158099530067,
|
|
-0.2624933490412275,
|
|
-0.02744636853061135
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00014670678802053416,
|
|
0.00014325441100929148,
|
|
-0.00013413290070153627
|
|
],
|
|
"error_norm_m": 0.0002450231478361364,
|
|
"predicted_m": [
|
|
0.49867401234991704,
|
|
0.16865124538796045,
|
|
-0.02722012179910092
|
|
],
|
|
"observed_m": [
|
|
0.4985273055618965,
|
|
0.16850799097695116,
|
|
-0.027085988898399384
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00019859905475438921,
|
|
7.491991631358719e-06,
|
|
-2.389853633888786e-05
|
|
],
|
|
"error_norm_m": 0.00020017206230411473,
|
|
"predicted_m": [
|
|
0.602860870562115,
|
|
-0.36406741182487834,
|
|
-0.02726053492803797
|
|
],
|
|
"observed_m": [
|
|
0.6030594696168694,
|
|
-0.3640749038165097,
|
|
-0.02723663639169908
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.242795048694906e-05,
|
|
0.00011770961580406802,
|
|
-0.00019255147423278413
|
|
],
|
|
"error_norm_m": 0.000240262337671635,
|
|
"predicted_m": [
|
|
0.050088999454101016,
|
|
-0.2181345202957086,
|
|
-0.027339158591154752
|
|
],
|
|
"observed_m": [
|
|
0.05000657150361407,
|
|
-0.21825222991151266,
|
|
-0.02714660711692197
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.832706211492347e-05,
|
|
-6.411948621365404e-05,
|
|
9.036830084380512e-05
|
|
],
|
|
"error_norm_m": 0.00014170182853990624,
|
|
"predicted_m": [
|
|
0.6262097718246669,
|
|
-0.27876711210441996,
|
|
-0.027247214583589276
|
|
],
|
|
"observed_m": [
|
|
0.6261214447625519,
|
|
-0.2787029926182063,
|
|
-0.02733758288443308
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.308269811662032e-05,
|
|
-8.199454664647998e-05,
|
|
0.00020670040729176692
|
|
],
|
|
"error_norm_m": 0.00022481687874583516,
|
|
"predicted_m": [
|
|
-0.02242813247064687,
|
|
0.33580454400543625,
|
|
-0.02729100695095721
|
|
],
|
|
"observed_m": [
|
|
-0.02246121516876349,
|
|
0.3358865385520827,
|
|
-0.027497707358248975
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.630348753935202e-05,
|
|
-7.818520068877954e-05,
|
|
0.00010450501679128144
|
|
],
|
|
"error_norm_m": 0.00015646889819624166,
|
|
"predicted_m": [
|
|
0.4046984404017047,
|
|
-0.1751199609360156,
|
|
-0.027273783372395968
|
|
],
|
|
"observed_m": [
|
|
0.40461213691416537,
|
|
-0.1750417757353268,
|
|
-0.02737828838918725
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"error_m": [
|
|
6.3540586809685e-05,
|
|
5.574886194659179e-05,
|
|
0.00019572703955176088
|
|
],
|
|
"error_norm_m": 0.0002132004122701357,
|
|
"predicted_m": [
|
|
0.7773992210461196,
|
|
-0.23616516834235557,
|
|
-0.0272166890595097
|
|
],
|
|
"observed_m": [
|
|
0.7773356804593099,
|
|
-0.23622091720430216,
|
|
-0.027412416099061462
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00013137489217825843,
|
|
-0.0002610234014372437,
|
|
1.985082723181611e-05
|
|
],
|
|
"error_norm_m": 0.00029289355358987486,
|
|
"predicted_m": [
|
|
-0.021271384255206034,
|
|
-0.18825543803265327,
|
|
-0.027348101635115526
|
|
],
|
|
"observed_m": [
|
|
-0.021402759147384293,
|
|
-0.18799441463121602,
|
|
-0.027367952462347342
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.5166163730928606e-05,
|
|
0.0001172489336461191,
|
|
-0.00025563338518324805
|
|
],
|
|
"error_norm_m": 0.00028164827814796284,
|
|
"predicted_m": [
|
|
0.20975086578970328,
|
|
-0.36325246648799325,
|
|
-0.027327705845352792
|
|
],
|
|
"observed_m": [
|
|
0.2097660319534342,
|
|
-0.36336971542163937,
|
|
-0.027072072460169544
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00014611127730057571,
|
|
-0.00023454957078758443,
|
|
0.0003142080276700432
|
|
],
|
|
"error_norm_m": 0.0004184360060551009,
|
|
"predicted_m": [
|
|
0.5737239858778207,
|
|
0.1706222103784262,
|
|
-0.027207065485954657
|
|
],
|
|
"observed_m": [
|
|
0.5738700971551213,
|
|
0.1708567599492138,
|
|
-0.0275212735136247
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00023588840247147635,
|
|
5.317540130017617e-05,
|
|
-7.059555447262722e-05
|
|
],
|
|
"error_norm_m": 0.00025190215170831245,
|
|
"predicted_m": [
|
|
0.00760981260748183,
|
|
-0.2812350661266293,
|
|
-0.0273533250961951
|
|
],
|
|
"observed_m": [
|
|
0.007373924205010354,
|
|
-0.2812882415279295,
|
|
-0.02728272954172247
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00015575098299880352,
|
|
-7.517608562868094e-05,
|
|
5.4660915238178426e-05
|
|
],
|
|
"error_norm_m": 0.00018137703330416363,
|
|
"predicted_m": [
|
|
0.7497498377382888,
|
|
-0.2840255235795919,
|
|
-0.027226652100714323
|
|
],
|
|
"observed_m": [
|
|
0.7499055887212877,
|
|
-0.2839503474939632,
|
|
-0.0272813130159525
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"error_m": [
|
|
7.235639409453043e-05,
|
|
-0.00011622867082114463,
|
|
-0.0002093505656265808
|
|
],
|
|
"error_norm_m": 0.00025014438033939984,
|
|
"predicted_m": [
|
|
0.4409836829083848,
|
|
0.19430050344723418,
|
|
-0.027227188358867154
|
|
],
|
|
"observed_m": [
|
|
0.44091132651429027,
|
|
0.19441673211805532,
|
|
-0.027017837793240573
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.635572041458008e-05,
|
|
9.133511818748552e-06,
|
|
-0.00011223106787883186
|
|
],
|
|
"error_norm_m": 0.00012177063049241759,
|
|
"predicted_m": [
|
|
-0.025706313569901523,
|
|
0.1945545026865569,
|
|
-0.027307009929969022
|
|
],
|
|
"observed_m": [
|
|
-0.025752669290316103,
|
|
0.19454536917473816,
|
|
-0.02719477886209019
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00047710371717957223,
|
|
0.0005180138227024178,
|
|
-0.00045171247880214024
|
|
],
|
|
"error_norm_m": 0.0008366662661795987,
|
|
"predicted_m": [
|
|
0.6852040336838654,
|
|
0.16678364382564437,
|
|
-0.02718841121424427
|
|
],
|
|
"observed_m": [
|
|
0.6847269299666858,
|
|
0.16626563000294195,
|
|
-0.02673669873544213
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.4284727998823428e-06,
|
|
-7.178526943751873e-05,
|
|
0.00021606676970338523
|
|
],
|
|
"error_norm_m": 0.00022770535413997714,
|
|
"predicted_m": [
|
|
0.31229823586129807,
|
|
-0.15913114912379014,
|
|
-0.027287844817242966
|
|
],
|
|
"observed_m": [
|
|
0.3122948073884982,
|
|
-0.15905936385435263,
|
|
-0.02750391158694635
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"link": "Board",
|
|
"error_m": [
|
|
6.690563194633459e-05,
|
|
-0.00010158928760989339,
|
|
0.0005867419685286583
|
|
],
|
|
"error_norm_m": 0.0005992185616084578,
|
|
"predicted_m": [
|
|
0.21915236089022028,
|
|
0.2972176505054608,
|
|
-0.02725389170450164
|
|
],
|
|
"observed_m": [
|
|
0.21908545525827394,
|
|
0.2973192397930707,
|
|
-0.027840633673030298
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00013966716982932725,
|
|
-5.133651643424164e-05,
|
|
6.425629274161432e-06
|
|
],
|
|
"error_norm_m": 0.00014894175022238146,
|
|
"predicted_m": [
|
|
0.044151822896834544,
|
|
0.3391954000789666,
|
|
-0.027279244605084074
|
|
],
|
|
"observed_m": [
|
|
0.04429149006666387,
|
|
0.33924673659540083,
|
|
-0.027285670234358236
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00029820094294547017,
|
|
3.064195246643697e-05,
|
|
1.5812422708715718e-05
|
|
],
|
|
"error_norm_m": 0.0003001878817281638,
|
|
"predicted_m": [
|
|
0.40748285799660017,
|
|
0.2584000723116376,
|
|
-0.02722591260140177
|
|
],
|
|
"observed_m": [
|
|
0.4071846570536547,
|
|
0.25836943035917115,
|
|
-0.027241725024110486
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.4427636602774037e-05,
|
|
0.00011485320267634602,
|
|
3.954158681259909e-05
|
|
],
|
|
"error_norm_m": 0.00012625394019485014,
|
|
"predicted_m": [
|
|
0.5045802114273383,
|
|
-0.31276867583236606,
|
|
-0.027271742261903695
|
|
],
|
|
"observed_m": [
|
|
0.5045457837907356,
|
|
-0.3128835290350424,
|
|
-0.027311283848716294
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.316371883913208e-05,
|
|
-1.1601395179527962e-06,
|
|
8.731630121837364e-05
|
|
],
|
|
"error_norm_m": 0.00010777354851607978,
|
|
"predicted_m": [
|
|
0.36288242612033994,
|
|
0.2919894986356832,
|
|
-0.027229871461687837
|
|
],
|
|
"observed_m": [
|
|
0.3629455898391791,
|
|
0.29199065877520114,
|
|
-0.02731718776290621
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.201957914324762e-05,
|
|
-1.596451489493944e-05,
|
|
-2.6133409074535763e-06
|
|
],
|
|
"error_norm_m": 5.4476893273845157e-05,
|
|
"predicted_m": [
|
|
0.6450885622834971,
|
|
-0.184856869911952,
|
|
-0.027233717784727766
|
|
],
|
|
"observed_m": [
|
|
0.6451405818626403,
|
|
-0.18484090539705705,
|
|
-0.027231104443820313
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-7.241557910009355e-05,
|
|
-0.00026339859453988756,
|
|
-1.92165665611789e-05
|
|
],
|
|
"error_norm_m": 0.00027384687716384536,
|
|
"predicted_m": [
|
|
0.18603971804040959,
|
|
-0.27409277189435877,
|
|
-0.02732201541583787
|
|
],
|
|
"observed_m": [
|
|
0.18611213361950968,
|
|
-0.2738293732998189,
|
|
-0.02730279884927669
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00022768547175078258,
|
|
-0.00013026883538527767,
|
|
0.00011838057161814991
|
|
],
|
|
"error_norm_m": 0.00028779263933543,
|
|
"predicted_m": [
|
|
0.36976858758298725,
|
|
-0.18651041000137034,
|
|
-0.02728100502675252
|
|
],
|
|
"observed_m": [
|
|
0.36999627305473803,
|
|
-0.18638014116598506,
|
|
-0.02739938559837067
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00013770712350635872,
|
|
0.0001046288767443393,
|
|
-3.6735355882337034e-05
|
|
],
|
|
"error_norm_m": 0.00017680480786726256,
|
|
"predicted_m": [
|
|
0.30435081855566815,
|
|
-0.35969125013078573,
|
|
-0.027311130732560078
|
|
],
|
|
"observed_m": [
|
|
0.3044885256791745,
|
|
-0.3597958790075301,
|
|
-0.02727439537667774
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2822092041251416e-05,
|
|
-2.1676624550770462e-05,
|
|
-8.114564552626907e-06
|
|
],
|
|
"error_norm_m": 4.016231985030488e-05,
|
|
"predicted_m": [
|
|
0.6496890535956789,
|
|
-0.22301681053337385,
|
|
-0.027237102470458827
|
|
],
|
|
"observed_m": [
|
|
0.6496562315036376,
|
|
-0.22299513390882308,
|
|
-0.0272289879059062
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"error_m": [
|
|
1.8804454714985153e-05,
|
|
0.00015775921935021198,
|
|
-0.0001059129439842342
|
|
],
|
|
"error_norm_m": 0.0001909427414449781,
|
|
"predicted_m": [
|
|
0.10570860717969238,
|
|
-0.18773380531088832,
|
|
-0.027326318690208778
|
|
],
|
|
"observed_m": [
|
|
0.1056898027249774,
|
|
-0.18789156453023853,
|
|
-0.027220405746224544
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00010321125854917401,
|
|
1.3678578404174857e-05,
|
|
-4.97444155892271e-06
|
|
],
|
|
"error_norm_m": 0.00010423249237779332,
|
|
"predicted_m": [
|
|
0.5248396123564412,
|
|
-0.26626841560844555,
|
|
-0.02726319231751886
|
|
],
|
|
"observed_m": [
|
|
0.524736401097892,
|
|
-0.2662820941868497,
|
|
-0.027258217875959938
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
6.556544124275421e-05,
|
|
0.002413431332648319,
|
|
0.011043829521779264
|
|
],
|
|
"error_norm_m": 0.011304650376310503,
|
|
"predicted_m": [
|
|
0.17000268214000072,
|
|
-0.05074103306054791,
|
|
0.10147246725219744
|
|
],
|
|
"observed_m": [
|
|
0.16993711669875797,
|
|
-0.05315446439319623,
|
|
0.09042863773041818
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.929535465554192e-05,
|
|
-0.0001457274538154557,
|
|
3.5767984756064153e-06
|
|
],
|
|
"error_norm_m": 0.00015736970282299376,
|
|
"predicted_m": [
|
|
0.74999261721861,
|
|
-0.09001853889688859,
|
|
0.00039459972553753216
|
|
],
|
|
"observed_m": [
|
|
0.7500519125732655,
|
|
-0.08987281144307313,
|
|
0.00039102292706192575
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2159119592423124e-05,
|
|
-0.00019912679522503945,
|
|
0.00018029795753697178
|
|
],
|
|
"error_norm_m": 0.00027054212803472635,
|
|
"predicted_m": [
|
|
0.6499915885440848,
|
|
-0.010019825194235625,
|
|
0.00038623565229277174
|
|
],
|
|
"observed_m": [
|
|
0.6499594294244924,
|
|
-0.009820698399010586,
|
|
0.00020593769475579996
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2221247853181367e-06,
|
|
-0.0001796945090693225,
|
|
0.0001316548858605444
|
|
],
|
|
"error_norm_m": 0.0002227857887046433,
|
|
"predicted_m": [
|
|
0.3499926231066211,
|
|
-0.09002368214752782,
|
|
0.0003261602947364877
|
|
],
|
|
"observed_m": [
|
|
0.3499894009818358,
|
|
-0.0898439876384585,
|
|
0.00019450540887594328
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.307185548948044e-05,
|
|
-0.00014468028646748982,
|
|
1.2894139159153278e-05
|
|
],
|
|
"error_norm_m": 0.0001489711104291285,
|
|
"predicted_m": [
|
|
0.01999172658601827,
|
|
-0.0200279257534065,
|
|
0.0002773503257241892
|
|
],
|
|
"observed_m": [
|
|
0.02002479844150775,
|
|
-0.01988324546693901,
|
|
0.0002644561865650359
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0008137031989705334,
|
|
0.0009814813567515582,
|
|
-0.0002987738044046123
|
|
],
|
|
"error_norm_m": 0.0013094595586974668,
|
|
"predicted_m": [
|
|
0.24999159443209581,
|
|
-0.010024968444874847,
|
|
0.0003177962214917273
|
|
],
|
|
"observed_m": [
|
|
0.25080529763106635,
|
|
-0.011006449801626406,
|
|
0.0006165700258963396
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.567277445149953e-05,
|
|
-7.017418795133776e-06,
|
|
-6.546747580824327e-05
|
|
],
|
|
"error_norm_m": 8.013262058204987e-05,
|
|
"predicted_m": [
|
|
0.349991592960093,
|
|
-0.010023682632215043,
|
|
0.0003349060791919884
|
|
],
|
|
"observed_m": [
|
|
0.3499459201856415,
|
|
-0.01001666521341991,
|
|
0.0004003735550002317
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"error_m": [
|
|
5.974482015014271e-05,
|
|
2.4459239938698363e-05,
|
|
-6.549758114156383e-05
|
|
],
|
|
"error_norm_m": 9.196537983691174e-05,
|
|
"predicted_m": [
|
|
0.6499926186906129,
|
|
-0.09001982470954839,
|
|
0.000377489867837271
|
|
],
|
|
"observed_m": [
|
|
0.6499328738704627,
|
|
-0.09004428394948709,
|
|
0.00044298744897883484
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
-0.00022282614611310314,
|
|
0.002246722193655265,
|
|
0.017417345687994315
|
|
],
|
|
"error_norm_m": 0.017563067582912414,
|
|
"predicted_m": [
|
|
0.17000331167088958,
|
|
-0.1406883076016705,
|
|
0.10455269487813232
|
|
],
|
|
"observed_m": [
|
|
0.1702261378170027,
|
|
-0.14293502979532577,
|
|
0.087135349190138
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.00021662559105406487,
|
|
0.05878634032733124,
|
|
0.054133400213389374
|
|
],
|
|
"error_norm_m": 0.07991436513162384,
|
|
"predicted_m": [
|
|
0.26000670677188364,
|
|
-0.10929576774920957,
|
|
0.08235832264171528
|
|
],
|
|
"observed_m": [
|
|
0.2597900811808296,
|
|
-0.1680821080765408,
|
|
0.028224922428325902
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
3.99527836962843e-05,
|
|
0.0002568261950782469,
|
|
0.020151083619718152
|
|
],
|
|
"error_norm_m": 0.020152759785405986,
|
|
"predicted_m": [
|
|
0.1700095568327048,
|
|
-0.17686566949600568,
|
|
0.07077106603397718
|
|
],
|
|
"observed_m": [
|
|
0.16996960404900852,
|
|
-0.17712249569108393,
|
|
0.050619982414259024
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
-0.00021014450705331145,
|
|
-9.561905309318774e-05,
|
|
0.01788268529164045
|
|
],
|
|
"error_norm_m": 0.0178841756018278,
|
|
"predicted_m": [
|
|
0.29500931017497545,
|
|
-0.14188456657529985,
|
|
0.0695945870571278
|
|
],
|
|
"observed_m": [
|
|
0.29521945468202876,
|
|
-0.14178894752220667,
|
|
0.05171190176548735
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
8.059363548024168e-05,
|
|
0.06733460189176577,
|
|
0.0018180936044438142
|
|
],
|
|
"error_norm_m": 0.06735919069890303,
|
|
"predicted_m": [
|
|
0.26001129604651185,
|
|
-0.10981301539053698,
|
|
0.05557479349011059
|
|
],
|
|
"observed_m": [
|
|
0.2599307024110316,
|
|
-0.17714761728230274,
|
|
0.053756699885666774
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
6.433770500080538e-06,
|
|
0.06735728365092153,
|
|
0.0017490374935690625
|
|
],
|
|
"error_norm_m": 0.06737998838214514,
|
|
"predicted_m": [
|
|
0.22251129659856028,
|
|
-0.10981349757028441,
|
|
0.055568377293473
|
|
],
|
|
"observed_m": [
|
|
0.2225048628280602,
|
|
-0.17717078122120594,
|
|
0.053819339799903936
|
|
]
|
|
}
|
|
],
|
|
"stage_idx": 1,
|
|
"num_active_links": 4
|
|
},
|
|
{
|
|
"method": "deterministic_geometric_prefix",
|
|
"active_links": [
|
|
"Board",
|
|
"Base",
|
|
"Arm1",
|
|
"Ellbow",
|
|
"Arm2"
|
|
],
|
|
"active_observations": 52,
|
|
"joint_updates": [
|
|
{
|
|
"pass": 0,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.06002787277336095,
|
|
"new": 0.06881734771319395,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 9,
|
|
"axis_world": [
|
|
0.9999999852789727,
|
|
1.2858126598044313e-05,
|
|
0.00017109857700244006
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.05996038671724187,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.060247689944372976,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.05998446886609659,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"q_i": 0.06023495880467613,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"q_i": 0.059946102268882924,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"q_i": 0.060020273656528754,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"q_i": 0.059801229155424754,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"q_i": 0.07040067969345085,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"q_i": 0.1287603403120708,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": 0.03434075916590995,
|
|
"new": -0.37459627125015116,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 9,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044313e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.37459627125015127,
|
|
"theta_alt_rad": 2.7669963823396415,
|
|
"score_theta": 0.5433963465385219,
|
|
"score_theta_alt": 2.3524368795608765,
|
|
"best_score": 0.5433963465385219,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": -1.1930805102575741,
|
|
"new": 1.2377889945025,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 5,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044313e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.9038036590872933,
|
|
"theta_alt_rad": 1.2377889945025,
|
|
"score_theta": 0.73197931796424,
|
|
"score_theta_alt": 0.13585041904737344,
|
|
"best_score": 0.13585041904737344,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm2",
|
|
"joint_variable": "a",
|
|
"joint_type": "revolute",
|
|
"old": 0.0,
|
|
"new": -1.2726081376713338,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
-0.00012165033281405941,
|
|
-0.6500976395325975,
|
|
0.7598506723517072
|
|
],
|
|
"axis_id": 2,
|
|
"theta_rad": -1.2726081376713338,
|
|
"theta_alt_rad": 1.8689845159184593,
|
|
"score_theta": 0.09060358322278302,
|
|
"score_theta_alt": 0.14073183152637103,
|
|
"best_score": 0.09060358322278302,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
},
|
|
{
|
|
"pass": 1,
|
|
"updates": [
|
|
{
|
|
"link": "Base",
|
|
"joint_variable": "x",
|
|
"joint_type": "linear",
|
|
"old": 0.06881734771319395,
|
|
"new": 0.06288473646290764,
|
|
"info": {
|
|
"reason": "weighted_projection",
|
|
"used_markers": 9,
|
|
"axis_world": [
|
|
0.9999999852789727,
|
|
1.2858126598044313e-05,
|
|
0.00017109857700244006
|
|
],
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"q_i": 0.05996038671724186,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"q_i": 0.06024768994437297,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"q_i": 0.059984468866096596,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"q_i": 0.0602349588047038,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"q_i": 0.05994610226890283,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"q_i": 0.06002027365654033,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"q_i": 0.05980122915544464,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"q_i": 0.04172456926749254,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"q_i": 0.10404294948537313,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm1",
|
|
"joint_variable": "y",
|
|
"joint_type": "revolute",
|
|
"old": -0.37459627125015116,
|
|
"new": -0.015357962435373018,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 9,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044313e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -0.01535796243537291,
|
|
"theta_alt_rad": 3.12623469115442,
|
|
"score_theta": 0.008270631616518271,
|
|
"score_theta_alt": 2.9782955941933564,
|
|
"best_score": 0.008270631616518271,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 198,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Ellbow",
|
|
"joint_variable": "z",
|
|
"joint_type": "revolute",
|
|
"old": 1.2377889945025,
|
|
"new": 1.6434434670117941,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 5,
|
|
"axis_world": [
|
|
-0.9999999852789727,
|
|
-1.2858126598044313e-05,
|
|
-0.00017109857700244006
|
|
],
|
|
"axis_id": 0,
|
|
"theta_rad": -1.4981491865779988,
|
|
"theta_alt_rad": 1.6434434670117941,
|
|
"score_theta": 0.5134930524105574,
|
|
"score_theta_alt": 0.1267189923432553,
|
|
"best_score": 0.1267189923432553,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 245,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
},
|
|
{
|
|
"link": "Arm2",
|
|
"joint_variable": "a",
|
|
"joint_type": "revolute",
|
|
"old": -1.2726081376713338,
|
|
"new": -2.8415003090099202,
|
|
"info": {
|
|
"reason": "2d_alignment+normal_tiebreak",
|
|
"used_markers": 2,
|
|
"axis_world": [
|
|
-0.0001715537719772483,
|
|
0.05714869976811353,
|
|
0.9983656628120368
|
|
],
|
|
"axis_id": 2,
|
|
"theta_rad": -2.8415003090099202,
|
|
"theta_alt_rad": 0.3000923445798729,
|
|
"score_theta": 0.04733055697881561,
|
|
"score_theta_alt": 0.06094177075636662,
|
|
"best_score": 0.04733055697881561,
|
|
"per_marker": [
|
|
{
|
|
"marker_id": 113,
|
|
"weight": 1.0
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"weight": 1.0
|
|
}
|
|
]
|
|
}
|
|
}
|
|
]
|
|
}
|
|
],
|
|
"root_link": "Board",
|
|
"root_pose": {
|
|
"reason": "kabsch",
|
|
"used_markers": [
|
|
210,
|
|
211,
|
|
214,
|
|
208,
|
|
206,
|
|
205,
|
|
217,
|
|
46,
|
|
47,
|
|
48,
|
|
51,
|
|
52,
|
|
53,
|
|
54,
|
|
55,
|
|
56,
|
|
57,
|
|
58,
|
|
59,
|
|
61,
|
|
62,
|
|
63,
|
|
64,
|
|
66,
|
|
68,
|
|
69,
|
|
71,
|
|
72,
|
|
75,
|
|
76,
|
|
79,
|
|
82,
|
|
83,
|
|
84,
|
|
85,
|
|
86,
|
|
92,
|
|
95,
|
|
96,
|
|
97,
|
|
102,
|
|
103,
|
|
105
|
|
]
|
|
},
|
|
"marker_stats": {
|
|
"num_markers_used": 52,
|
|
"mean_error_m": 0.0012183103050109824,
|
|
"rms_error_m": 0.002463677821294953,
|
|
"median_error_m": 0.00023398384590580607,
|
|
"worst_error_m": 0.006655471323650823
|
|
},
|
|
"marker_reports": [
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00012266096678137384,
|
|
0.0002720972312892922,
|
|
-0.0004599460971514008
|
|
],
|
|
"error_norm_m": 0.0005483001261461151,
|
|
"predicted_m": [
|
|
0.5367037958456484,
|
|
0.1854217342809124,
|
|
-0.027211781585151026
|
|
],
|
|
"observed_m": [
|
|
0.536581134878867,
|
|
0.18514963704962312,
|
|
-0.026751835487999625
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00010506887416117383,
|
|
-0.00011211212409811822,
|
|
8.627090275896421e-05
|
|
],
|
|
"error_norm_m": 0.0001762136922890361,
|
|
"predicted_m": [
|
|
0.3442298762859385,
|
|
-0.28656073779176167,
|
|
-0.02729631258109383
|
|
],
|
|
"observed_m": [
|
|
0.3441248074117773,
|
|
-0.28644862566766355,
|
|
-0.027382583483852793
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.608150511411282e-05,
|
|
-9.771944972392088e-05,
|
|
2.26039537217608e-05
|
|
],
|
|
"error_norm_m": 0.00012011159351348196,
|
|
"predicted_m": [
|
|
0.6886903113455818,
|
|
-0.3207363084743911,
|
|
-0.02724111260166812
|
|
],
|
|
"observed_m": [
|
|
0.6887563928506959,
|
|
-0.3206385890246672,
|
|
-0.02726371655538988
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.063231709162788e-05,
|
|
-0.00012661165565933108,
|
|
4.257963147162244e-05
|
|
],
|
|
"error_norm_m": 0.00015602918613073975,
|
|
"predicted_m": [
|
|
0.16779840500084794,
|
|
-0.17210300704450363,
|
|
-0.02731398647192469
|
|
],
|
|
"observed_m": [
|
|
0.16771777268375632,
|
|
-0.1719763953888443,
|
|
-0.02735656610339631
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.860959265065191e-05,
|
|
-0.00024263976409186205,
|
|
1.075645704878836e-05
|
|
],
|
|
"error_norm_m": 0.0002498496364565541,
|
|
"predicted_m": [
|
|
0.09467350335231259,
|
|
0.20863605046253184,
|
|
-0.02728487382520528
|
|
],
|
|
"observed_m": [
|
|
0.09473211294496324,
|
|
0.2088786902266237,
|
|
-0.02729563028225407
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00014997734750449299,
|
|
0.00012786478294601888,
|
|
-0.00014659530542126056
|
|
],
|
|
"error_norm_m": 0.0002456273418287725,
|
|
"predicted_m": [
|
|
0.48624345148933407,
|
|
0.21222108529747408,
|
|
-0.027217485381553982
|
|
],
|
|
"observed_m": [
|
|
0.48639342883683856,
|
|
0.21209322051452806,
|
|
-0.027070890076132722
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-8.516290546001226e-05,
|
|
8.271215205174487e-05,
|
|
-2.5309206973446463e-05
|
|
],
|
|
"error_norm_m": 0.00012138606394906583,
|
|
"predicted_m": [
|
|
0.3422704435392217,
|
|
-0.33061076272680884,
|
|
-0.027301463581870564
|
|
],
|
|
"observed_m": [
|
|
0.3423556064446817,
|
|
-0.3306934748788606,
|
|
-0.027276154374897117
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.7586947554402172e-06,
|
|
-0.0001081669409384034,
|
|
0.00014232213706751387
|
|
],
|
|
"error_norm_m": 0.0001788010223620123,
|
|
"predicted_m": [
|
|
0.28371956864776215,
|
|
-0.2626015159821659,
|
|
-0.027304046393543835
|
|
],
|
|
"observed_m": [
|
|
0.2837158099530067,
|
|
-0.2624933490412275,
|
|
-0.02744636853061135
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00014670678802053416,
|
|
0.00014325441100929148,
|
|
-0.00013413290070153627
|
|
],
|
|
"error_norm_m": 0.0002450231478361364,
|
|
"predicted_m": [
|
|
0.49867401234991704,
|
|
0.16865124538796045,
|
|
-0.02722012179910092
|
|
],
|
|
"observed_m": [
|
|
0.4985273055618965,
|
|
0.16850799097695116,
|
|
-0.027085988898399384
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00019859905475438921,
|
|
7.491991631358719e-06,
|
|
-2.389853633888786e-05
|
|
],
|
|
"error_norm_m": 0.00020017206230411473,
|
|
"predicted_m": [
|
|
0.602860870562115,
|
|
-0.36406741182487834,
|
|
-0.02726053492803797
|
|
],
|
|
"observed_m": [
|
|
0.6030594696168694,
|
|
-0.3640749038165097,
|
|
-0.02723663639169908
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.242795048694906e-05,
|
|
0.00011770961580406802,
|
|
-0.00019255147423278413
|
|
],
|
|
"error_norm_m": 0.000240262337671635,
|
|
"predicted_m": [
|
|
0.050088999454101016,
|
|
-0.2181345202957086,
|
|
-0.027339158591154752
|
|
],
|
|
"observed_m": [
|
|
0.05000657150361407,
|
|
-0.21825222991151266,
|
|
-0.02714660711692197
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.832706211492347e-05,
|
|
-6.411948621365404e-05,
|
|
9.036830084380512e-05
|
|
],
|
|
"error_norm_m": 0.00014170182853990624,
|
|
"predicted_m": [
|
|
0.6262097718246669,
|
|
-0.27876711210441996,
|
|
-0.027247214583589276
|
|
],
|
|
"observed_m": [
|
|
0.6261214447625519,
|
|
-0.2787029926182063,
|
|
-0.02733758288443308
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.308269811662032e-05,
|
|
-8.199454664647998e-05,
|
|
0.00020670040729176692
|
|
],
|
|
"error_norm_m": 0.00022481687874583516,
|
|
"predicted_m": [
|
|
-0.02242813247064687,
|
|
0.33580454400543625,
|
|
-0.02729100695095721
|
|
],
|
|
"observed_m": [
|
|
-0.02246121516876349,
|
|
0.3358865385520827,
|
|
-0.027497707358248975
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"error_m": [
|
|
8.630348753935202e-05,
|
|
-7.818520068877954e-05,
|
|
0.00010450501679128144
|
|
],
|
|
"error_norm_m": 0.00015646889819624166,
|
|
"predicted_m": [
|
|
0.4046984404017047,
|
|
-0.1751199609360156,
|
|
-0.027273783372395968
|
|
],
|
|
"observed_m": [
|
|
0.40461213691416537,
|
|
-0.1750417757353268,
|
|
-0.02737828838918725
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"error_m": [
|
|
6.3540586809685e-05,
|
|
5.574886194659179e-05,
|
|
0.00019572703955176088
|
|
],
|
|
"error_norm_m": 0.0002132004122701357,
|
|
"predicted_m": [
|
|
0.7773992210461196,
|
|
-0.23616516834235557,
|
|
-0.0272166890595097
|
|
],
|
|
"observed_m": [
|
|
0.7773356804593099,
|
|
-0.23622091720430216,
|
|
-0.027412416099061462
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00013137489217825843,
|
|
-0.0002610234014372437,
|
|
1.985082723181611e-05
|
|
],
|
|
"error_norm_m": 0.00029289355358987486,
|
|
"predicted_m": [
|
|
-0.021271384255206034,
|
|
-0.18825543803265327,
|
|
-0.027348101635115526
|
|
],
|
|
"observed_m": [
|
|
-0.021402759147384293,
|
|
-0.18799441463121602,
|
|
-0.027367952462347342
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-1.5166163730928606e-05,
|
|
0.0001172489336461191,
|
|
-0.00025563338518324805
|
|
],
|
|
"error_norm_m": 0.00028164827814796284,
|
|
"predicted_m": [
|
|
0.20975086578970328,
|
|
-0.36325246648799325,
|
|
-0.027327705845352792
|
|
],
|
|
"observed_m": [
|
|
0.2097660319534342,
|
|
-0.36336971542163937,
|
|
-0.027072072460169544
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00014611127730057571,
|
|
-0.00023454957078758443,
|
|
0.0003142080276700432
|
|
],
|
|
"error_norm_m": 0.0004184360060551009,
|
|
"predicted_m": [
|
|
0.5737239858778207,
|
|
0.1706222103784262,
|
|
-0.027207065485954657
|
|
],
|
|
"observed_m": [
|
|
0.5738700971551213,
|
|
0.1708567599492138,
|
|
-0.0275212735136247
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00023588840247147635,
|
|
5.317540130017617e-05,
|
|
-7.059555447262722e-05
|
|
],
|
|
"error_norm_m": 0.00025190215170831245,
|
|
"predicted_m": [
|
|
0.00760981260748183,
|
|
-0.2812350661266293,
|
|
-0.0273533250961951
|
|
],
|
|
"observed_m": [
|
|
0.007373924205010354,
|
|
-0.2812882415279295,
|
|
-0.02728272954172247
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00015575098299880352,
|
|
-7.517608562868094e-05,
|
|
5.4660915238178426e-05
|
|
],
|
|
"error_norm_m": 0.00018137703330416363,
|
|
"predicted_m": [
|
|
0.7497498377382888,
|
|
-0.2840255235795919,
|
|
-0.027226652100714323
|
|
],
|
|
"observed_m": [
|
|
0.7499055887212877,
|
|
-0.2839503474939632,
|
|
-0.0272813130159525
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"error_m": [
|
|
7.235639409453043e-05,
|
|
-0.00011622867082114463,
|
|
-0.0002093505656265808
|
|
],
|
|
"error_norm_m": 0.00025014438033939984,
|
|
"predicted_m": [
|
|
0.4409836829083848,
|
|
0.19430050344723418,
|
|
-0.027227188358867154
|
|
],
|
|
"observed_m": [
|
|
0.44091132651429027,
|
|
0.19441673211805532,
|
|
-0.027017837793240573
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.635572041458008e-05,
|
|
9.133511818748552e-06,
|
|
-0.00011223106787883186
|
|
],
|
|
"error_norm_m": 0.00012177063049241759,
|
|
"predicted_m": [
|
|
-0.025706313569901523,
|
|
0.1945545026865569,
|
|
-0.027307009929969022
|
|
],
|
|
"observed_m": [
|
|
-0.025752669290316103,
|
|
0.19454536917473816,
|
|
-0.02719477886209019
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00047710371717957223,
|
|
0.0005180138227024178,
|
|
-0.00045171247880214024
|
|
],
|
|
"error_norm_m": 0.0008366662661795987,
|
|
"predicted_m": [
|
|
0.6852040336838654,
|
|
0.16678364382564437,
|
|
-0.02718841121424427
|
|
],
|
|
"observed_m": [
|
|
0.6847269299666858,
|
|
0.16626563000294195,
|
|
-0.02673669873544213
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.4284727998823428e-06,
|
|
-7.178526943751873e-05,
|
|
0.00021606676970338523
|
|
],
|
|
"error_norm_m": 0.00022770535413997714,
|
|
"predicted_m": [
|
|
0.31229823586129807,
|
|
-0.15913114912379014,
|
|
-0.027287844817242966
|
|
],
|
|
"observed_m": [
|
|
0.3122948073884982,
|
|
-0.15905936385435263,
|
|
-0.02750391158694635
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"link": "Board",
|
|
"error_m": [
|
|
6.690563194633459e-05,
|
|
-0.00010158928760989339,
|
|
0.0005867419685286583
|
|
],
|
|
"error_norm_m": 0.0005992185616084578,
|
|
"predicted_m": [
|
|
0.21915236089022028,
|
|
0.2972176505054608,
|
|
-0.02725389170450164
|
|
],
|
|
"observed_m": [
|
|
0.21908545525827394,
|
|
0.2973192397930707,
|
|
-0.027840633673030298
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00013966716982932725,
|
|
-5.133651643424164e-05,
|
|
6.425629274161432e-06
|
|
],
|
|
"error_norm_m": 0.00014894175022238146,
|
|
"predicted_m": [
|
|
0.044151822896834544,
|
|
0.3391954000789666,
|
|
-0.027279244605084074
|
|
],
|
|
"observed_m": [
|
|
0.04429149006666387,
|
|
0.33924673659540083,
|
|
-0.027285670234358236
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00029820094294547017,
|
|
3.064195246643697e-05,
|
|
1.5812422708715718e-05
|
|
],
|
|
"error_norm_m": 0.0003001878817281638,
|
|
"predicted_m": [
|
|
0.40748285799660017,
|
|
0.2584000723116376,
|
|
-0.02722591260140177
|
|
],
|
|
"observed_m": [
|
|
0.4071846570536547,
|
|
0.25836943035917115,
|
|
-0.027241725024110486
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.4427636602774037e-05,
|
|
0.00011485320267634602,
|
|
3.954158681259909e-05
|
|
],
|
|
"error_norm_m": 0.00012625394019485014,
|
|
"predicted_m": [
|
|
0.5045802114273383,
|
|
-0.31276867583236606,
|
|
-0.027271742261903695
|
|
],
|
|
"observed_m": [
|
|
0.5045457837907356,
|
|
-0.3128835290350424,
|
|
-0.027311283848716294
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-6.316371883913208e-05,
|
|
-1.1601395179527962e-06,
|
|
8.731630121837364e-05
|
|
],
|
|
"error_norm_m": 0.00010777354851607978,
|
|
"predicted_m": [
|
|
0.36288242612033994,
|
|
0.2919894986356832,
|
|
-0.027229871461687837
|
|
],
|
|
"observed_m": [
|
|
0.3629455898391791,
|
|
0.29199065877520114,
|
|
-0.02731718776290621
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.201957914324762e-05,
|
|
-1.596451489493944e-05,
|
|
-2.6133409074535763e-06
|
|
],
|
|
"error_norm_m": 5.4476893273845157e-05,
|
|
"predicted_m": [
|
|
0.6450885622834971,
|
|
-0.184856869911952,
|
|
-0.027233717784727766
|
|
],
|
|
"observed_m": [
|
|
0.6451405818626403,
|
|
-0.18484090539705705,
|
|
-0.027231104443820313
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-7.241557910009355e-05,
|
|
-0.00026339859453988756,
|
|
-1.92165665611789e-05
|
|
],
|
|
"error_norm_m": 0.00027384687716384536,
|
|
"predicted_m": [
|
|
0.18603971804040959,
|
|
-0.27409277189435877,
|
|
-0.02732201541583787
|
|
],
|
|
"observed_m": [
|
|
0.18611213361950968,
|
|
-0.2738293732998189,
|
|
-0.02730279884927669
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00022768547175078258,
|
|
-0.00013026883538527767,
|
|
0.00011838057161814991
|
|
],
|
|
"error_norm_m": 0.00028779263933543,
|
|
"predicted_m": [
|
|
0.36976858758298725,
|
|
-0.18651041000137034,
|
|
-0.02728100502675252
|
|
],
|
|
"observed_m": [
|
|
0.36999627305473803,
|
|
-0.18638014116598506,
|
|
-0.02739938559837067
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.00013770712350635872,
|
|
0.0001046288767443393,
|
|
-3.6735355882337034e-05
|
|
],
|
|
"error_norm_m": 0.00017680480786726256,
|
|
"predicted_m": [
|
|
0.30435081855566815,
|
|
-0.35969125013078573,
|
|
-0.027311130732560078
|
|
],
|
|
"observed_m": [
|
|
0.3044885256791745,
|
|
-0.3597958790075301,
|
|
-0.02727439537667774
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2822092041251416e-05,
|
|
-2.1676624550770462e-05,
|
|
-8.114564552626907e-06
|
|
],
|
|
"error_norm_m": 4.016231985030488e-05,
|
|
"predicted_m": [
|
|
0.6496890535956789,
|
|
-0.22301681053337385,
|
|
-0.027237102470458827
|
|
],
|
|
"observed_m": [
|
|
0.6496562315036376,
|
|
-0.22299513390882308,
|
|
-0.0272289879059062
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"error_m": [
|
|
1.8804454714985153e-05,
|
|
0.00015775921935021198,
|
|
-0.0001059129439842342
|
|
],
|
|
"error_norm_m": 0.0001909427414449781,
|
|
"predicted_m": [
|
|
0.10570860717969238,
|
|
-0.18773380531088832,
|
|
-0.027326318690208778
|
|
],
|
|
"observed_m": [
|
|
0.1056898027249774,
|
|
-0.18789156453023853,
|
|
-0.027220405746224544
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"error_m": [
|
|
0.00010321125854917401,
|
|
1.3678578404174857e-05,
|
|
-4.97444155892271e-06
|
|
],
|
|
"error_norm_m": 0.00010423249237779332,
|
|
"predicted_m": [
|
|
0.5248396123564412,
|
|
-0.26626841560844555,
|
|
-0.02726319231751886
|
|
],
|
|
"observed_m": [
|
|
0.524736401097892,
|
|
-0.2662820941868497,
|
|
-0.027258217875959938
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"link": "Arm2",
|
|
"error_m": [
|
|
0.001351376771212942,
|
|
0.0004834739987309711,
|
|
0.005415403092741272
|
|
],
|
|
"error_norm_m": 0.0056023706537585115,
|
|
"predicted_m": [
|
|
0.27170541888867983,
|
|
-0.16021279541240485,
|
|
0.24050814097987697
|
|
],
|
|
"observed_m": [
|
|
0.2703540421174669,
|
|
-0.16069626941113582,
|
|
0.2350927378871357
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"link": "Arm2",
|
|
"error_m": [
|
|
0.0025593665204272087,
|
|
-0.00013121876677509026,
|
|
0.004986555958724326
|
|
],
|
|
"error_norm_m": 0.005606542221380905,
|
|
"predicted_m": [
|
|
0.29626652078867943,
|
|
-0.11915615455615537,
|
|
0.27522275627429377
|
|
],
|
|
"observed_m": [
|
|
0.2937071542682522,
|
|
-0.11902493578938028,
|
|
0.27023620031556944
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.0029238099597917733,
|
|
0.0005996728090318648,
|
|
0.0031100090376492417
|
|
],
|
|
"error_norm_m": 0.004310502102206853,
|
|
"predicted_m": [
|
|
0.17286092665854974,
|
|
-0.052554791584164366,
|
|
0.09353864676806742
|
|
],
|
|
"observed_m": [
|
|
0.16993711669875797,
|
|
-0.05315446439319623,
|
|
0.09042863773041818
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-5.929535465554192e-05,
|
|
-0.0001457274538154557,
|
|
3.5767984756064153e-06
|
|
],
|
|
"error_norm_m": 0.00015736970282299376,
|
|
"predicted_m": [
|
|
0.74999261721861,
|
|
-0.09001853889688859,
|
|
0.00039459972553753216
|
|
],
|
|
"observed_m": [
|
|
0.7500519125732655,
|
|
-0.08987281144307313,
|
|
0.00039102292706192575
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2159119592423124e-05,
|
|
-0.00019912679522503945,
|
|
0.00018029795753697178
|
|
],
|
|
"error_norm_m": 0.00027054212803472635,
|
|
"predicted_m": [
|
|
0.6499915885440848,
|
|
-0.010019825194235625,
|
|
0.00038623565229277174
|
|
],
|
|
"observed_m": [
|
|
0.6499594294244924,
|
|
-0.009820698399010586,
|
|
0.00020593769475579996
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"error_m": [
|
|
3.2221247853181367e-06,
|
|
-0.0001796945090693225,
|
|
0.0001316548858605444
|
|
],
|
|
"error_norm_m": 0.0002227857887046433,
|
|
"predicted_m": [
|
|
0.3499926231066211,
|
|
-0.09002368214752782,
|
|
0.0003261602947364877
|
|
],
|
|
"observed_m": [
|
|
0.3499894009818358,
|
|
-0.0898439876384585,
|
|
0.00019450540887594328
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-3.307185548948044e-05,
|
|
-0.00014468028646748982,
|
|
1.2894139159153278e-05
|
|
],
|
|
"error_norm_m": 0.0001489711104291285,
|
|
"predicted_m": [
|
|
0.01999172658601827,
|
|
-0.0200279257534065,
|
|
0.0002773503257241892
|
|
],
|
|
"observed_m": [
|
|
0.02002479844150775,
|
|
-0.01988324546693901,
|
|
0.0002644561865650359
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"error_m": [
|
|
-0.0008137031989705334,
|
|
0.0009814813567515582,
|
|
-0.0002987738044046123
|
|
],
|
|
"error_norm_m": 0.0013094595586974668,
|
|
"predicted_m": [
|
|
0.24999159443209581,
|
|
-0.010024968444874847,
|
|
0.0003177962214917273
|
|
],
|
|
"observed_m": [
|
|
0.25080529763106635,
|
|
-0.011006449801626406,
|
|
0.0006165700258963396
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"error_m": [
|
|
4.567277445149953e-05,
|
|
-7.017418795133776e-06,
|
|
-6.546747580824327e-05
|
|
],
|
|
"error_norm_m": 8.013262058204987e-05,
|
|
"predicted_m": [
|
|
0.349991592960093,
|
|
-0.010023682632215043,
|
|
0.0003349060791919884
|
|
],
|
|
"observed_m": [
|
|
0.3499459201856415,
|
|
-0.01001666521341991,
|
|
0.0004003735550002317
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"error_m": [
|
|
5.974482015014271e-05,
|
|
2.4459239938698363e-05,
|
|
-6.549758114156383e-05
|
|
],
|
|
"error_norm_m": 9.196537983691174e-05,
|
|
"predicted_m": [
|
|
0.6499926186906129,
|
|
-0.09001982470954839,
|
|
0.000377489867837271
|
|
],
|
|
"observed_m": [
|
|
0.6499328738704627,
|
|
-0.09004428394948709,
|
|
0.00044298744897883484
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.002636184103774475,
|
|
0.00039100366741531833,
|
|
0.005011297475960616
|
|
],
|
|
"error_norm_m": 0.005675865827298484,
|
|
"predicted_m": [
|
|
0.17286232192077716,
|
|
-0.14254402612791045,
|
|
0.09214664666609862
|
|
],
|
|
"observed_m": [
|
|
0.1702261378170027,
|
|
-0.14293502979532577,
|
|
0.087135349190138
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.003082541855664145,
|
|
-4.340819872855617e-05,
|
|
0.005646190382623713
|
|
],
|
|
"error_norm_m": 0.006432994201806085,
|
|
"predicted_m": [
|
|
0.2628726230364937,
|
|
-0.16812551627526937,
|
|
0.033871112810949615
|
|
],
|
|
"observed_m": [
|
|
0.2597900811808296,
|
|
-0.1680821080765408,
|
|
0.028224922428325902
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"error_m": [
|
|
0.00289924124709251,
|
|
0.0001239895873522412,
|
|
0.005989517953335154
|
|
],
|
|
"error_norm_m": 0.006655471323650823,
|
|
"predicted_m": [
|
|
0.17286884529610103,
|
|
-0.1769985061037317,
|
|
0.05660950036759418
|
|
],
|
|
"observed_m": [
|
|
0.16996960404900852,
|
|
-0.17712249569108393,
|
|
0.050619982414259024
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.0026488461718232603,
|
|
-0.00021213788202117945,
|
|
0.005460319297219976
|
|
],
|
|
"error_norm_m": 0.00607260037797351,
|
|
"predicted_m": [
|
|
0.297868300853852,
|
|
-0.14200108540422784,
|
|
0.05717222106270733
|
|
],
|
|
"observed_m": [
|
|
0.29521945468202876,
|
|
-0.14178894752220667,
|
|
0.05171190176548735
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.0029377060248771403,
|
|
0.00020328313224024508,
|
|
0.0054097372664915
|
|
],
|
|
"error_norm_m": 0.006159277393730516,
|
|
"predicted_m": [
|
|
0.26286840843590875,
|
|
-0.1769443341500625,
|
|
0.059166437152158274
|
|
],
|
|
"observed_m": [
|
|
0.2599307024110316,
|
|
-0.17714761728230274,
|
|
0.053756699885666774
|
|
]
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"link": "Ellbow",
|
|
"error_m": [
|
|
0.002863546159930036,
|
|
0.00022596489139600773,
|
|
0.0053406811556167486
|
|
],
|
|
"error_norm_m": 0.006064143133877491,
|
|
"predicted_m": [
|
|
0.22536840898799024,
|
|
-0.17694481632980993,
|
|
0.059160020955520684
|
|
],
|
|
"observed_m": [
|
|
0.2225048628280602,
|
|
-0.17717078122120594,
|
|
0.053819339799903936
|
|
]
|
|
}
|
|
],
|
|
"stage_idx": 2,
|
|
"num_active_links": 5
|
|
}
|
|
],
|
|
"markers": [
|
|
{
|
|
"marker_id": 41,
|
|
"link": "FingerA",
|
|
"observed_position_m": [
|
|
0.2450906365560628,
|
|
-0.11200424673073366,
|
|
0.3443660856898705
|
|
],
|
|
"predicted_position_m": [
|
|
0.26519160826542415,
|
|
-0.1518182836727938,
|
|
0.34539871464457345
|
|
],
|
|
"error_m": [
|
|
0.020100971709361343,
|
|
-0.039814036942060135,
|
|
0.0010326289547029632
|
|
],
|
|
"error_norm_m": 0.04461247498001389
|
|
},
|
|
{
|
|
"marker_id": 42,
|
|
"link": "FingerA",
|
|
"observed_position_m": [
|
|
0.21402345867073672,
|
|
-0.07646926696079051,
|
|
0.3403254118305721
|
|
],
|
|
"predicted_position_m": [
|
|
0.2457125282346215,
|
|
-0.12871117086657172,
|
|
0.38193454334596527
|
|
],
|
|
"error_m": [
|
|
0.031689069563884786,
|
|
-0.052241903905781206,
|
|
0.041609131515393194
|
|
],
|
|
"error_norm_m": 0.07392383566205757
|
|
},
|
|
{
|
|
"marker_id": 43,
|
|
"link": "FingerB",
|
|
"observed_position_m": [
|
|
0.26960234813566375,
|
|
-0.0763542859308208,
|
|
0.3399579541302555
|
|
],
|
|
"predicted_position_m": [
|
|
0.2831551776603174,
|
|
-0.13592941007695497,
|
|
0.3663279733615882
|
|
],
|
|
"error_m": [
|
|
0.013552829524653642,
|
|
-0.05957512414613417,
|
|
0.026370019231332698
|
|
],
|
|
"error_norm_m": 0.06654511642045927
|
|
},
|
|
{
|
|
"marker_id": 46,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.536581134878867,
|
|
0.18514963704962312,
|
|
-0.026751835487999625
|
|
],
|
|
"predicted_position_m": [
|
|
0.5367037958456484,
|
|
0.1854217342809124,
|
|
-0.027211781585151026
|
|
],
|
|
"error_m": [
|
|
0.00012266096678137384,
|
|
0.0002720972312892922,
|
|
-0.0004599460971514008
|
|
],
|
|
"error_norm_m": 0.0005483001261461151
|
|
},
|
|
{
|
|
"marker_id": 47,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3441248074117773,
|
|
-0.28644862566766355,
|
|
-0.027382583483852793
|
|
],
|
|
"predicted_position_m": [
|
|
0.3442298762859385,
|
|
-0.28656073779176167,
|
|
-0.02729631258109383
|
|
],
|
|
"error_m": [
|
|
0.00010506887416117383,
|
|
-0.00011211212409811822,
|
|
8.627090275896421e-05
|
|
],
|
|
"error_norm_m": 0.0001762136922890361
|
|
},
|
|
{
|
|
"marker_id": 48,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6887563928506959,
|
|
-0.3206385890246672,
|
|
-0.02726371655538988
|
|
],
|
|
"predicted_position_m": [
|
|
0.6886903113455818,
|
|
-0.3207363084743911,
|
|
-0.02724111260166812
|
|
],
|
|
"error_m": [
|
|
-6.608150511411282e-05,
|
|
-9.771944972392088e-05,
|
|
2.26039537217608e-05
|
|
],
|
|
"error_norm_m": 0.00012011159351348196
|
|
},
|
|
{
|
|
"marker_id": 51,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.16771777268375632,
|
|
-0.1719763953888443,
|
|
-0.02735656610339631
|
|
],
|
|
"predicted_position_m": [
|
|
0.16779840500084794,
|
|
-0.17210300704450363,
|
|
-0.02731398647192469
|
|
],
|
|
"error_m": [
|
|
8.063231709162788e-05,
|
|
-0.00012661165565933108,
|
|
4.257963147162244e-05
|
|
],
|
|
"error_norm_m": 0.00015602918613073975
|
|
},
|
|
{
|
|
"marker_id": 52,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.09473211294496324,
|
|
0.2088786902266237,
|
|
-0.02729563028225407
|
|
],
|
|
"predicted_position_m": [
|
|
0.09467350335231259,
|
|
0.20863605046253184,
|
|
-0.02728487382520528
|
|
],
|
|
"error_m": [
|
|
-5.860959265065191e-05,
|
|
-0.00024263976409186205,
|
|
1.075645704878836e-05
|
|
],
|
|
"error_norm_m": 0.0002498496364565541
|
|
},
|
|
{
|
|
"marker_id": 53,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.48639342883683856,
|
|
0.21209322051452806,
|
|
-0.027070890076132722
|
|
],
|
|
"predicted_position_m": [
|
|
0.48624345148933407,
|
|
0.21222108529747408,
|
|
-0.027217485381553982
|
|
],
|
|
"error_m": [
|
|
-0.00014997734750449299,
|
|
0.00012786478294601888,
|
|
-0.00014659530542126056
|
|
],
|
|
"error_norm_m": 0.0002456273418287725
|
|
},
|
|
{
|
|
"marker_id": 54,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3423556064446817,
|
|
-0.3306934748788606,
|
|
-0.027276154374897117
|
|
],
|
|
"predicted_position_m": [
|
|
0.3422704435392217,
|
|
-0.33061076272680884,
|
|
-0.027301463581870564
|
|
],
|
|
"error_m": [
|
|
-8.516290546001226e-05,
|
|
8.271215205174487e-05,
|
|
-2.5309206973446463e-05
|
|
],
|
|
"error_norm_m": 0.00012138606394906583
|
|
},
|
|
{
|
|
"marker_id": 55,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.2837158099530067,
|
|
-0.2624933490412275,
|
|
-0.02744636853061135
|
|
],
|
|
"predicted_position_m": [
|
|
0.28371956864776215,
|
|
-0.2626015159821659,
|
|
-0.027304046393543835
|
|
],
|
|
"error_m": [
|
|
3.7586947554402172e-06,
|
|
-0.0001081669409384034,
|
|
0.00014232213706751387
|
|
],
|
|
"error_norm_m": 0.0001788010223620123
|
|
},
|
|
{
|
|
"marker_id": 56,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.4985273055618965,
|
|
0.16850799097695116,
|
|
-0.027085988898399384
|
|
],
|
|
"predicted_position_m": [
|
|
0.49867401234991704,
|
|
0.16865124538796045,
|
|
-0.02722012179910092
|
|
],
|
|
"error_m": [
|
|
0.00014670678802053416,
|
|
0.00014325441100929148,
|
|
-0.00013413290070153627
|
|
],
|
|
"error_norm_m": 0.0002450231478361364
|
|
},
|
|
{
|
|
"marker_id": 57,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6030594696168694,
|
|
-0.3640749038165097,
|
|
-0.02723663639169908
|
|
],
|
|
"predicted_position_m": [
|
|
0.602860870562115,
|
|
-0.36406741182487834,
|
|
-0.02726053492803797
|
|
],
|
|
"error_m": [
|
|
-0.00019859905475438921,
|
|
7.491991631358719e-06,
|
|
-2.389853633888786e-05
|
|
],
|
|
"error_norm_m": 0.00020017206230411473
|
|
},
|
|
{
|
|
"marker_id": 58,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.05000657150361407,
|
|
-0.21825222991151266,
|
|
-0.02714660711692197
|
|
],
|
|
"predicted_position_m": [
|
|
0.050088999454101016,
|
|
-0.2181345202957086,
|
|
-0.027339158591154752
|
|
],
|
|
"error_m": [
|
|
8.242795048694906e-05,
|
|
0.00011770961580406802,
|
|
-0.00019255147423278413
|
|
],
|
|
"error_norm_m": 0.000240262337671635
|
|
},
|
|
{
|
|
"marker_id": 59,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6261214447625519,
|
|
-0.2787029926182063,
|
|
-0.02733758288443308
|
|
],
|
|
"predicted_position_m": [
|
|
0.6262097718246669,
|
|
-0.27876711210441996,
|
|
-0.027247214583589276
|
|
],
|
|
"error_m": [
|
|
8.832706211492347e-05,
|
|
-6.411948621365404e-05,
|
|
9.036830084380512e-05
|
|
],
|
|
"error_norm_m": 0.00014170182853990624
|
|
},
|
|
{
|
|
"marker_id": 61,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
-0.02246121516876349,
|
|
0.3358865385520827,
|
|
-0.027497707358248975
|
|
],
|
|
"predicted_position_m": [
|
|
-0.02242813247064687,
|
|
0.33580454400543625,
|
|
-0.02729100695095721
|
|
],
|
|
"error_m": [
|
|
3.308269811662032e-05,
|
|
-8.199454664647998e-05,
|
|
0.00020670040729176692
|
|
],
|
|
"error_norm_m": 0.00022481687874583516
|
|
},
|
|
{
|
|
"marker_id": 62,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.40461213691416537,
|
|
-0.1750417757353268,
|
|
-0.02737828838918725
|
|
],
|
|
"predicted_position_m": [
|
|
0.4046984404017047,
|
|
-0.1751199609360156,
|
|
-0.027273783372395968
|
|
],
|
|
"error_m": [
|
|
8.630348753935202e-05,
|
|
-7.818520068877954e-05,
|
|
0.00010450501679128144
|
|
],
|
|
"error_norm_m": 0.00015646889819624166
|
|
},
|
|
{
|
|
"marker_id": 63,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.7773356804593099,
|
|
-0.23622091720430216,
|
|
-0.027412416099061462
|
|
],
|
|
"predicted_position_m": [
|
|
0.7773992210461196,
|
|
-0.23616516834235557,
|
|
-0.0272166890595097
|
|
],
|
|
"error_m": [
|
|
6.3540586809685e-05,
|
|
5.574886194659179e-05,
|
|
0.00019572703955176088
|
|
],
|
|
"error_norm_m": 0.0002132004122701357
|
|
},
|
|
{
|
|
"marker_id": 64,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
-0.021402759147384293,
|
|
-0.18799441463121602,
|
|
-0.027367952462347342
|
|
],
|
|
"predicted_position_m": [
|
|
-0.021271384255206034,
|
|
-0.18825543803265327,
|
|
-0.027348101635115526
|
|
],
|
|
"error_m": [
|
|
0.00013137489217825843,
|
|
-0.0002610234014372437,
|
|
1.985082723181611e-05
|
|
],
|
|
"error_norm_m": 0.00029289355358987486
|
|
},
|
|
{
|
|
"marker_id": 66,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.2097660319534342,
|
|
-0.36336971542163937,
|
|
-0.027072072460169544
|
|
],
|
|
"predicted_position_m": [
|
|
0.20975086578970328,
|
|
-0.36325246648799325,
|
|
-0.027327705845352792
|
|
],
|
|
"error_m": [
|
|
-1.5166163730928606e-05,
|
|
0.0001172489336461191,
|
|
-0.00025563338518324805
|
|
],
|
|
"error_norm_m": 0.00028164827814796284
|
|
},
|
|
{
|
|
"marker_id": 68,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5738700971551213,
|
|
0.1708567599492138,
|
|
-0.0275212735136247
|
|
],
|
|
"predicted_position_m": [
|
|
0.5737239858778207,
|
|
0.1706222103784262,
|
|
-0.027207065485954657
|
|
],
|
|
"error_m": [
|
|
-0.00014611127730057571,
|
|
-0.00023454957078758443,
|
|
0.0003142080276700432
|
|
],
|
|
"error_norm_m": 0.0004184360060551009
|
|
},
|
|
{
|
|
"marker_id": 69,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.007373924205010354,
|
|
-0.2812882415279295,
|
|
-0.02728272954172247
|
|
],
|
|
"predicted_position_m": [
|
|
0.00760981260748183,
|
|
-0.2812350661266293,
|
|
-0.0273533250961951
|
|
],
|
|
"error_m": [
|
|
0.00023588840247147635,
|
|
5.317540130017617e-05,
|
|
-7.059555447262722e-05
|
|
],
|
|
"error_norm_m": 0.00025190215170831245
|
|
},
|
|
{
|
|
"marker_id": 71,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.7499055887212877,
|
|
-0.2839503474939632,
|
|
-0.0272813130159525
|
|
],
|
|
"predicted_position_m": [
|
|
0.7497498377382888,
|
|
-0.2840255235795919,
|
|
-0.027226652100714323
|
|
],
|
|
"error_m": [
|
|
-0.00015575098299880352,
|
|
-7.517608562868094e-05,
|
|
5.4660915238178426e-05
|
|
],
|
|
"error_norm_m": 0.00018137703330416363
|
|
},
|
|
{
|
|
"marker_id": 72,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.44091132651429027,
|
|
0.19441673211805532,
|
|
-0.027017837793240573
|
|
],
|
|
"predicted_position_m": [
|
|
0.4409836829083848,
|
|
0.19430050344723418,
|
|
-0.027227188358867154
|
|
],
|
|
"error_m": [
|
|
7.235639409453043e-05,
|
|
-0.00011622867082114463,
|
|
-0.0002093505656265808
|
|
],
|
|
"error_norm_m": 0.00025014438033939984
|
|
},
|
|
{
|
|
"marker_id": 75,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
-0.025752669290316103,
|
|
0.19454536917473816,
|
|
-0.02719477886209019
|
|
],
|
|
"predicted_position_m": [
|
|
-0.025706313569901523,
|
|
0.1945545026865569,
|
|
-0.027307009929969022
|
|
],
|
|
"error_m": [
|
|
4.635572041458008e-05,
|
|
9.133511818748552e-06,
|
|
-0.00011223106787883186
|
|
],
|
|
"error_norm_m": 0.00012177063049241759
|
|
},
|
|
{
|
|
"marker_id": 76,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6847269299666858,
|
|
0.16626563000294195,
|
|
-0.02673669873544213
|
|
],
|
|
"predicted_position_m": [
|
|
0.6852040336838654,
|
|
0.16678364382564437,
|
|
-0.02718841121424427
|
|
],
|
|
"error_m": [
|
|
0.00047710371717957223,
|
|
0.0005180138227024178,
|
|
-0.00045171247880214024
|
|
],
|
|
"error_norm_m": 0.0008366662661795987
|
|
},
|
|
{
|
|
"marker_id": 79,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3122948073884982,
|
|
-0.15905936385435263,
|
|
-0.02750391158694635
|
|
],
|
|
"predicted_position_m": [
|
|
0.31229823586129807,
|
|
-0.15913114912379014,
|
|
-0.027287844817242966
|
|
],
|
|
"error_m": [
|
|
3.4284727998823428e-06,
|
|
-7.178526943751873e-05,
|
|
0.00021606676970338523
|
|
],
|
|
"error_norm_m": 0.00022770535413997714
|
|
},
|
|
{
|
|
"marker_id": 82,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.21908545525827394,
|
|
0.2973192397930707,
|
|
-0.027840633673030298
|
|
],
|
|
"predicted_position_m": [
|
|
0.21915236089022028,
|
|
0.2972176505054608,
|
|
-0.02725389170450164
|
|
],
|
|
"error_m": [
|
|
6.690563194633459e-05,
|
|
-0.00010158928760989339,
|
|
0.0005867419685286583
|
|
],
|
|
"error_norm_m": 0.0005992185616084578
|
|
},
|
|
{
|
|
"marker_id": 83,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.04429149006666387,
|
|
0.33924673659540083,
|
|
-0.027285670234358236
|
|
],
|
|
"predicted_position_m": [
|
|
0.044151822896834544,
|
|
0.3391954000789666,
|
|
-0.027279244605084074
|
|
],
|
|
"error_m": [
|
|
-0.00013966716982932725,
|
|
-5.133651643424164e-05,
|
|
6.425629274161432e-06
|
|
],
|
|
"error_norm_m": 0.00014894175022238146
|
|
},
|
|
{
|
|
"marker_id": 84,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.4071846570536547,
|
|
0.25836943035917115,
|
|
-0.027241725024110486
|
|
],
|
|
"predicted_position_m": [
|
|
0.40748285799660017,
|
|
0.2584000723116376,
|
|
-0.02722591260140177
|
|
],
|
|
"error_m": [
|
|
0.00029820094294547017,
|
|
3.064195246643697e-05,
|
|
1.5812422708715718e-05
|
|
],
|
|
"error_norm_m": 0.0003001878817281638
|
|
},
|
|
{
|
|
"marker_id": 85,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.5045457837907356,
|
|
-0.3128835290350424,
|
|
-0.027311283848716294
|
|
],
|
|
"predicted_position_m": [
|
|
0.5045802114273383,
|
|
-0.31276867583236606,
|
|
-0.027271742261903695
|
|
],
|
|
"error_m": [
|
|
3.4427636602774037e-05,
|
|
0.00011485320267634602,
|
|
3.954158681259909e-05
|
|
],
|
|
"error_norm_m": 0.00012625394019485014
|
|
},
|
|
{
|
|
"marker_id": 86,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3629455898391791,
|
|
0.29199065877520114,
|
|
-0.02731718776290621
|
|
],
|
|
"predicted_position_m": [
|
|
0.36288242612033994,
|
|
0.2919894986356832,
|
|
-0.027229871461687837
|
|
],
|
|
"error_m": [
|
|
-6.316371883913208e-05,
|
|
-1.1601395179527962e-06,
|
|
8.731630121837364e-05
|
|
],
|
|
"error_norm_m": 0.00010777354851607978
|
|
},
|
|
{
|
|
"marker_id": 92,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6451405818626403,
|
|
-0.18484090539705705,
|
|
-0.027231104443820313
|
|
],
|
|
"predicted_position_m": [
|
|
0.6450885622834971,
|
|
-0.184856869911952,
|
|
-0.027233717784727766
|
|
],
|
|
"error_m": [
|
|
-5.201957914324762e-05,
|
|
-1.596451489493944e-05,
|
|
-2.6133409074535763e-06
|
|
],
|
|
"error_norm_m": 5.4476893273845157e-05
|
|
},
|
|
{
|
|
"marker_id": 95,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.18611213361950968,
|
|
-0.2738293732998189,
|
|
-0.02730279884927669
|
|
],
|
|
"predicted_position_m": [
|
|
0.18603971804040959,
|
|
-0.27409277189435877,
|
|
-0.02732201541583787
|
|
],
|
|
"error_m": [
|
|
-7.241557910009355e-05,
|
|
-0.00026339859453988756,
|
|
-1.92165665611789e-05
|
|
],
|
|
"error_norm_m": 0.00027384687716384536
|
|
},
|
|
{
|
|
"marker_id": 96,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.36999627305473803,
|
|
-0.18638014116598506,
|
|
-0.02739938559837067
|
|
],
|
|
"predicted_position_m": [
|
|
0.36976858758298725,
|
|
-0.18651041000137034,
|
|
-0.02728100502675252
|
|
],
|
|
"error_m": [
|
|
-0.00022768547175078258,
|
|
-0.00013026883538527767,
|
|
0.00011838057161814991
|
|
],
|
|
"error_norm_m": 0.00028779263933543
|
|
},
|
|
{
|
|
"marker_id": 97,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3044885256791745,
|
|
-0.3597958790075301,
|
|
-0.02727439537667774
|
|
],
|
|
"predicted_position_m": [
|
|
0.30435081855566815,
|
|
-0.35969125013078573,
|
|
-0.027311130732560078
|
|
],
|
|
"error_m": [
|
|
-0.00013770712350635872,
|
|
0.0001046288767443393,
|
|
-3.6735355882337034e-05
|
|
],
|
|
"error_norm_m": 0.00017680480786726256
|
|
},
|
|
{
|
|
"marker_id": 102,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6496562315036376,
|
|
-0.22299513390882308,
|
|
-0.0272289879059062
|
|
],
|
|
"predicted_position_m": [
|
|
0.6496890535956789,
|
|
-0.22301681053337385,
|
|
-0.027237102470458827
|
|
],
|
|
"error_m": [
|
|
3.2822092041251416e-05,
|
|
-2.1676624550770462e-05,
|
|
-8.114564552626907e-06
|
|
],
|
|
"error_norm_m": 4.016231985030488e-05
|
|
},
|
|
{
|
|
"marker_id": 103,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.1056898027249774,
|
|
-0.18789156453023853,
|
|
-0.027220405746224544
|
|
],
|
|
"predicted_position_m": [
|
|
0.10570860717969238,
|
|
-0.18773380531088832,
|
|
-0.027326318690208778
|
|
],
|
|
"error_m": [
|
|
1.8804454714985153e-05,
|
|
0.00015775921935021198,
|
|
-0.0001059129439842342
|
|
],
|
|
"error_norm_m": 0.0001909427414449781
|
|
},
|
|
{
|
|
"marker_id": 105,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.524736401097892,
|
|
-0.2662820941868497,
|
|
-0.027258217875959938
|
|
],
|
|
"predicted_position_m": [
|
|
0.5248396123564412,
|
|
-0.26626841560844555,
|
|
-0.02726319231751886
|
|
],
|
|
"error_m": [
|
|
0.00010321125854917401,
|
|
1.3678578404174857e-05,
|
|
-4.97444155892271e-06
|
|
],
|
|
"error_norm_m": 0.00010423249237779332
|
|
},
|
|
{
|
|
"marker_id": 113,
|
|
"link": "Arm2",
|
|
"observed_position_m": [
|
|
0.2703540421174669,
|
|
-0.16069626941113582,
|
|
0.2350927378871357
|
|
],
|
|
"predicted_position_m": [
|
|
0.27170541888867983,
|
|
-0.16021279541240485,
|
|
0.24050814097987697
|
|
],
|
|
"error_m": [
|
|
0.001351376771212942,
|
|
0.0004834739987309711,
|
|
0.005415403092741272
|
|
],
|
|
"error_norm_m": 0.0056023706537585115
|
|
},
|
|
{
|
|
"marker_id": 124,
|
|
"link": "Arm2",
|
|
"observed_position_m": [
|
|
0.2937071542682522,
|
|
-0.11902493578938028,
|
|
0.27023620031556944
|
|
],
|
|
"predicted_position_m": [
|
|
0.29626652078867943,
|
|
-0.11915615455615537,
|
|
0.27522275627429377
|
|
],
|
|
"error_m": [
|
|
0.0025593665204272087,
|
|
-0.00013121876677509026,
|
|
0.004986555958724326
|
|
],
|
|
"error_norm_m": 0.005606542221380905
|
|
},
|
|
{
|
|
"marker_id": 198,
|
|
"link": "Arm1",
|
|
"observed_position_m": [
|
|
0.16993711669875797,
|
|
-0.05315446439319623,
|
|
0.09042863773041818
|
|
],
|
|
"predicted_position_m": [
|
|
0.17286092665854974,
|
|
-0.052554791584164366,
|
|
0.09353864676806742
|
|
],
|
|
"error_m": [
|
|
0.0029238099597917733,
|
|
0.0005996728090318648,
|
|
0.0031100090376492417
|
|
],
|
|
"error_norm_m": 0.004310502102206853
|
|
},
|
|
{
|
|
"marker_id": 205,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.7500519125732655,
|
|
-0.08987281144307313,
|
|
0.00039102292706192575
|
|
],
|
|
"predicted_position_m": [
|
|
0.74999261721861,
|
|
-0.09001853889688859,
|
|
0.00039459972553753216
|
|
],
|
|
"error_m": [
|
|
-5.929535465554192e-05,
|
|
-0.0001457274538154557,
|
|
3.5767984756064153e-06
|
|
],
|
|
"error_norm_m": 0.00015736970282299376
|
|
},
|
|
{
|
|
"marker_id": 206,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6499594294244924,
|
|
-0.009820698399010586,
|
|
0.00020593769475579996
|
|
],
|
|
"predicted_position_m": [
|
|
0.6499915885440848,
|
|
-0.010019825194235625,
|
|
0.00038623565229277174
|
|
],
|
|
"error_m": [
|
|
3.2159119592423124e-05,
|
|
-0.00019912679522503945,
|
|
0.00018029795753697178
|
|
],
|
|
"error_norm_m": 0.00027054212803472635
|
|
},
|
|
{
|
|
"marker_id": 208,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3499894009818358,
|
|
-0.0898439876384585,
|
|
0.00019450540887594328
|
|
],
|
|
"predicted_position_m": [
|
|
0.3499926231066211,
|
|
-0.09002368214752782,
|
|
0.0003261602947364877
|
|
],
|
|
"error_m": [
|
|
3.2221247853181367e-06,
|
|
-0.0001796945090693225,
|
|
0.0001316548858605444
|
|
],
|
|
"error_norm_m": 0.0002227857887046433
|
|
},
|
|
{
|
|
"marker_id": 210,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.02002479844150775,
|
|
-0.01988324546693901,
|
|
0.0002644561865650359
|
|
],
|
|
"predicted_position_m": [
|
|
0.01999172658601827,
|
|
-0.0200279257534065,
|
|
0.0002773503257241892
|
|
],
|
|
"error_m": [
|
|
-3.307185548948044e-05,
|
|
-0.00014468028646748982,
|
|
1.2894139159153278e-05
|
|
],
|
|
"error_norm_m": 0.0001489711104291285
|
|
},
|
|
{
|
|
"marker_id": 211,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.25080529763106635,
|
|
-0.011006449801626406,
|
|
0.0006165700258963396
|
|
],
|
|
"predicted_position_m": [
|
|
0.24999159443209581,
|
|
-0.010024968444874847,
|
|
0.0003177962214917273
|
|
],
|
|
"error_m": [
|
|
-0.0008137031989705334,
|
|
0.0009814813567515582,
|
|
-0.0002987738044046123
|
|
],
|
|
"error_norm_m": 0.0013094595586974668
|
|
},
|
|
{
|
|
"marker_id": 214,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.3499459201856415,
|
|
-0.01001666521341991,
|
|
0.0004003735550002317
|
|
],
|
|
"predicted_position_m": [
|
|
0.349991592960093,
|
|
-0.010023682632215043,
|
|
0.0003349060791919884
|
|
],
|
|
"error_m": [
|
|
4.567277445149953e-05,
|
|
-7.017418795133776e-06,
|
|
-6.546747580824327e-05
|
|
],
|
|
"error_norm_m": 8.013262058204987e-05
|
|
},
|
|
{
|
|
"marker_id": 217,
|
|
"link": "Board",
|
|
"observed_position_m": [
|
|
0.6499328738704627,
|
|
-0.09004428394948709,
|
|
0.00044298744897883484
|
|
],
|
|
"predicted_position_m": [
|
|
0.6499926186906129,
|
|
-0.09001982470954839,
|
|
0.000377489867837271
|
|
],
|
|
"error_m": [
|
|
5.974482015014271e-05,
|
|
2.4459239938698363e-05,
|
|
-6.549758114156383e-05
|
|
],
|
|
"error_norm_m": 9.196537983691174e-05
|
|
},
|
|
{
|
|
"marker_id": 229,
|
|
"link": "Arm1",
|
|
"observed_position_m": [
|
|
0.1702261378170027,
|
|
-0.14293502979532577,
|
|
0.087135349190138
|
|
],
|
|
"predicted_position_m": [
|
|
0.17286232192077716,
|
|
-0.14254402612791045,
|
|
0.09214664666609862
|
|
],
|
|
"error_m": [
|
|
0.002636184103774475,
|
|
0.00039100366741531833,
|
|
0.005011297475960616
|
|
],
|
|
"error_norm_m": 0.005675865827298484
|
|
},
|
|
{
|
|
"marker_id": 232,
|
|
"link": "Ellbow",
|
|
"observed_position_m": [
|
|
0.2597900811808296,
|
|
-0.1680821080765408,
|
|
0.028224922428325902
|
|
],
|
|
"predicted_position_m": [
|
|
0.2628726230364937,
|
|
-0.16812551627526937,
|
|
0.033871112810949615
|
|
],
|
|
"error_m": [
|
|
0.003082541855664145,
|
|
-4.340819872855617e-05,
|
|
0.005646190382623713
|
|
],
|
|
"error_norm_m": 0.006432994201806085
|
|
},
|
|
{
|
|
"marker_id": 243,
|
|
"link": "Arm1",
|
|
"observed_position_m": [
|
|
0.16996960404900852,
|
|
-0.17712249569108393,
|
|
0.050619982414259024
|
|
],
|
|
"predicted_position_m": [
|
|
0.17286884529610103,
|
|
-0.1769985061037317,
|
|
0.05660950036759418
|
|
],
|
|
"error_m": [
|
|
0.00289924124709251,
|
|
0.0001239895873522412,
|
|
0.005989517953335154
|
|
],
|
|
"error_norm_m": 0.006655471323650823
|
|
},
|
|
{
|
|
"marker_id": 244,
|
|
"link": "Ellbow",
|
|
"observed_position_m": [
|
|
0.29521945468202876,
|
|
-0.14178894752220667,
|
|
0.05171190176548735
|
|
],
|
|
"predicted_position_m": [
|
|
0.297868300853852,
|
|
-0.14200108540422784,
|
|
0.05717222106270733
|
|
],
|
|
"error_m": [
|
|
0.0026488461718232603,
|
|
-0.00021213788202117945,
|
|
0.005460319297219976
|
|
],
|
|
"error_norm_m": 0.00607260037797351
|
|
},
|
|
{
|
|
"marker_id": 245,
|
|
"link": "Ellbow",
|
|
"observed_position_m": [
|
|
0.2599307024110316,
|
|
-0.17714761728230274,
|
|
0.053756699885666774
|
|
],
|
|
"predicted_position_m": [
|
|
0.26286840843590875,
|
|
-0.1769443341500625,
|
|
0.059166437152158274
|
|
],
|
|
"error_m": [
|
|
0.0029377060248771403,
|
|
0.00020328313224024508,
|
|
0.0054097372664915
|
|
],
|
|
"error_norm_m": 0.006159277393730516
|
|
},
|
|
{
|
|
"marker_id": 248,
|
|
"link": "Ellbow",
|
|
"observed_position_m": [
|
|
0.2225048628280602,
|
|
-0.17717078122120594,
|
|
0.053819339799903936
|
|
],
|
|
"predicted_position_m": [
|
|
0.22536840898799024,
|
|
-0.17694481632980993,
|
|
0.059160020955520684
|
|
],
|
|
"error_m": [
|
|
0.002863546159930036,
|
|
0.00022596489139600773,
|
|
0.0053406811556167486
|
|
],
|
|
"error_norm_m": 0.006064143133877491
|
|
}
|
|
]
|
|
} |