INDRBT / Reading room

Metrics

Retained digital evidence · results/control/metrics.json · SHA-256 f404b9ab3f5c8f645c8ba62e8efd07b2169d8e4d143e626eef3d39430fb336f8

This readable record comes from the engineering project. Its assumptions, sampling and rule scope remain part of the result.

{
  "step": {
    "rmse_rad": [
      0.012837975505691433,
      0.012776864713405523,
      0.012406253399621441,
      0.012406253399621444,
      0.012044297365406562,
      0.011687252778710506
    ],
    "max_abs_error_rad": [
      0.08726646259971647,
      0.08726646259971649,
      0.08726646259971638,
      0.08726646259971647,
      0.08726646259971649,
      0.08726646259971647
    ],
    "final_error_rad": [
      -0.0009309445460597421,
      -0.0008622103688472604,
      0.0008044499855901499,
      -0.0008044499855910797,
      -0.0008213464071017418,
      -0.0007239370333022715
    ],
    "peak_command_torque_Nm": [
      13.965252009832628,
      20.07477705643878,
      10.47372084121796,
      1.047372084121797,
      0.6982713271378914,
      0.5236860420608985
    ],
    "settling_time_2percent_s": [
      0.464,
      0.436,
      0.434,
      0.434,
      0.382,
      0.406
    ]
  },
  "tracking": {
    "rmse_rad": [
      0.007597503848975161,
      0.0031843665639559524,
      0.0007404689098196083,
      2.094451920850236e-15,
      0.013269152040709411,
      4.965026304555328e-15
    ],
    "max_abs_error_rad": [
      0.028307514215073687,
      0.007666283479160874,
      0.001963598014411927,
      1.8150391419079118e-14,
      0.038089103144521796,
      4.909153375012755e-14
    ],
    "final_error_rad": [
      0.004537997656690109,
      -0.000762688857393834,
      0.000734516896518489,
      -9.669672628375775e-17,
      0.013817301366873869,
      -2.281085839845759e-17
    ],
    "peak_command_torque_Nm": [
      5.4375056945237485,
      2.2713710152724285,
      0.26611381015163516,
      2.6813249798171588e-12,
      0.3366223171149307,
      2.777916003728019e-12
    ],
    "overall_rmse_rad": 0.006383323915154572
  },
  "status": "SIMULATED simplified independent second-order joints; not full manipulator dynamics or physical performance"
}