INDRBT / Reading room

Trajectory metrics

Retained digital evidence · results/trajectories/trajectory_metrics.json · SHA-256 03d12f728aa9c44376e1108a30444b9576810432aaff6544921de096f84863c5

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

{
  "MOVE_J": {
    "duration_s": 4.0,
    "peak_velocity_rad_s": [
      0.20453077171808548,
      0.04090615434361711,
      0.040906154343617156,
      0.0,
      0.6544984694978736,
      0.0
    ],
    "peak_acceleration_rad_s2": [
      0.15744287933006132,
      0.03148857586601227,
      0.03148857586601231,
      0.0,
      0.5038172138561962,
      0.0
    ],
    "max_velocity_limit_fraction": 0.31250000000000006,
    "max_acceleration_limit_fraction": 0.12027750000000026
  },
  "MOVE_L": {
    "duration_s": 1.01,
    "peak_velocity_rad_s": [
      4.31250195070239e-12,
      0.2912707587211496,
      0.032307819176330466,
      1.4077900660799662e-12,
      0.30640157186859013,
      4.96958099525201e-12
    ],
    "peak_acceleration_rad_s2": [
      3.3608162925619843e-10,
      0.9288644672248921,
      0.1654698687426125,
      1.139872002771625e-10,
      0.9686478284727674,
      3.908575219364839e-10
    ],
    "max_velocity_limit_fraction": 0.2781430861715865,
    "max_acceleration_limit_fraction": 0.4435001142637842
  },
  "move_l_max_xy_drift_m": 5.9423850372475314e-12,
  "linear_caveat": "Constant-velocity interior only; instantaneous boundary acceleration unbounded.",
  "move_l_caveat": "Derivative limits verified at sampled points; no continuous-path or collision certificate."
}