69 lines
1.8 KiB
JSON
69 lines
1.8 KiB
JSON
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{
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"study_id": "g0c_sew_calibration_v2",
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"split": "calibration",
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"root_seed": 2026072721,
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"replicates": 3,
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"methods": [
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"sew",
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"scaled_joint_space",
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"bounded_dls_ik",
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"task_priority_ik"
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],
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"trajectories": [
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{
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"id": "nominal_seeded_excursion",
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"family": "nominal",
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"sample_count": 81,
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"instance_variation": {
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"center_std_rad": 0.006,
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"delta_scale_range": [0.90, 1.10],
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"harmonic_weight_range": [-0.10, 0.10]
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}
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},
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{
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"id": "wide_valid_seeded_excursion",
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"family": "reach_boundary",
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"sample_count": 81,
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"instance_variation": {
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"center_std_rad": 0.005,
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"delta_scale_range": [0.92, 1.08],
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"harmonic_weight_range": [-0.08, 0.08]
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}
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},
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{
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"id": "valid_near_singularity",
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"family": "low_manipulability_valid",
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"sample_count": 81,
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"low_manipulability_min_singular_threshold": 0.05,
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"instance_variation": {
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"center_std_rad": 0.004,
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"center_jitter_mask": [1, 1, 1, 0, 1, 1, 1],
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"delta_scale_range": [0.94, 1.06],
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"harmonic_weight_range": [-0.06, 0.06]
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}
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},
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{
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"id": "isolated_upper_reach_clip",
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"family": "reach_clip_upper",
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"sample_count": 81,
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"instance_variation": {
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"center_std_rad": 0.004,
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"center_jitter_mask": [1, 1, 1, 0, 1, 1, 1],
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"delta_scale_range": [0.94, 1.06],
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"harmonic_weight_range": [-0.06, 0.06]
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}
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},
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{
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"id": "master_joint_limit_neighborhood",
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"family": "joint_limit",
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"sample_count": 81,
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"instance_variation": {
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"center_std_rad": 0.004,
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"center_jitter_mask": [0, 1, 1, 1, 1, 1, 1],
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"delta_scale_range": [0.94, 1.06],
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"harmonic_weight_range": [-0.06, 0.06]
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}
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}
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]
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}
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