40 lines
1.0 KiB
JSON
40 lines
1.0 KiB
JSON
{
|
|
"enabled": [
|
|
"h1"
|
|
],
|
|
"h1": {
|
|
"thresholds": {
|
|
"position_threshold_m": 0.005,
|
|
"orientation_threshold_rad": 0.05,
|
|
"joint_step_threshold_rad": 0.25,
|
|
"swivel_step_threshold_rad": 0.25,
|
|
"input_step_threshold_rad": 0.05
|
|
},
|
|
"audit_fields": [
|
|
"map_validity_reason_code",
|
|
"map_reach_clip_code",
|
|
"map_joint_limit_active",
|
|
"map_geometry_degenerate",
|
|
"map_slave_min_singular_value",
|
|
"map_slave_manipulability",
|
|
"map_low_manipulability"
|
|
],
|
|
"validity_reason_labels": [
|
|
"none",
|
|
"reach_clipped_lower",
|
|
"reach_clipped_upper",
|
|
"joint_limit_active",
|
|
"geometry_degenerate",
|
|
"invalid_input",
|
|
"master_limit_violation",
|
|
"joint_limit_violation",
|
|
"task_tolerance_exceeded",
|
|
"solver_not_converged",
|
|
"numerical_failure",
|
|
"low_manipulability",
|
|
"unspecified_nonsmooth"
|
|
]
|
|
},
|
|
"status": "calibration-v2 only; validity reasons and seeded instances must be audited before threshold freeze"
|
|
}
|