44 lines
1.2 KiB
JSON
44 lines
1.2 KiB
JSON
{
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"enabled": [
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"h1"
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],
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"h1": {
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"thresholds": {
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"position_threshold_m": 0.005,
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"orientation_threshold_rad": 0.05,
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"joint_step_threshold_rad": 0.25,
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"swivel_step_threshold_rad": 0.25,
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"input_step_threshold_rad": 0.05
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},
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"audit_fields": [
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"map_validity_reason_code",
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"map_reach_clip_code",
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"map_joint_limit_active",
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"map_geometry_degenerate",
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"map_slave_min_singular_value",
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"map_slave_manipulability",
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"map_low_manipulability"
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],
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"validity_reason_labels": [
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"none",
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"reach_clipped_lower",
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"reach_clipped_upper",
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"joint_limit_active",
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"geometry_degenerate",
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"invalid_input",
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"master_limit_violation",
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"joint_limit_violation",
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"task_tolerance_exceeded",
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"solver_not_converged",
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"numerical_failure",
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"low_manipulability",
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"unspecified_nonsmooth"
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],
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"branch_timing": {
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"deadline_s": 0.02,
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"minimum_phi_wrap_crossings": 1
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}
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},
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"status": "deterministic branch fixture with descriptive workstation timing; 20 ms is the 50 Hz accounting budget, not a statistical latency acceptance threshold"
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}
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