Dataset V1#
Dataset characteristics#
Training |
Validation |
Test |
|
|---|---|---|---|
# Pick and place trajectories |
80 |
20 |
10 |
Training Dataset Analysis#
Value |
|
|---|---|
# trajecotries |
100.000 |
Duration Sum [s] |
467.113 |
Duration Min [s] |
1.625 |
Duration Max [s] |
13.552 |
Duration Mean [s] |
4.671 |
# Samples Sum |
22764.000 |
# Samples Min |
79.000 |
# Samples Max |
659.000 |
# Samples Mean |
227.640 |
Measurement Frequency Analysis#
Command Joint Position by MoveIt#
Min/Max & Std |
Histogram |
|---|---|
|
|
Axis_1 |
Axis_2 |
Axis_3 |
Axis_4 |
Axis_5 |
Axis_6 |
Axis_7 |
|
|---|---|---|---|---|---|---|---|
Att. Mean [rad] |
0.141 |
-0.458 |
0.087 |
-1.971 |
-0.212 |
1.550 |
0.629 |
Phys. Mean [rad] |
0.000 |
0.000 |
0.000 |
-1.571 |
0.000 |
1.885 |
0.000 |
MoveIt Mean [rad] |
0.000 |
0.000 |
0.000 |
-1.571 |
0.000 |
1.885 |
0.000 |
Att. Min [rad] |
-1.592 |
-1.663 |
-2.277 |
-2.768 |
-1.753 |
0.811 |
-2.634 |
Phys. Min [rad] |
-2.897 |
-1.763 |
-2.897 |
-3.072 |
-2.897 |
0.017 |
-2.897 |
MoveIt Min [rad] |
-2.797 |
-1.663 |
-2.797 |
-2.972 |
-2.797 |
0.117 |
-2.797 |
Att. Max [rad] |
1.530 |
1.663 |
2.633 |
-0.662 |
1.620 |
2.782 |
2.797 |
Phys. Max [rad] |
2.897 |
1.763 |
2.897 |
-0.070 |
2.897 |
3.752 |
2.897 |
MoveIt Max [rad] |
2.797 |
1.663 |
2.797 |
-0.170 |
2.797 |
3.652 |
2.797 |
Phy. Coverage Min/Max [%] |
53.872 |
94.327 |
84.729 |
70.164 |
58.210 |
52.759 |
93.736 |
MoveIt Coverage Min/Max [%] |
55.798 |
100.000 |
87.758 |
75.172 |
60.291 |
55.744 |
97.087 |
Att. Std [rad] |
0.939 |
0.928 |
1.216 |
0.444 |
0.811 |
0.359 |
1.400 |
Phy. Coverage Std [%] |
32.411 |
52.634 |
41.973 |
29.562 |
27.978 |
19.218 |
48.307 |
MoveIt Coverage Std [%] |
33.569 |
55.799 |
43.474 |
31.673 |
28.978 |
20.306 |
50.034 |
Command Joint Velocity by MoveIt#
Min/Max & Std |
Histogram |
|---|---|
|
|
Axis_1 |
Axis_2 |
Axis_3 |
Axis_4 |
Axis_5 |
Axis_6 |
Axis_7 |
|
|---|---|---|---|---|---|---|---|
Att. Mean [rad-s] |
0.045 |
0.065 |
0.050 |
0.090 |
0.004 |
0.014 |
0.125 |
Phys. Mean [rad-s] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
MoveIt Mean [rad-s] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
Att. Min [rad-s] |
-1.083 |
-0.712 |
-1.179 |
-1.119 |
-0.767 |
-0.662 |
-1.006 |
Phys. Min [rad-s] |
-2.175 |
-2.175 |
-2.175 |
-2.175 |
-2.610 |
-2.610 |
-2.610 |
MoveIt Min [rad-s] |
-2.175 |
-2.175 |
-2.175 |
-2.175 |
-2.610 |
-2.610 |
-2.610 |
Att. Max [rad-s] |
1.410 |
1.163 |
1.013 |
1.212 |
0.870 |
0.803 |
1.326 |
Phys. Max [rad-s] |
2.175 |
2.175 |
2.175 |
2.175 |
2.610 |
2.610 |
2.610 |
MoveIt Max [rad-s] |
2.175 |
2.175 |
2.175 |
2.175 |
2.610 |
2.610 |
2.610 |
Phy. Coverage Min/Max [%] |
57.306 |
43.110 |
50.390 |
53.585 |
31.366 |
28.070 |
44.668 |
MoveIt Coverage Min/Max [%] |
57.306 |
43.110 |
50.390 |
53.585 |
31.366 |
28.070 |
44.668 |
Att. Std [rad-s] |
0.280 |
0.273 |
0.281 |
0.352 |
0.209 |
0.245 |
0.381 |
Phy. Coverage Std [%] |
12.880 |
12.548 |
12.941 |
16.175 |
8.008 |
9.391 |
14.611 |
MoveIt Coverage Std [%] |
12.880 |
12.548 |
12.941 |
16.175 |
8.008 |
9.391 |
14.611 |
Command Joint Acceleration by MoveIt#
Physical joint acceleration limits are marked hatched. MoveIt joint acceleration limits are marked blue.
Min/Max & Std |
Histogram |
|---|---|
|
|
Axis_1 |
Axis_2 |
Axis_3 |
Axis_4 |
Axis_5 |
Axis_6 |
Axis_7 |
|
|---|---|---|---|---|---|---|---|
Att. Mean [rad-s^2] |
0.036 |
0.088 |
-0.032 |
0.218 |
0.000 |
-0.050 |
-0.021 |
Phys. Mean [rad-s^2] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
MoveIt Mean [rad-s^2] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
Att. Min [rad-s^2] |
-3.546 |
-1.809 |
-2.277 |
-3.001 |
-2.232 |
-4.231 |
-4.296 |
Phys. Min [rad-s^2] |
-15.000 |
-7.500 |
-10.000 |
-12.500 |
-15.000 |
-20.000 |
-20.000 |
MoveIt Min [rad-s^2] |
-3.750 |
-1.875 |
-2.500 |
-3.125 |
-3.750 |
-5.000 |
-5.000 |
Att. Max [rad-s^2] |
3.362 |
1.826 |
2.431 |
2.828 |
3.028 |
3.269 |
4.525 |
Phys. Max [rad-s^2] |
15.000 |
7.500 |
10.000 |
12.500 |
15.000 |
20.000 |
20.000 |
MoveIt Max [rad-s^2] |
3.750 |
1.875 |
2.500 |
3.125 |
3.750 |
5.000 |
5.000 |
Phy. Coverage Min/Max [%] |
23.027 |
24.236 |
23.541 |
23.317 |
17.536 |
18.751 |
22.052 |
MoveIt Coverage Min/Max [%] |
92.107 |
96.943 |
94.162 |
93.269 |
70.142 |
75.002 |
88.210 |
Att. Std [rad-s^2] |
0.702 |
0.561 |
0.630 |
0.866 |
0.575 |
0.637 |
0.748 |
Phy. Coverage Std [%] |
4.682 |
7.483 |
6.300 |
6.928 |
3.836 |
3.183 |
3.739 |
MoveIt Coverage Std [%] |
18.728 |
29.931 |
25.200 |
27.714 |
15.346 |
12.731 |
14.956 |
Measured Joint Torques by internal sensors#
Min/Max & Std |
Histogram |
|---|---|
|
|
Axis_1 |
Axis_2 |
Axis_3 |
Axis_4 |
Axis_5 |
Axis_6 |
Axis_7 |
|
|---|---|---|---|---|---|---|---|
Att. Mean [Nm] |
-0.426 |
0.555 |
3.806 |
13.295 |
0.743 |
1.638 |
0.115 |
Phys. Mean [Nm] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
MoveIt Mean [Nm] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
Att. Min [Nm] |
-17.705 |
-42.382 |
-30.521 |
-8.509 |
-1.413 |
-0.684 |
-0.488 |
Phys. Min [Nm] |
-87.000 |
-87.000 |
-87.000 |
-87.000 |
-12.000 |
-12.000 |
-12.000 |
MoveIt Min [Nm] |
-87.000 |
-87.000 |
-87.000 |
-87.000 |
-12.000 |
-12.000 |
-12.000 |
Att. Max [Nm] |
12.645 |
48.358 |
35.332 |
34.544 |
2.261 |
3.719 |
0.589 |
Phys. Max [Nm] |
87.000 |
87.000 |
87.000 |
87.000 |
12.000 |
12.000 |
12.000 |
MoveIt Max [Nm] |
87.000 |
87.000 |
87.000 |
87.000 |
12.000 |
12.000 |
12.000 |
Phy. Coverage Min/Max [%] |
17.442 |
52.149 |
37.847 |
24.743 |
15.308 |
18.345 |
4.486 |
MoveIt Coverage Min/Max [%] |
17.442 |
52.149 |
37.847 |
24.743 |
15.308 |
18.345 |
4.486 |
Att. Std [Nm] |
1.393 |
25.269 |
12.755 |
7.345 |
0.400 |
0.688 |
0.321 |
Phy. Coverage Std [%] |
1.602 |
29.045 |
14.661 |
8.443 |
3.333 |
5.737 |
2.671 |
MoveIt Coverage Std [%] |
1.602 |
29.045 |
14.661 |
8.443 |
3.333 |
5.737 |
2.671 |
Test Dataset Analysis#
Command Joint Position by MoveIt#
Min/Max & Std |
Histogram |
|---|---|
|
|
Axis_1 |
Axis_2 |
Axis_3 |
Axis_4 |
Axis_5 |
Axis_6 |
Axis_7 |
|
|---|---|---|---|---|---|---|---|
Att. Mean [rad] |
0.554 |
-1.229 |
-0.150 |
-2.778 |
-0.117 |
1.581 |
1.308 |
Phys. Mean [rad] |
0.000 |
0.000 |
0.000 |
-1.571 |
0.000 |
1.885 |
0.000 |
MoveIt Mean [rad] |
0.000 |
0.000 |
0.000 |
-1.571 |
0.000 |
1.885 |
0.000 |
Att. Min [rad] |
0.281 |
-1.630 |
-0.808 |
-2.912 |
-0.691 |
1.158 |
1.003 |
Phys. Min [rad] |
-2.897 |
-1.763 |
-2.897 |
-3.072 |
-2.897 |
0.017 |
-2.897 |
MoveIt Min [rad] |
-2.797 |
-1.663 |
-2.797 |
-2.972 |
-2.797 |
0.117 |
-2.797 |
Att. Max [rad] |
0.754 |
-0.848 |
0.612 |
-2.544 |
0.649 |
2.126 |
1.663 |
Phys. Max [rad] |
2.897 |
1.763 |
2.897 |
-0.070 |
2.897 |
3.752 |
2.897 |
MoveIt Max [rad] |
2.797 |
1.663 |
2.797 |
-0.170 |
2.797 |
3.652 |
2.797 |
Phy. Coverage Min/Max [%] |
8.150 |
22.171 |
24.516 |
12.252 |
23.124 |
25.898 |
11.392 |
MoveIt Coverage Min/Max [%] |
8.442 |
23.504 |
25.393 |
13.127 |
23.951 |
27.363 |
11.799 |
Att. Std [rad] |
0.115 |
0.190 |
0.430 |
0.085 |
0.393 |
0.254 |
0.246 |
Phy. Coverage Std [%] |
3.967 |
10.777 |
14.848 |
5.664 |
13.568 |
13.611 |
8.503 |
MoveIt Coverage Std [%] |
4.109 |
11.426 |
15.379 |
6.069 |
14.053 |
14.381 |
8.807 |
Command Joint Velocity by MoveIt#
Min/Max & Std |
Histogram |
|---|---|
|
|
Axis_1 |
Axis_2 |
Axis_3 |
Axis_4 |
Axis_5 |
Axis_6 |
Axis_7 |
|
|---|---|---|---|---|---|---|---|
Att. Mean [rad-s] |
0.095 |
-0.150 |
0.380 |
0.038 |
0.348 |
-0.196 |
0.201 |
Phys. Mean [rad-s] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
MoveIt Mean [rad-s] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
Att. Min [rad-s] |
-0.069 |
-0.665 |
0.000 |
-0.777 |
0.000 |
-0.823 |
-0.063 |
Phys. Min [rad-s] |
-2.175 |
-2.175 |
-2.175 |
-2.175 |
-2.610 |
-2.610 |
-2.610 |
MoveIt Min [rad-s] |
-2.175 |
-2.175 |
-2.175 |
-2.175 |
-2.610 |
-2.610 |
-2.610 |
Att. Max [rad-s] |
0.310 |
0.277 |
0.853 |
0.486 |
0.856 |
0.422 |
0.648 |
Phys. Max [rad-s] |
2.175 |
2.175 |
2.175 |
2.175 |
2.610 |
2.610 |
2.610 |
MoveIt Max [rad-s] |
2.175 |
2.175 |
2.175 |
2.175 |
2.610 |
2.610 |
2.610 |
Phy. Coverage Min/Max [%] |
8.731 |
21.661 |
19.621 |
29.036 |
16.398 |
23.849 |
13.625 |
MoveIt Coverage Min/Max [%] |
8.731 |
21.661 |
19.621 |
29.036 |
16.398 |
23.849 |
13.625 |
Att. Std [rad-s] |
0.088 |
0.211 |
0.221 |
0.262 |
0.212 |
0.246 |
0.196 |
Phy. Coverage Std [%] |
4.063 |
9.707 |
10.178 |
12.048 |
8.105 |
9.431 |
7.504 |
MoveIt Coverage Std [%] |
4.063 |
9.707 |
10.178 |
12.048 |
8.105 |
9.431 |
7.504 |
Command Joint Acceleration by MoveIt#
Min/Max & Std |
Histogram |
|---|---|
|
|
Axis_1 |
Axis_2 |
Axis_3 |
Axis_4 |
Axis_5 |
Axis_6 |
Axis_7 |
|
|---|---|---|---|---|---|---|---|
Att. Mean [rad-s^2] |
0.011 |
0.173 |
-0.018 |
0.163 |
0.012 |
0.039 |
0.017 |
Phys. Mean [rad-s^2] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
MoveIt Mean [rad-s^2] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
Att. Min [rad-s^2] |
-1.102 |
-1.672 |
-2.202 |
-2.783 |
-2.188 |
-3.930 |
-1.796 |
Phys. Min [rad-s^2] |
-15.000 |
-7.500 |
-10.000 |
-12.500 |
-15.000 |
-20.000 |
-20.000 |
MoveIt Min [rad-s^2] |
-3.750 |
-1.875 |
-2.500 |
-3.125 |
-3.750 |
-5.000 |
-5.000 |
Att. Max [rad-s^2] |
1.023 |
1.669 |
2.053 |
2.740 |
1.979 |
3.480 |
1.395 |
Phys. Max [rad-s^2] |
15.000 |
7.500 |
10.000 |
12.500 |
15.000 |
20.000 |
20.000 |
MoveIt Max [rad-s^2] |
3.750 |
1.875 |
2.500 |
3.125 |
3.750 |
5.000 |
5.000 |
Phy. Coverage Min/Max [%] |
7.083 |
22.271 |
21.272 |
22.091 |
13.888 |
18.526 |
7.977 |
MoveIt Coverage Min/Max [%] |
28.331 |
89.086 |
85.086 |
88.365 |
55.553 |
74.102 |
31.907 |
Att. Std [rad-s^2] |
0.366 |
0.744 |
0.831 |
0.916 |
0.805 |
0.882 |
0.492 |
Phy. Coverage Std [%] |
2.441 |
9.920 |
8.314 |
7.330 |
5.368 |
4.409 |
2.461 |
MoveIt Coverage Std [%] |
9.765 |
39.681 |
33.256 |
29.320 |
21.472 |
17.634 |
9.844 |
Measured Joint Torques by internal sensors#
Min/Max & Std |
Histogram |
|---|---|
|
|
Axis_1 |
Axis_2 |
Axis_3 |
Axis_4 |
Axis_5 |
Axis_6 |
Axis_7 |
|
|---|---|---|---|---|---|---|---|
Att. Mean [Nm] |
-0.376 |
9.156 |
0.409 |
16.479 |
1.109 |
1.307 |
0.173 |
Phys. Mean [Nm] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
MoveIt Mean [Nm] |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
0.000 |
Att. Min [Nm] |
-5.565 |
-8.565 |
-13.156 |
4.666 |
-0.186 |
-0.515 |
-0.593 |
Phys. Min [Nm] |
-87.000 |
-87.000 |
-87.000 |
-87.000 |
-12.000 |
-12.000 |
-12.000 |
MoveIt Min [Nm] |
-87.000 |
-87.000 |
-87.000 |
-87.000 |
-12.000 |
-12.000 |
-12.000 |
Att. Max [Nm] |
5.615 |
17.929 |
16.377 |
27.859 |
1.909 |
3.537 |
0.602 |
Phys. Max [Nm] |
87.000 |
87.000 |
87.000 |
87.000 |
12.000 |
12.000 |
12.000 |
MoveIt Max [Nm] |
87.000 |
87.000 |
87.000 |
87.000 |
12.000 |
12.000 |
12.000 |
Phy. Coverage Min/Max [%] |
6.425 |
15.226 |
16.973 |
13.329 |
8.728 |
16.880 |
4.978 |
MoveIt Coverage Min/Max [%] |
6.425 |
15.226 |
16.973 |
13.329 |
8.728 |
16.880 |
4.978 |
Att. Std [Nm] |
0.556 |
4.566 |
7.598 |
2.015 |
0.206 |
0.558 |
0.336 |
Phy. Coverage Std [%] |
0.639 |
5.248 |
8.733 |
2.316 |
1.720 |
4.647 |
2.802 |
MoveIt Coverage Std [%] |
0.639 |
5.248 |
8.733 |
2.316 |
1.720 |
4.647 |
2.802 |