Dataset V2#
Dataset characteristics#
Training |
Validation |
Test |
|
|---|---|---|---|
# Joint space trajectories |
418 |
104 |
1 |
Training Dataset Analysis#
Value |
|
|---|---|
# trajecotries |
523.000 |
Duration Sum [s] |
3908.872 |
Duration Min [s] |
0.034 |
Duration Max [s] |
22.080 |
Duration Mean [s] |
7.474 |
# Samples Sum |
115386.000 |
# Samples Min |
2.000 |
# Samples Max |
650.000 |
# Samples Mean |
220.623 |
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] |
-0.033 |
0.026 |
0.009 |
-1.526 |
-0.083 |
1.932 |
0.086 |
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] |
-2.792 |
-1.662 |
-2.790 |
-2.972 |
-2.796 |
0.123 |
-2.784 |
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] |
2.776 |
1.662 |
2.782 |
-0.189 |
2.795 |
3.648 |
2.789 |
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 [%] |
96.087 |
94.275 |
96.170 |
92.704 |
96.498 |
94.365 |
96.180 |
MoveIt Coverage Min/Max [%] |
99.522 |
99.945 |
99.608 |
99.321 |
99.947 |
99.704 |
99.619 |
Att. Std [rad] |
1.249 |
0.757 |
1.289 |
0.628 |
1.311 |
0.804 |
1.300 |
Phy. Coverage Std [%] |
43.097 |
42.962 |
44.474 |
41.819 |
45.235 |
43.052 |
44.876 |
MoveIt Coverage Std [%] |
44.637 |
45.545 |
46.063 |
44.804 |
46.852 |
45.488 |
46.481 |
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] |
-0.003 |
0.003 |
0.010 |
0.003 |
-0.005 |
0.005 |
-0.007 |
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] |
-1.087 |
-0.913 |
-1.066 |
-0.870 |
-1.305 |
-1.099 |
-1.201 |
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] |
1.066 |
1.022 |
1.044 |
0.863 |
1.279 |
1.058 |
1.305 |
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 [%] |
49.500 |
44.500 |
48.500 |
39.847 |
49.500 |
41.323 |
48.000 |
MoveIt Coverage Min/Max [%] |
49.500 |
44.500 |
48.500 |
39.847 |
49.500 |
41.323 |
48.000 |
Att. Std [rad-s] |
0.424 |
0.260 |
0.404 |
0.240 |
0.446 |
0.306 |
0.466 |
Phy. Coverage Std [%] |
19.497 |
11.954 |
18.565 |
11.013 |
17.077 |
11.717 |
17.839 |
MoveIt Coverage Std [%] |
19.497 |
11.954 |
18.565 |
11.013 |
17.077 |
11.717 |
17.839 |
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] |
0.000 |
0.000 |
-0.000 |
0.000 |
-0.000 |
-0.000 |
0.000 |
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] |
-1.870 |
-0.911 |
-1.242 |
-1.436 |
-1.838 |
-1.758 |
-2.500 |
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] |
1.870 |
0.910 |
1.249 |
1.510 |
1.841 |
2.432 |
2.493 |
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 [%] |
12.465 |
12.142 |
12.456 |
11.783 |
12.263 |
10.476 |
12.482 |
MoveIt Coverage Min/Max [%] |
49.860 |
48.567 |
49.825 |
47.130 |
49.052 |
41.906 |
49.928 |
Att. Std [rad-s^2] |
0.283 |
0.164 |
0.244 |
0.170 |
0.284 |
0.207 |
0.299 |
Phy. Coverage Std [%] |
1.888 |
2.187 |
2.444 |
1.358 |
1.892 |
1.033 |
1.497 |
MoveIt Coverage Std [%] |
7.553 |
8.746 |
9.774 |
5.434 |
7.569 |
4.134 |
5.987 |
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] |
-0.587 |
-7.517 |
0.168 |
11.759 |
0.201 |
0.376 |
0.029 |
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] |
-13.785 |
-57.458 |
-27.093 |
-20.907 |
-2.188 |
-2.651 |
-0.554 |
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] |
16.287 |
59.950 |
27.009 |
26.304 |
2.261 |
3.426 |
0.648 |
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 [%] |
17.283 |
67.476 |
31.093 |
27.133 |
18.539 |
25.318 |
5.009 |
MoveIt Coverage Min/Max [%] |
17.283 |
67.476 |
31.093 |
27.133 |
18.539 |
25.318 |
5.009 |
Att. Std [Nm] |
0.857 |
26.319 |
10.405 |
7.150 |
0.832 |
1.169 |
0.377 |
Phy. Coverage Std [%] |
0.985 |
30.252 |
11.960 |
8.218 |
6.932 |
9.738 |
3.143 |
MoveIt Coverage Std [%] |
0.985 |
30.252 |
11.960 |
8.218 |
6.932 |
9.738 |
3.143 |
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] |
0.566 |
-1.235 |
-0.143 |
-2.778 |
-0.114 |
1.572 |
1.321 |
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] |
0.436 |
-1.411 |
-0.808 |
-2.912 |
-0.691 |
1.326 |
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 |
0.462 |
-2.578 |
0.457 |
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 [%] |
5.486 |
15.971 |
21.914 |
11.109 |
19.807 |
21.416 |
11.392 |
MoveIt Coverage Min/Max [%] |
5.682 |
16.931 |
22.697 |
11.902 |
20.515 |
22.628 |
11.799 |
Att. Std [rad] |
0.109 |
0.174 |
0.409 |
0.080 |
0.372 |
0.234 |
0.248 |
Phy. Coverage Std [%] |
3.752 |
9.859 |
14.122 |
5.303 |
12.842 |
12.557 |
8.547 |
MoveIt Coverage Std [%] |
3.886 |
10.452 |
14.626 |
5.681 |
13.301 |
13.267 |
8.853 |
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] |
0.066 |
-0.103 |
0.264 |
0.027 |
0.240 |
-0.135 |
0.140 |
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] |
-0.027 |
-0.338 |
0.000 |
-0.341 |
0.000 |
-0.410 |
-0.033 |
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] |
0.139 |
0.167 |
0.341 |
0.280 |
0.342 |
0.195 |
0.276 |
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 [%] |
3.805 |
11.603 |
7.850 |
14.292 |
6.561 |
11.585 |
5.934 |
MoveIt Coverage Min/Max [%] |
3.805 |
11.603 |
7.850 |
14.292 |
6.561 |
11.585 |
5.934 |
Att. Std [rad-s] |
0.049 |
0.141 |
0.103 |
0.184 |
0.100 |
0.166 |
0.117 |
Phy. Coverage Std [%] |
2.248 |
6.496 |
4.747 |
8.470 |
3.812 |
6.356 |
4.467 |
MoveIt Coverage Std [%] |
2.248 |
6.496 |
4.747 |
8.470 |
3.812 |
6.356 |
4.467 |
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] |
0.005 |
0.070 |
-0.008 |
0.061 |
0.005 |
0.020 |
0.009 |
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] |
-0.443 |
-0.855 |
-1.119 |
-1.439 |
-1.071 |
-1.479 |
-0.918 |
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] |
0.250 |
0.653 |
0.844 |
1.424 |
0.715 |
1.985 |
0.589 |
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 [%] |
2.310 |
10.048 |
9.814 |
11.454 |
5.955 |
8.660 |
3.768 |
MoveIt Coverage Min/Max [%] |
9.241 |
40.192 |
39.257 |
45.815 |
23.820 |
34.640 |
15.072 |
Att. Std [rad-s^2] |
0.144 |
0.345 |
0.351 |
0.487 |
0.324 |
0.428 |
0.206 |
Phy. Coverage Std [%] |
0.959 |
4.606 |
3.510 |
3.899 |
2.162 |
2.142 |
1.032 |
MoveIt Coverage Std [%] |
3.836 |
18.425 |
14.040 |
15.597 |
8.647 |
8.567 |
4.129 |
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] |
-0.106 |
8.893 |
0.932 |
17.206 |
1.139 |
1.231 |
0.180 |
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] |
-1.038 |
0.679 |
-8.760 |
14.307 |
0.060 |
0.579 |
-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] |
0.477 |
12.827 |
9.545 |
19.520 |
1.357 |
2.807 |
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 [%] |
0.871 |
6.982 |
10.520 |
2.996 |
5.405 |
9.281 |
4.925 |
MoveIt Coverage Min/Max [%] |
0.871 |
6.982 |
10.520 |
2.996 |
5.405 |
9.281 |
4.925 |
Att. Std [Nm] |
0.274 |
3.541 |
6.616 |
1.034 |
0.139 |
0.560 |
0.388 |
Phy. Coverage Std [%] |
0.315 |
4.070 |
7.604 |
1.189 |
1.156 |
4.666 |
3.229 |
MoveIt Coverage Std [%] |
0.315 |
4.070 |
7.604 |
1.189 |
1.156 |
4.666 |
3.229 |