Dataset V3#
Dataset characteristics#
Training |
Validation |
Test |
|
|---|---|---|---|
# Joint space trajectories |
400 |
100 |
10 |
# ISO9283 trajectories |
1 |
Training Dataset Analysis#
Value |
|
|---|---|
# trajecotries |
500.000 |
Duration Sum [s] |
3982.019 |
Duration Min [s] |
2.382 |
Duration Max [s] |
24.372 |
Duration Mean [s] |
7.964 |
# Samples Sum |
377042.000 |
# Samples Min |
226.000 |
# Samples Max |
2308.000 |
# Samples Mean |
754.084 |
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] |
0.016 |
-0.059 |
0.016 |
-1.474 |
0.011 |
1.867 |
0.182 |
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] |
-2.897 |
-1.760 |
-2.887 |
-3.030 |
-2.859 |
-0.017 |
-2.882 |
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] |
2.888 |
1.752 |
2.881 |
-0.085 |
2.893 |
3.736 |
2.895 |
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 [%] |
99.840 |
99.625 |
99.537 |
98.091 |
99.257 |
100.478 |
99.691 |
MoveIt Coverage Min/Max [%] |
103.409 |
105.617 |
103.095 |
105.092 |
102.805 |
106.163 |
103.255 |
Att. Std [rad] |
1.357 |
0.818 |
1.372 |
0.701 |
1.330 |
0.815 |
1.333 |
Phy. Coverage Std [%] |
46.854 |
46.387 |
47.342 |
46.687 |
45.897 |
43.640 |
46.020 |
MoveIt Coverage Std [%] |
48.529 |
49.177 |
49.035 |
50.019 |
47.538 |
46.109 |
47.665 |
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] |
-0.001 |
0.005 |
-0.005 |
0.003 |
-0.002 |
0.000 |
-0.004 |
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] |
-1.066 |
-1.044 |
-1.087 |
-0.935 |
-1.305 |
-1.174 |
-1.305 |
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 |
1.023 |
1.066 |
0.892 |
1.232 |
1.201 |
1.195 |
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 [%] |
49.000 |
47.512 |
49.500 |
42.000 |
48.604 |
45.500 |
47.901 |
MoveIt Coverage Min/Max [%] |
49.000 |
47.512 |
49.500 |
42.000 |
48.604 |
45.500 |
47.901 |
Att. Std [rad-s] |
0.449 |
0.278 |
0.409 |
0.247 |
0.467 |
0.304 |
0.442 |
Phy. Coverage Std [%] |
20.624 |
12.776 |
18.799 |
11.349 |
17.887 |
11.644 |
16.926 |
MoveIt Coverage Std [%] |
20.624 |
12.776 |
18.799 |
11.349 |
17.887 |
11.644 |
16.926 |
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 |
0.001 |
-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] |
-1.837 |
-0.935 |
-1.247 |
-1.440 |
-1.834 |
-2.160 |
-2.473 |
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] |
1.819 |
0.947 |
1.233 |
1.438 |
1.839 |
2.160 |
2.452 |
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 [%] |
12.186 |
12.546 |
12.402 |
11.515 |
12.242 |
10.799 |
12.312 |
MoveIt Coverage Min/Max [%] |
48.746 |
50.184 |
49.609 |
46.061 |
48.967 |
43.195 |
49.247 |
Att. Std [rad-s^2] |
0.297 |
0.177 |
0.247 |
0.172 |
0.294 |
0.205 |
0.286 |
Phy. Coverage Std [%] |
1.978 |
2.363 |
2.474 |
1.379 |
1.960 |
1.027 |
1.432 |
MoveIt Coverage Std [%] |
7.911 |
9.452 |
9.898 |
5.517 |
7.838 |
4.108 |
5.726 |
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] |
-0.512 |
-2.999 |
0.250 |
10.458 |
0.176 |
0.281 |
0.026 |
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] |
-19.978 |
-69.074 |
-27.041 |
-28.968 |
-2.423 |
-2.918 |
-0.613 |
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] |
23.392 |
58.966 |
29.592 |
24.328 |
3.253 |
3.432 |
0.681 |
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 [%] |
24.925 |
73.586 |
32.548 |
30.630 |
23.647 |
26.459 |
5.394 |
MoveIt Coverage Min/Max [%] |
24.925 |
73.586 |
32.548 |
30.630 |
23.647 |
26.459 |
5.394 |
Att. Std [Nm] |
0.945 |
27.470 |
10.688 |
8.112 |
0.822 |
1.218 |
0.395 |
Phy. Coverage Std [%] |
1.086 |
31.575 |
12.285 |
9.324 |
6.852 |
10.153 |
3.289 |
MoveIt Coverage Std [%] |
1.086 |
31.575 |
12.285 |
9.324 |
6.852 |
10.153 |
3.289 |
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] |
-0.330 |
-0.138 |
1.022 |
-1.919 |
0.343 |
2.173 |
0.442 |
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] |
-1.991 |
-1.329 |
-2.374 |
-2.902 |
-1.046 |
0.681 |
-2.617 |
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] |
2.760 |
1.635 |
2.510 |
-0.386 |
2.060 |
3.419 |
2.618 |
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 [%] |
81.983 |
84.078 |
84.286 |
83.792 |
53.591 |
73.308 |
90.336 |
MoveIt Coverage Min/Max [%] |
84.914 |
89.135 |
87.299 |
89.773 |
55.507 |
77.456 |
93.565 |
Att. Std [rad] |
0.843 |
0.724 |
1.562 |
0.574 |
0.649 |
0.635 |
1.299 |
Phy. Coverage Std [%] |
29.097 |
41.085 |
53.922 |
38.255 |
22.390 |
33.999 |
44.833 |
MoveIt Coverage Std [%] |
30.137 |
43.556 |
55.849 |
40.986 |
23.191 |
35.923 |
46.435 |
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] |
0.016 |
0.076 |
0.008 |
-0.060 |
0.030 |
-0.005 |
-0.014 |
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] |
-0.794 |
-0.655 |
-0.674 |
-1.006 |
-0.731 |
-0.778 |
-0.925 |
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] |
0.841 |
0.858 |
0.870 |
0.967 |
1.148 |
0.521 |
0.930 |
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 [%] |
37.576 |
34.784 |
35.500 |
45.355 |
36.000 |
24.890 |
35.526 |
MoveIt Coverage Min/Max [%] |
37.576 |
34.784 |
35.500 |
45.355 |
36.000 |
24.890 |
35.526 |
Att. Std [rad-s] |
0.286 |
0.264 |
0.277 |
0.300 |
0.251 |
0.256 |
0.254 |
Phy. Coverage Std [%] |
13.138 |
12.160 |
12.717 |
13.809 |
9.604 |
9.823 |
9.731 |
MoveIt Coverage Std [%] |
13.138 |
12.160 |
12.717 |
13.809 |
9.604 |
9.823 |
9.731 |
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] |
0.029 |
-0.001 |
-0.003 |
0.011 |
-0.011 |
-0.002 |
0.047 |
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] |
-3.746 |
-1.878 |
-1.717 |
-3.092 |
-1.701 |
-1.434 |
-4.978 |
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] |
3.746 |
1.880 |
1.980 |
3.046 |
1.714 |
1.487 |
4.992 |
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 [%] |
24.974 |
25.050 |
18.482 |
24.552 |
11.385 |
7.301 |
24.927 |
MoveIt Coverage Min/Max [%] |
99.895 |
100.202 |
73.927 |
98.210 |
45.541 |
29.202 |
99.706 |
Att. Std [rad-s^2] |
1.264 |
0.854 |
0.496 |
1.361 |
0.363 |
0.671 |
1.471 |
Phy. Coverage Std [%] |
8.425 |
11.387 |
4.958 |
10.890 |
2.417 |
3.356 |
7.353 |
MoveIt Coverage Std [%] |
33.702 |
45.549 |
19.830 |
43.561 |
9.667 |
13.425 |
29.413 |
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] |
-0.435 |
-2.582 |
-3.982 |
10.436 |
0.422 |
0.849 |
-0.038 |
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] |
-22.688 |
-52.003 |
-25.280 |
-15.146 |
-1.795 |
-2.495 |
-0.455 |
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] |
16.033 |
56.693 |
25.644 |
21.095 |
2.056 |
3.758 |
0.548 |
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 [%] |
22.253 |
62.469 |
29.267 |
20.828 |
16.045 |
26.054 |
4.181 |
MoveIt Coverage Min/Max [%] |
22.253 |
62.469 |
29.267 |
20.828 |
16.045 |
26.054 |
4.181 |
Att. Std [Nm] |
1.571 |
29.558 |
12.748 |
7.747 |
0.741 |
1.251 |
0.343 |
Phy. Coverage Std [%] |
1.806 |
33.974 |
14.653 |
8.905 |
6.172 |
10.429 |
2.858 |
MoveIt Coverage Std [%] |
1.806 |
33.974 |
14.653 |
8.905 |
6.172 |
10.429 |
2.858 |