15 lines
1.5 KiB
JSON
15 lines
1.5 KiB
JSON
{
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"status": "Provisional endpoint estimates from paired hardware/simulation photographs; full command arrays unknown",
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"confirmed": "Hardware and simulation used identical commands. Each tested joint is 255. DIP tests also have the same finger PIP at 255.",
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"unconfirmed": "Other channels, camera extrinsics and measured hardware angles are unknown. Test both the previous open command and all-zero background commands; neither is claimed to be the recorded command.",
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"angle_estimation": "Visible hardware link directions are approximately perpendicular. Use 90 degrees with an 8-degree estimation uncertainty as a provisional target, not a measured joint angle. No metric image reprojection fit is claimed.",
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"constraints": [
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{"joint":"ring_mcp_pitch","hardware_image":1,"simulation_image":2,"active":["ring_mcp_pitch"],"target_deg":90,"uncertainty_deg":8},
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{"joint":"ring_dip","hardware_image":3,"simulation_image":4,"active":["ring_pip","ring_dip"],"target_deg":90,"uncertainty_deg":8},
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{"joint":"pinky_mcp_pitch","hardware_image":5,"simulation_image":6,"active":["pinky_mcp_pitch"],"target_deg":90,"uncertainty_deg":8},
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{"joint":"pinky_pip","hardware_image":7,"simulation_image":8,"active":["pinky_pip"],"target_deg":90,"uncertainty_deg":8},
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{"joint":"pinky_dip","hardware_image":9,"simulation_image":10,"active":["pinky_pip","pinky_dip"],"target_deg":90,"uncertainty_deg":8},
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{"joint":"middle_dip","hardware_image":11,"simulation_image":12,"active":["middle_pip","middle_dip"],"target_deg":90,"uncertainty_deg":8}
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]
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}
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