Table 3 Description of key-value sets of json objects in position files.
Key | Type | Value |
|---|---|---|
robot_number | Integer, either 1 or 2 | The robot number based on Fig. 1 |
time_stamp_ns | Array of integer numbers | The timestamps of robot positions in nanoseconds (synchronized with CSI timestamps) |
joint_positions | Matrix of floating point numbers | The joint positions of the robot in radian, where each row corresponds to a timestamp |
EE_positions | Matrix of floating point numbers | The Cartesian positions of the robot’s end effector in meter, where each row corresponds to a timestamp |
