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RSDK-7555 remove ErrorState method from KinematicBase interface #3965

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@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label May 16, 2024
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels May 16, 2024
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels May 16, 2024
@raybjork raybjork requested a review from biotinker May 16, 2024 21:08
motionplan/plan.go Outdated Show resolved Hide resolved
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels May 17, 2024
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels May 17, 2024
@raybjork raybjork requested a review from biotinker May 17, 2024 17:25
@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels May 20, 2024
@viambot viambot removed the safe to test This pull request is marked safe to test from a trusted zone label May 20, 2024
@raybjork raybjork requested a review from biotinker May 20, 2024 21:28
@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label May 20, 2024
@@ -203,7 +199,7 @@ func WrapWithFakePTGKinematics(
}
ptgs := ptgProv.PTGSolvers()
traj := motionplan.Trajectory{{frame.Name(): zeroInput}}
path := motionplan.Path{{frame.Name(): referenceframe.NewPoseInFrame(origin.Parent(), spatialmath.Compose(origin.Pose(), sensorNoise))}}
path := motionplan.Path{{frame.Name(): origin}}
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Do we no longer want to consider sensor noise for fake mockups?

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I think with this change we are applying the same sensor noise twice, since it is also applied in the Localizer

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LGTM pending tests passing

@viambot viambot added safe to test This pull request is marked safe to test from a trusted zone and removed safe to test This pull request is marked safe to test from a trusted zone labels Jun 11, 2024
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Availability

Scene # viamrobotics:main raybjork:RSDK-7555 Percent Improvement Health
1 100% 100% 0%
2 100% 100% 0%
3 100% 100% 0%
4 100% 100% 0%
5 90% 90% 0%
6 90% 90% 0%
7 80% 80% 0%
8 100% 100% 0%
9 100% 100% 0%
10 100% 100% 0%
11 100% 100% 0%
12 100% 100% 0%
13 100% 100% 0%
14 100% 100% 0%
15 100% 100% 0%
16 90% 90% 0%
17 100% 100% 0%
18 70% 70% 0%

Quality

Scene # viamrobotics:main raybjork:RSDK-7555 Percent Improvement Probability of Improvement Health
1 1.31±0.00 1.31±0.00 -0% 50%
2 0.91±0.00 0.91±0.00 -0% 50%
3 2.48±0.15 2.52±0.24 -1% 45%
4 3.85±1.01 3.82±1.02 1% 51%
5 19.90±11.98 19.18±13.17 4% 52%
6 15.67±7.66 17.62±6.76 -12% 42%
7 5.14±2.34 5.09±3.16 1% 50%
8 5.05±1.03 5.05±1.03 -0% 50%
9 4.63±0.66 4.60±0.58 1% 52%
10 4.20±0.36 4.13±0.34 2% 56%
11 3.13±0.00 3.13±0.00 -0% 50%
12 3.91±0.85 3.91±0.85 -0% 50%
13 869.47±143.73 869.73±143.97 -0% 50%
14 1685.06±410.69 1685.05±410.69 0% 50%
15 57034.21±1352.64 57034.23±1352.62 -0% 50%
16 61294.42±6760.44 61294.62±6760.61 -0% 50%
17 13085.85±2789.97 13085.85±2789.97 0% 50%
18 115880.50±11841.48 113757.13±12199.85 2% 55%

Performance

Scene # viamrobotics:main raybjork:RSDK-7555 Percent Improvement Probability of Improvement Health
1 5.50±2.87 5.50±2.87 -0% 50%
2 5.50±2.87 5.50±2.87 -0% 50%
3 5.50±2.87 5.50±2.87 -0% 50%
4 5.50±2.87 5.50±2.87 -0% 50%
5 5.89±2.77 5.89±2.77 -0% 50%
6 5.89±2.77 5.89±2.77 -0% 50%
7 5.75±2.90 5.75±2.90 -0% 50%
8 5.50±2.87 5.50±2.87 -0% 50%
9 5.50±2.87 5.50±2.87 -0% 50%
10 5.50±2.87 5.50±2.87 -0% 50%
11 5.50±2.87 5.50±2.87 -0% 50%
12 5.50±2.87 5.50±2.87 -0% 50%
13 5.50±2.87 5.50±2.87 -0% 50%
14 5.50±2.87 5.50±2.87 -0% 50%
15 5.50±2.87 5.50±2.87 -0% 50%
16 5.22±2.90 5.22±2.90 -0% 50%
17 5.50±2.87 5.50±2.87 -0% 50%
18 4.57±2.87 4.57±2.87 -0% 50%

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: bd56add5f5fba38a9cd2fb406e1dc7a4d1c7f0de
The SHA1 for raybjork:RSDK-7555 is: bd56add5f5fba38a9cd2fb406e1dc7a4d1c7f0de

  • 10 samples were taken for each scene
  • A timeout of 5.0 seconds was imposed for each trial

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