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v2.0.0
MATLAB Simulation Results
Generated from aggregated simulation command-window logs.
adaptive/20260430_211808_multi_traj/command_window.txt
========================================================================
RUN: Run 1 | TRAJECTORY: circle | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: circle
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:18:09
Finished: 2026-04-30 21:18:11
Elapsed: 2.513 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: CIRCLE
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 2.2361 m
NRMSE Total: 0.1651
Tracking Score: 83.49 %
RMSE XYZ: [0.2912 0.2574 2.2021] m
Max Error: 3.8047 m
Mean Error: 1.9292 m
Std Error: 1.1307 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.3705 rad
NRMSE Total: 0.0450
Tracking Score: 95.50 %
RMSE RPY: [0.0836 0.2126 0.1282] rad
Max Error: 2.2462 rad
Mean Error: 0.2833 rad
Std Error: 0.2389 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 2.2739
NRMSE Total: 0.1051
Tracking Score: 89.49 %
Max Error: 4.4247
Mean Error: 1.9622
Std Error: 1.1492
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 1.2246 kg
Mass NRMSE: 0.8164
Mass Tracking Score: 18.36 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0274 0.0119 0.0114] m
CoG RMSE Total: 0.0319 m
CoG NRMSE: 0.8164
CoG Tracking Score: 18.36 %
CoG Identification Metric: 0.1757
CoG Identification Score: 17.57 %
Inertia RMSE: [0.0061 0.0193 0.0193 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0298
Inertia NRMSE: 0.8164
Inertia Tracking Score: 18.36 %
Inertia Identification Metric: 0.0013
Inertia Identification Score: 0.13 %
Summary: Track RMSE 2.2739 | Track Score 89.49% | Mass Tracking Score 18.36% | CoG Tracking Score 18.36% | Inertia Tracking Score 18.36%
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performance might be diminished. See <a href="https://www.mathworks.com/support/requirements/matlab-system-requirements.html">MATLAB System Requirements</a>.]�
========================================================================
RUN: Run 2 | TRAJECTORY: circle | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: circle
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:19:30
Finished: 2026-04-30 21:19:33
Elapsed: 2.392 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: CIRCLE
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2482 m
NRMSE Total: 0.0173
Tracking Score: 98.27 %
RMSE XYZ: [0.0085 0.0167 0.2475] m
Max Error: 0.6553 m
Mean Error: 0.1772 m
Std Error: 0.1738 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.2026 rad
NRMSE Total: 0.0221
Tracking Score: 97.79 %
RMSE RPY: [0.0207 0.0580 0.1294] rad
Max Error: 2.2221 rad
Mean Error: 0.1041 rad
Std Error: 0.1738 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.3204
NRMSE Total: 0.0197
Tracking Score: 98.03 %
Max Error: 2.2391
Mean Error: 0.2415
Std Error: 0.2106
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.3976 kg
Mass NRMSE: 0.2651
Mass Tracking Score: 73.49 %
Mass Identification Metric: 1.0000
Mass Identification Score: 100.00 %
CoG RMSE: [0.0074 0.0034 0.0122] m
CoG RMSE Total: 0.0146 m
CoG NRMSE: 0.4438
CoG Tracking Score: 55.62 %
CoG Identification Metric: 0.3092
CoG Identification Score: 30.92 %
Inertia RMSE: [0.0061 0.0193 0.0193 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0298
Inertia NRMSE: 0.8165
Inertia Tracking Score: 18.35 %
Inertia Identification Metric: 0.0054
Inertia Identification Score: 0.54 %
Summary: Track RMSE 0.3204 | Track Score 98.03% | Mass Tracking Score 73.49% | CoG Tracking Score 55.62% | Inertia Tracking Score 18.35%
========================================================================
RUN: Run 3 | TRAJECTORY: circle | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: circle
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [3.6000 3.6000 3.6000 0.4000 0.4000 0.4000 0.7200 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:20:44
Finished: 2026-04-30 21:20:46
Elapsed: 2.139 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: CIRCLE
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2237 m
NRMSE Total: 0.0162
Tracking Score: 98.38 %
RMSE XYZ: [0.0191 0.0222 0.2217] m
Max Error: 0.3917 m
Mean Error: 0.1990 m
Std Error: 0.1021 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.2112 rad
NRMSE Total: 0.0239
Tracking Score: 97.61 %
RMSE RPY: [0.0250 0.0706 0.1292] rad
Max Error: 2.2243 rad
Mean Error: 0.1111 rad
Std Error: 0.1797 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.3077
NRMSE Total: 0.0200
Tracking Score: 98.00 %
Max Error: 2.2529
Mean Error: 0.2388
Std Error: 0.1941
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.4076 kg
Mass NRMSE: 0.2717
Mass Tracking Score: 72.83 %
Mass Identification Metric: 1.0000
Mass Identification Score: 100.00 %
CoG RMSE: [0.0084 0.0038 0.0120] m
CoG RMSE Total: 0.0151 m
CoG NRMSE: 0.4576
CoG Tracking Score: 54.24 %
CoG Identification Metric: 0.2317
CoG Identification Score: 23.17 %
Inertia RMSE: [0.0061 0.0192 0.0193 0.0070 0.0072 0.0036]
Inertia RMSE Total: 0.0299
Inertia NRMSE: 0.8436
Inertia Tracking Score: 15.64 %
Inertia Identification Metric: 0.0051
Inertia Identification Score: 0.51 %
Summary: Track RMSE 0.3077 | Track Score 98.00% | Mass Tracking Score 72.83% | CoG Tracking Score 54.24% | Inertia Tracking Score 15.64%
========================================================================
RUN: Run 4 | TRAJECTORY: circle | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: circle
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 1.2000 1.2000 1.2000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:21:58
Finished: 2026-04-30 21:22:00
Elapsed: 2.131 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: CIRCLE
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2495 m
NRMSE Total: 0.0173
Tracking Score: 98.27 %
RMSE XYZ: [0.0091 0.0102 0.2491] m
Max Error: 0.6646 m
Mean Error: 0.1782 m
Std Error: 0.1747 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.1839 rad
NRMSE Total: 0.0154
Tracking Score: 98.46 %
RMSE RPY: [0.0035 0.0122 0.1294] rad
Max Error: 2.2215 rad
Mean Error: 0.0432 rad
Std Error: 0.1787 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.3099
NRMSE Total: 0.0163
Tracking Score: 98.37 %
Max Error: 2.2384
Mean Error: 0.2045
Std Error: 0.2329
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.3998 kg
Mass NRMSE: 0.2666
Mass Tracking Score: 73.34 %
Mass Identification Metric: 1.0000
Mass Identification Score: 100.00 %
CoG RMSE: [0.0021 0.0012 0.0119] m
CoG RMSE Total: 0.0122 m
CoG NRMSE: 0.3342
CoG Tracking Score: 66.58 %
CoG Identification Metric: 0.3777
CoG Identification Score: 37.77 %
Inertia RMSE: [0.0061 0.0193 0.0193 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0298
Inertia NRMSE: 0.8164
Inertia Tracking Score: 18.36 %
Inertia Identification Metric: 0.0074
Inertia Identification Score: 0.74 %
Summary: Track RMSE 0.3099 | Track Score 98.37% | Mass Tracking Score 73.34% | CoG Tracking Score 66.58% | Inertia Tracking Score 18.36%
========================================================================
RUN: Run 1 | TRAJECTORY: infinity3dmod | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: infinity3dmod
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:23:10
Finished: 2026-04-30 21:23:13
Elapsed: 2.255 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: INFINITY3DMOD
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 2.2801 m
NRMSE Total: 0.1336
Tracking Score: 86.64 %
RMSE XYZ: [0.4084 0.4940 2.1882] m
Max Error: 3.8049 m
Mean Error: 1.9802 m
Std Error: 1.1305 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.3253 rad
NRMSE Total: 0.0360
Tracking Score: 96.40 %
RMSE RPY: [0.0943 0.2061 0.0393] rad
Max Error: 0.4973 rad
Mean Error: 0.2672 rad
Std Error: 0.1856 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 2.3102
NRMSE Total: 0.0848
Tracking Score: 91.52 %
Max Error: 3.8403
Mean Error: 2.0094
Std Error: 1.1401
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 1.2246 kg
Mass NRMSE: 0.8164
Mass Tracking Score: 18.36 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0274 0.0119 0.0114] m
CoG RMSE Total: 0.0319 m
CoG NRMSE: 0.8164
CoG Tracking Score: 18.36 %
CoG Identification Metric: 0.3646
CoG Identification Score: 36.46 %
Inertia RMSE: [0.0061 0.0193 0.0193 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0298
Inertia NRMSE: 0.8164
Inertia Tracking Score: 18.36 %
Inertia Identification Metric: 0.1991
Inertia Identification Score: 19.91 %
Summary: Track RMSE 2.3102 | Track Score 91.52% | Mass Tracking Score 18.36% | CoG Tracking Score 18.36% | Inertia Tracking Score 18.36%
========================================================================
RUN: Run 2 | TRAJECTORY: infinity3dmod | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: infinity3dmod
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:24:26
Finished: 2026-04-30 21:24:28
Elapsed: 2.152 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: INFINITY3DMOD
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2329 m
NRMSE Total: 0.0118
Tracking Score: 98.82 %
RMSE XYZ: [0.0186 0.0243 0.2309] m
Max Error: 0.6283 m
Mean Error: 0.1727 m
Std Error: 0.1563 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.0869 rad
NRMSE Total: 0.0096
Tracking Score: 99.04 %
RMSE RPY: [0.0261 0.0548 0.0095] rad
Max Error: 0.1648 rad
Mean Error: 0.0808 rad
Std Error: 0.0319 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2486
NRMSE Total: 0.0107
Tracking Score: 98.93 %
Max Error: 0.6297
Mean Error: 0.2110
Std Error: 0.1315
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.3946 kg
Mass NRMSE: 0.2631
Mass Tracking Score: 73.69 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0075 0.0034 0.0115] m
CoG RMSE Total: 0.0142 m
CoG NRMSE: 0.4293
CoG Tracking Score: 57.07 %
CoG Identification Metric: 0.6653
CoG Identification Score: 66.53 %
Inertia RMSE: [0.0062 0.0192 0.0184 0.0070 0.0071 0.0030]
Inertia RMSE Total: 0.0292
Inertia NRMSE: 0.8100
Inertia Tracking Score: 19.00 %
Inertia Identification Metric: 0.4270
Inertia Identification Score: 42.70 %
Summary: Track RMSE 0.2486 | Track Score 98.93% | Mass Tracking Score 73.69% | CoG Tracking Score 57.07% | Inertia Tracking Score 19.00%
========================================================================
RUN: Run 3 | TRAJECTORY: infinity3dmod | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: infinity3dmod
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [3.6000 3.6000 3.6000 0.4000 0.4000 0.4000 0.7200 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:25:41
Finished: 2026-04-30 21:25:43
Elapsed: 2.134 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: INFINITY3DMOD
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.1969 m
NRMSE Total: 0.0112
Tracking Score: 98.88 %
RMSE XYZ: [0.0334 0.0369 0.1905] m
Max Error: 0.3921 m
Mean Error: 0.1741 m
Std Error: 0.0919 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.1021 rad
NRMSE Total: 0.0114
Tracking Score: 98.86 %
RMSE RPY: [0.0313 0.0640 0.0118] rad
Max Error: 0.1674 rad
Mean Error: 0.0940 rad
Std Error: 0.0398 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2218
NRMSE Total: 0.0113
Tracking Score: 98.87 %
Max Error: 0.4196
Mean Error: 0.2005
Std Error: 0.0949
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.4087 kg
Mass NRMSE: 0.2725
Mass Tracking Score: 72.75 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0084 0.0039 0.0111] m
CoG RMSE Total: 0.0145 m
CoG NRMSE: 0.4383
CoG Tracking Score: 56.17 %
CoG Identification Metric: 0.6504
CoG Identification Score: 65.04 %
Inertia RMSE: [0.0142 0.0201 0.0414 0.0073 0.0092 0.0048]
Inertia RMSE Total: 0.0498
Inertia NRMSE: 1.2825
Inertia Tracking Score: 0.00 %
Inertia Identification Metric: 0.4076
Inertia Identification Score: 40.76 %
Summary: Track RMSE 0.2218 | Track Score 98.87% | Mass Tracking Score 72.75% | CoG Tracking Score 56.17% | Inertia Tracking Score 0.00%
========================================================================
RUN: Run 4 | TRAJECTORY: infinity3dmod | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: infinity3dmod
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 1.2000 1.2000 1.2000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:26:56
Finished: 2026-04-30 21:26:58
Elapsed: 2.140 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: INFINITY3DMOD
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2342 m
NRMSE Total: 0.0117
Tracking Score: 98.83 %
RMSE XYZ: [0.0148 0.0233 0.2325] m
Max Error: 0.6345 m
Mean Error: 0.1728 m
Std Error: 0.1580 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.0203 rad
NRMSE Total: 0.0022
Tracking Score: 99.78 %
RMSE RPY: [0.0060 0.0129 0.0022] rad
Max Error: 0.0321 rad
Mean Error: 0.0194 rad
Std Error: 0.0058 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2350
NRMSE Total: 0.0070
Tracking Score: 99.30 %
Max Error: 0.6348
Mean Error: 0.1762
Std Error: 0.1555
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.3963 kg
Mass NRMSE: 0.2642
Mass Tracking Score: 73.58 %
Mass Identification Metric: 1.0000
Mass Identification Score: 100.00 %
CoG RMSE: [0.0027 0.0020 0.0111] m
CoG RMSE Total: 0.0116 m
CoG NRMSE: 0.3394
CoG Tracking Score: 66.06 %
CoG Identification Metric: 0.6797
CoG Identification Score: 67.97 %
Inertia RMSE: [0.0061 0.0192 0.0189 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0296
Inertia NRMSE: 0.8136
Inertia Tracking Score: 18.64 %
Inertia Identification Metric: 0.4669
Inertia Identification Score: 46.69 %
Summary: Track RMSE 0.2350 | Track Score 99.30% | Mass Tracking Score 73.58% | CoG Tracking Score 66.06% | Inertia Tracking Score 18.64%
========================================================================
RUN: Run 1 | TRAJECTORY: lissajous3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: lissajous3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:28:11
Finished: 2026-04-30 21:28:13
Elapsed: 2.214 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: LISSAJOUS3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 2.1963 m
NRMSE Total: 0.1585
Tracking Score: 84.15 %
RMSE XYZ: [0.4372 0.9368 1.9378] m
Max Error: 4.2538 m
Mean Error: 1.8084 m
Std Error: 1.2465 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.3354 rad
NRMSE Total: 0.0384
Tracking Score: 96.16 %
RMSE RPY: [0.0982 0.2089 0.0547] rad
Max Error: 0.7611 rad
Mean Error: 0.2715 rad
Std Error: 0.1970 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 2.2287
NRMSE Total: 0.0984
Tracking Score: 90.16 %
Max Error: 4.3013
Mean Error: 1.8417
Std Error: 1.2552
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 1.2246 kg
Mass NRMSE: 0.8164
Mass Tracking Score: 18.36 %
Mass Identification Metric: 0.9990
Mass Identification Score: 99.90 %
CoG RMSE: [0.0274 0.0119 0.0114] m
CoG RMSE Total: 0.0319 m
CoG NRMSE: 0.8164
CoG Tracking Score: 18.36 %
CoG Identification Metric: 0.4347
CoG Identification Score: 43.47 %
Inertia RMSE: [0.0061 0.0193 0.0193 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0298
Inertia NRMSE: 0.8164
Inertia Tracking Score: 18.36 %
Inertia Identification Metric: 0.1849
Inertia Identification Score: 18.49 %
Summary: Track RMSE 2.2287 | Track Score 90.16% | Mass Tracking Score 18.36% | CoG Tracking Score 18.36% | Inertia Tracking Score 18.36%
========================================================================
RUN: Run 2 | TRAJECTORY: lissajous3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: lissajous3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:29:25
Finished: 2026-04-30 21:29:27
Elapsed: 2.120 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: LISSAJOUS3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2079 m
NRMSE Total: 0.0137
Tracking Score: 98.63 %
RMSE XYZ: [0.0237 0.0323 0.2040] m
Max Error: 0.5767 m
Mean Error: 0.1593 m
Std Error: 0.1337 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.0862 rad
NRMSE Total: 0.0100
Tracking Score: 99.00 %
RMSE RPY: [0.0305 0.0514 0.0118] rad
Max Error: 0.1648 rad
Mean Error: 0.0822 rad
Std Error: 0.0260 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2251
NRMSE Total: 0.0118
Tracking Score: 98.82 %
Max Error: 0.5794
Mean Error: 0.1942
Std Error: 0.1139
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.3893 kg
Mass NRMSE: 0.2595
Mass Tracking Score: 74.05 %
Mass Identification Metric: 1.0000
Mass Identification Score: 100.00 %
CoG RMSE: [0.0070 0.0043 0.0117] m
CoG RMSE Total: 0.0143 m
CoG NRMSE: 0.4480
CoG Tracking Score: 55.20 %
CoG Identification Metric: 0.7960
CoG Identification Score: 79.60 %
Inertia RMSE: [0.0060 0.0193 0.0183 0.0070 0.0071 0.0030]
Inertia RMSE Total: 0.0292
Inertia NRMSE: 0.8063
Inertia Tracking Score: 19.37 %
Inertia Identification Metric: 0.4847
Inertia Identification Score: 48.47 %
Summary: Track RMSE 0.2251 | Track Score 98.82% | Mass Tracking Score 74.05% | CoG Tracking Score 55.20% | Inertia Tracking Score 19.37%
========================================================================
RUN: Run 3 | TRAJECTORY: lissajous3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: lissajous3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [3.6000 3.6000 3.6000 0.4000 0.4000 0.4000 0.7200 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:30:40
Finished: 2026-04-30 21:30:42
Elapsed: 2.171 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: LISSAJOUS3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2086 m
NRMSE Total: 0.0142
Tracking Score: 98.58 %
RMSE XYZ: [0.0335 0.0419 0.2016] m
Max Error: 0.3921 m
Mean Error: 0.1895 m
Std Error: 0.0873 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.1021 rad
NRMSE Total: 0.0117
Tracking Score: 98.83 %
RMSE RPY: [0.0295 0.0635 0.0178] rad
Max Error: 0.1674 rad
Mean Error: 0.0921 rad
Std Error: 0.0440 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2323
NRMSE Total: 0.0130
Tracking Score: 98.70 %
Max Error: 0.4196
Mean Error: 0.2178
Std Error: 0.0809
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.4238 kg
Mass NRMSE: 0.2825
Mass Tracking Score: 71.75 %
Mass Identification Metric: 1.0000
Mass Identification Score: 100.00 %
CoG RMSE: [0.0083 0.0039 0.0119] m
CoG RMSE Total: 0.0150 m
CoG NRMSE: 0.4583
CoG Tracking Score: 54.17 %
CoG Identification Metric: 0.7358
CoG Identification Score: 73.58 %
Inertia RMSE: [0.0070 0.0300 0.1386 0.0077 0.0096 0.0084]
Inertia RMSE Total: 0.1427
Inertia NRMSE: 2.0547
Inertia Tracking Score: 0.00 %
Inertia Identification Metric: 0.4582
Inertia Identification Score: 45.82 %
Summary: Track RMSE 0.2323 | Track Score 98.70% | Mass Tracking Score 71.75% | CoG Tracking Score 54.17% | Inertia Tracking Score 0.00%
========================================================================
RUN: Run 4 | TRAJECTORY: lissajous3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: lissajous3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 1.2000 1.2000 1.2000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:31:56
Finished: 2026-04-30 21:31:58
Elapsed: 2.163 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: LISSAJOUS3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2064 m
NRMSE Total: 0.0135
Tracking Score: 98.65 %
RMSE XYZ: [0.0200 0.0325 0.2028] m
Max Error: 0.5798 m
Mean Error: 0.1577 m
Std Error: 0.1331 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.0195 rad
NRMSE Total: 0.0023
Tracking Score: 99.77 %
RMSE RPY: [0.0091 0.0102 0.0020] rad
Max Error: 0.0273 rad
Mean Error: 0.0189 rad
Std Error: 0.0049 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2073
NRMSE Total: 0.0079
Tracking Score: 99.21 %
Max Error: 0.5803
Mean Error: 0.1600
Std Error: 0.1318
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.3916 kg
Mass NRMSE: 0.2611
Mass Tracking Score: 73.89 %
Mass Identification Metric: 1.0000
Mass Identification Score: 100.00 %
CoG RMSE: [0.0030 0.0030 0.0115] m
CoG RMSE Total: 0.0123 m
CoG NRMSE: 0.3760
CoG Tracking Score: 62.40 %
CoG Identification Metric: 0.8971
CoG Identification Score: 89.71 %
Inertia RMSE: [0.0061 0.0193 0.0190 0.0070 0.0070 0.0030]
Inertia RMSE Total: 0.0296
Inertia NRMSE: 0.8131
Inertia Tracking Score: 18.69 %
Inertia Identification Metric: 0.5181
Inertia Identification Score: 51.81 %
Summary: Track RMSE 0.2073 | Track Score 99.21% | Mass Tracking Score 73.89% | CoG Tracking Score 62.40% | Inertia Tracking Score 18.69%
========================================================================
RUN: Run 1 | TRAJECTORY: helix3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: helix3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:33:11
Finished: 2026-04-30 21:33:13
Elapsed: 2.215 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: HELIX3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 2.2059 m
NRMSE Total: 0.1200
Tracking Score: 88.00 %
RMSE XYZ: [0.4673 0.2814 2.1374] m
Max Error: 3.8049 m
Mean Error: 1.9086 m
Std Error: 1.1062 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.3192 rad
NRMSE Total: 0.0339
Tracking Score: 96.61 %
RMSE RPY: [0.0917 0.2049 0.0231] rad
Max Error: 0.4848 rad
Mean Error: 0.2623 rad
Std Error: 0.1819 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 2.2356
NRMSE Total: 0.0769
Tracking Score: 92.31 %
Max Error: 3.8403
Mean Error: 1.9371
Std Error: 1.1160
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 1.2246 kg
Mass NRMSE: 0.8164
Mass Tracking Score: 18.36 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0274 0.0119 0.0114] m
CoG RMSE Total: 0.0319 m
CoG NRMSE: 0.8164
CoG Tracking Score: 18.36 %
CoG Identification Metric: 0.3014
CoG Identification Score: 30.14 %
Inertia RMSE: [0.0061 0.0193 0.0193 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0298
Inertia NRMSE: 0.8164
Inertia Tracking Score: 18.36 %
Inertia Identification Metric: 0.2101
Inertia Identification Score: 21.01 %
Summary: Track RMSE 2.2356 | Track Score 92.31% | Mass Tracking Score 18.36% | CoG Tracking Score 18.36% | Inertia Tracking Score 18.36%
========================================================================
RUN: Run 2 | TRAJECTORY: helix3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: helix3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:34:25
Finished: 2026-04-30 21:34:27
Elapsed: 2.118 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: HELIX3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2496 m
NRMSE Total: 0.0123
Tracking Score: 98.77 %
RMSE XYZ: [0.0215 0.0155 0.2482] m
Max Error: 0.6660 m
Mean Error: 0.1822 m
Std Error: 0.1706 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.0863 rad
NRMSE Total: 0.0092
Tracking Score: 99.08 %
RMSE RPY: [0.0250 0.0554 0.0059] rad
Max Error: 0.1648 rad
Mean Error: 0.0787 rad
Std Error: 0.0356 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2641
NRMSE Total: 0.0107
Tracking Score: 98.93 %
Max Error: 0.6668
Mean Error: 0.2214
Std Error: 0.1440
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.3990 kg
Mass NRMSE: 0.2660
Mass Tracking Score: 73.40 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0075 0.0031 0.0118] m
CoG RMSE Total: 0.0143 m
CoG NRMSE: 0.4285
CoG Tracking Score: 57.15 %
CoG Identification Metric: 0.6117
CoG Identification Score: 61.17 %
Inertia RMSE: [0.0061 0.0194 0.0184 0.0070 0.0070 0.0030]
Inertia RMSE Total: 0.0293
Inertia NRMSE: 0.8092
Inertia Tracking Score: 19.08 %
Inertia Identification Metric: 0.4271
Inertia Identification Score: 42.71 %
Summary: Track RMSE 0.2641 | Track Score 98.93% | Mass Tracking Score 73.40% | CoG Tracking Score 57.15% | Inertia Tracking Score 19.08%
========================================================================
RUN: Run 3 | TRAJECTORY: helix3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: helix3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [3.6000 3.6000 3.6000 0.4000 0.4000 0.4000 0.7200 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:35:40
Finished: 2026-04-30 21:35:42
Elapsed: 2.095 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: HELIX3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2024 m
NRMSE Total: 0.0110
Tracking Score: 98.90 %
RMSE XYZ: [0.0477 0.0219 0.1954] m
Max Error: 0.3921 m
Mean Error: 0.1741 m
Std Error: 0.1032 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.1027 rad
NRMSE Total: 0.0109
Tracking Score: 98.91 %
RMSE RPY: [0.0295 0.0660 0.0070] rad
Max Error: 0.1674 rad
Mean Error: 0.0884 rad
Std Error: 0.0524 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2270
NRMSE Total: 0.0109
Tracking Score: 98.91 %
Max Error: 0.4196
Mean Error: 0.1976
Std Error: 0.1118
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.4050 kg
Mass NRMSE: 0.2700
Mass Tracking Score: 73.00 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0084 0.0035 0.0117] m
CoG RMSE Total: 0.0148 m
CoG NRMSE: 0.4427
CoG Tracking Score: 55.73 %
CoG Identification Metric: 0.5466
CoG Identification Score: 54.66 %
Inertia RMSE: [0.0063 0.0297 0.0480 0.0076 0.0120 0.0025]
Inertia RMSE Total: 0.0586
Inertia NRMSE: 1.1813
Inertia Tracking Score: 0.00 %
Inertia Identification Metric: 0.4078
Inertia Identification Score: 40.78 %
Summary: Track RMSE 0.2270 | Track Score 98.91% | Mass Tracking Score 73.00% | CoG Tracking Score 55.73% | Inertia Tracking Score 0.00%
========================================================================
RUN: Run 4 | TRAJECTORY: helix3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: helix3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 1.2000 1.2000 1.2000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:36:54
Finished: 2026-04-30 21:36:56
Elapsed: 2.165 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: HELIX3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2491 m
NRMSE Total: 0.0121
Tracking Score: 98.79 %
RMSE XYZ: [0.0188 0.0145 0.2480] m
Max Error: 0.6704 m
Mean Error: 0.1813 m
Std Error: 0.1709 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.0162 rad
NRMSE Total: 0.0017
Tracking Score: 99.83 %
RMSE RPY: [0.0045 0.0104 0.0015] rad
Max Error: 0.0271 rad
Mean Error: 0.0147 rad
Std Error: 0.0067 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2496
NRMSE Total: 0.0069
Tracking Score: 99.31 %
Max Error: 0.6705
Mean Error: 0.1840
Std Error: 0.1687
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.4004 kg
Mass NRMSE: 0.2670
Mass Tracking Score: 73.30 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0027 0.0013 0.0115] m
CoG RMSE Total: 0.0119 m
CoG NRMSE: 0.3329
CoG Tracking Score: 66.71 %
CoG Identification Metric: 0.7332
CoG Identification Score: 73.32 %
Inertia RMSE: [0.0061 0.0193 0.0189 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0296
Inertia NRMSE: 0.8136
Inertia Tracking Score: 18.64 %
Inertia Identification Metric: 0.4579
Inertia Identification Score: 45.79 %
Summary: Track RMSE 0.2496 | Track Score 99.31% | Mass Tracking Score 73.30% | CoG Tracking Score 66.71% | Inertia Tracking Score 18.64%
========================================================================
RUN: Run 1 | TRAJECTORY: poly3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: poly3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:38:08
Finished: 2026-04-30 21:38:10
Elapsed: 2.629 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: POLY3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 2.2566 m
NRMSE Total: 0.1484
Tracking Score: 85.16 %
RMSE XYZ: [0.3593 0.2226 2.2167] m
Max Error: 3.8049 m
Mean Error: 1.9520 m
Std Error: 1.1324 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.3215 rad
NRMSE Total: 0.0347
Tracking Score: 96.53 %
RMSE RPY: [0.0920 0.2058 0.0296] rad
Max Error: 0.4491 rad
Mean Error: 0.2648 rad
Std Error: 0.1823 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 2.2863
NRMSE Total: 0.0916
Tracking Score: 90.84 %
Max Error: 3.8402
Mean Error: 1.9805
Std Error: 1.1424
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 1.2246 kg
Mass NRMSE: 0.8164
Mass Tracking Score: 18.36 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0274 0.0119 0.0114] m
CoG RMSE Total: 0.0319 m
CoG NRMSE: 0.8164
CoG Tracking Score: 18.36 %
CoG Identification Metric: 0.3070
CoG Identification Score: 30.70 %
Inertia RMSE: [0.0061 0.0193 0.0193 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0298
Inertia NRMSE: 0.8164
Inertia Tracking Score: 18.36 %
Inertia Identification Metric: 0.1760
Inertia Identification Score: 17.60 %
Summary: Track RMSE 2.2863 | Track Score 90.84% | Mass Tracking Score 18.36% | CoG Tracking Score 18.36% | Inertia Tracking Score 18.36%
========================================================================
RUN: Run 2 | TRAJECTORY: poly3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: poly3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:39:21
Finished: 2026-04-30 21:39:24
Elapsed: 2.549 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: POLY3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2399 m
NRMSE Total: 0.0134
Tracking Score: 98.66 %
RMSE XYZ: [0.0146 0.0154 0.2390] m
Max Error: 0.6522 m
Mean Error: 0.1714 m
Std Error: 0.1679 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.0871 rad
NRMSE Total: 0.0093
Tracking Score: 99.07 %
RMSE RPY: [0.0249 0.0559 0.0072] rad
Max Error: 0.1648 rad
Mean Error: 0.0836 rad
Std Error: 0.0243 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2553
NRMSE Total: 0.0114
Tracking Score: 98.86 %
Max Error: 0.6545
Mean Error: 0.2125
Std Error: 0.1414
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.3980 kg
Mass NRMSE: 0.2654
Mass Tracking Score: 73.46 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0079 0.0033 0.0126] m
CoG RMSE Total: 0.0152 m
CoG NRMSE: 0.4548
CoG Tracking Score: 54.52 %
CoG Identification Metric: 0.6784
CoG Identification Score: 67.84 %
Inertia RMSE: [0.0061 0.0192 0.0196 0.0070 0.0071 0.0031]
Inertia RMSE Total: 0.0300
Inertia NRMSE: 0.8191
Inertia Tracking Score: 18.09 %
Inertia Identification Metric: 0.3991
Inertia Identification Score: 39.91 %
Summary: Track RMSE 0.2553 | Track Score 98.86% | Mass Tracking Score 73.46% | CoG Tracking Score 54.52% | Inertia Tracking Score 18.09%
========================================================================
RUN: Run 3 | TRAJECTORY: poly3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: poly3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [3.6000 3.6000 3.6000 0.4000 0.4000 0.4000 0.7200 0.1200 0.1200 0.1200]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:40:35
Finished: 2026-04-30 21:40:37
Elapsed: 2.596 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: POLY3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2115 m
NRMSE Total: 0.0134
Tracking Score: 98.66 %
RMSE XYZ: [0.0315 0.0173 0.2084] m
Max Error: 0.3921 m
Mean Error: 0.1826 m
Std Error: 0.1067 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.1042 rad
NRMSE Total: 0.0112
Tracking Score: 98.88 %
RMSE RPY: [0.0294 0.0669 0.0094] rad
Max Error: 0.1674 rad
Mean Error: 0.0910 rad
Std Error: 0.0508 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2358
NRMSE Total: 0.0123
Tracking Score: 98.77 %
Max Error: 0.4195
Mean Error: 0.2062
Std Error: 0.1144
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.4112 kg
Mass NRMSE: 0.2741
Mass Tracking Score: 72.59 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0086 0.0036 0.0117] m
CoG RMSE Total: 0.0149 m
CoG NRMSE: 0.4475
CoG Tracking Score: 55.25 %
CoG Identification Metric: 0.5715
CoG Identification Score: 57.15 %
Inertia RMSE: [0.0089 0.0194 0.0320 0.0069 0.0093 0.0046]
Inertia RMSE Total: 0.0404
Inertia NRMSE: 1.0806
Inertia Tracking Score: 0.00 %
Inertia Identification Metric: 0.3655
Inertia Identification Score: 36.55 %
Summary: Track RMSE 0.2358 | Track Score 98.77% | Mass Tracking Score 72.59% | CoG Tracking Score 55.25% | Inertia Tracking Score 0.00%
========================================================================
RUN: Run 4 | TRAJECTORY: poly3d | MODE: Adaptive
========================================================================
========================================================================
SETUP
========================================================================
Trajectory: poly3d
Controller: Feedforward (liealgebra)
Adaptation: euclidean
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0100 s
adaptation_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.55 5.55 5.55 5.55 5.55 5.55]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
Adaptive Gains: [0.0800 0.0800 0.1200 0.0040 0.0040 0.0040 0.3600 1.2000 1.2000 1.2000]
Plant mass: 5.146 kg (with payload)
Estimate init: NOMINAL values (mass=3.646 kg)
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:41:49
Finished: 2026-04-30 21:41:52
Elapsed: 2.530 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: POLY3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.2393 m
NRMSE Total: 0.0130
Tracking Score: 98.70 %
RMSE XYZ: [0.0115 0.0142 0.2386] m
Max Error: 0.6481 m
Mean Error: 0.1709 m
Std Error: 0.1674 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.0126 rad
NRMSE Total: 0.0014
Tracking Score: 99.86 %
RMSE RPY: [0.0039 0.0078 0.0016] rad
Max Error: 0.0255 rad
Mean Error: 0.0122 rad
Std Error: 0.0031 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.2396
NRMSE Total: 0.0072
Tracking Score: 99.28 %
Max Error: 0.6482
Mean Error: 0.1727
Std Error: 0.1661
Parameter Estimation Metrics (Diagnostic Only)
--------------------------------------------------------
Note: Convergence requires persistent excitation.
Mass RMSE: 0.3974 kg
Mass NRMSE: 0.2650
Mass Tracking Score: 73.50 %
Mass Identification Metric: 0.9999
Mass Identification Score: 99.99 %
CoG RMSE: [0.0025 0.0016 0.0140] m
CoG RMSE Total: 0.0143 m
CoG NRMSE: 0.3975
CoG Tracking Score: 60.25 %
CoG Identification Metric: 0.7803
CoG Identification Score: 78.03 %
Inertia RMSE: [0.0061 0.0192 0.0192 0.0070 0.0070 0.0031]
Inertia RMSE Total: 0.0298
Inertia NRMSE: 0.8163
Inertia Tracking Score: 18.37 %
Inertia Identification Metric: 0.4250
Inertia Identification Score: 42.50 %
Summary: Track RMSE 0.2396 | Track Score 99.28% | Mass Tracking Score 73.50% | CoG Tracking Score 60.25% | Inertia Tracking Score 18.37%
nominal/20260430_211705_inf3d_ff_lie/command_window.txt
========================================================================
SETUP
========================================================================
Trajectory: infinity3d
Controller: Feedforward (liealgebra)
Duration: 30.0 s
Timesteps
--------------------------------------------------------
sim_dt: 0.0050 s
control_dt: 0.0050 s
Gains
--------------------------------------------------------
Kp: [5.50 5.50 5.50 5.50 5.50 5.50]
Kd: [2.05 2.05 2.05 2.05 2.05 2.05]
========================================================================
EXECUTION
========================================================================
Started: 2026-04-30 21:17:05
Finished: 2026-04-30 21:17:07
Elapsed: 1.783 s
Note: Simulation completed.
========================================================================
TRACKING METRICS: INFINITY3D
========================================================================
Position Metrics
--------------------------------------------------------
RMSE Total: 0.0082 m
NRMSE Total: 0.0007
Tracking Score: 99.93 %
RMSE XYZ: [0.0052 0.0045 0.0045] m
Max Error: 0.0178 m
Mean Error: 0.0068 m
Std Error: 0.0045 m
Orientation Metrics (SO(3))
--------------------------------------------------------
RMSE Total: 0.0905 rad
NRMSE Total: 0.0068
Tracking Score: 99.32 %
RMSE RPY: [0.0000 0.0000 0.0640] rad
Max Error: 1.1096 rad
Mean Error: 0.0176 rad
Std Error: 0.0888 rad
Combined Pose Metrics (SE(3))
--------------------------------------------------------
RMSE Total: 0.0909
NRMSE Total: 0.0037
Tracking Score: 99.63 %
Max Error: 1.1097
Mean Error: 0.0219
Std Error: 0.0882
Summary: Track RMSE 0.0909 | Track Score 99.63%
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