Reach and hold against Hot soak

Observed run

Prediction

invalidsim

Not checked

Both runs are simulations: the observed run stands in for a real joint until a device posts one with source device:<id>.

The observed run carries nothing held; the prediction carries 0.3 kg on tool.

The observed run was at 25 C ambient and the prediction at 60 C.

The runs last 20 s and 120 s; each joint is compared over the time both cover.

The observed scenario is "min-jerk reach and hold" and the prediction's is "min-jerk reach and hold, payload at the tool, 60 C enclosure".

Observed: Printed arm, stand test ok
Prediction: Printed arm, stand test watch
Rules: command within 0.01 rad rms; position watch 0.02 rad rms, fault 0.1 rad max; current watch 25%; winding watch 5 °C, fault 15 °C

Joint	Status	Command apart	Position off (rms)	Position off (max)	Current off	Winding Δ	Health
base sim	not comparable	0.1317 rad	0.1318 rad	0.7969 rad	145% (0.236 A)	-35.1 °C	—
shoulder sim	not comparable	0.1399 rad	0.1399 rad	0.8472 rad	52% (0.935 A)	-41.3 °C	—
elbow sim	not comparable	0.2799 rad	0.2802 rad	1.6961 rad	69% (0.570 A)	-44.5 °C	—
wrist sim	not comparable	0.1399 rad	0.1401 rad	0.8483 rad	100% (0.212 A)	-36.4 °C	—

commanded positions are 0.132 rad rms apart, so the runs did not take the same command

commanded positions are 0.140 rad rms apart, so the runs did not take the same command

commanded positions are 0.280 rad rms apart, so the runs did not take the same command

commanded positions are 0.140 rad rms apart, so the runs did not take the same command