HALOWERKTechnische Prüfungen & Formate
F TD2000 GEO INDUSTRY B012 / planar serial recursive newton euler inverse dynamics power transcript
Recover a complete serial-robot inverse-dynamics and mechanical-power artifact from explicit link data.
POST https://detect.halowerk.com/v1/F-TD2000-GEO-INDUSTRY-B012/planar-serial-recursive-newton-euler-inverse-dynamics-power-transcriptEingaben
| Feld | Typ | Pflicht | Beschreibung |
|---|---|---|---|
| artifact | object | Ja |
Vollständiges Eingabeschema anzeigen
{
"type": "object",
"additionalProperties": false,
"required": [
"artifact"
],
"properties": {
"artifact": {
"type": "object",
"additionalProperties": false,
"required": [
"newtonEuler"
],
"properties": {
"newtonEuler": {
"type": "object",
"additionalProperties": false,
"required": [
"data",
"claim"
],
"properties": {
"data": {
"type": "object",
"additionalProperties": false,
"required": [
"joint_positions",
"joint_velocities",
"joint_accelerations",
"link_offsets",
"center_of_mass_offsets",
"link_masses",
"planar_moments_of_inertia",
"gravity",
"tip_load_wrench"
],
"properties": {
"joint_positions": {
"type": "array",
"items": {
"type": "number",
"minimum": -3.141592653589793,
"maximum": 3.141592653589793
},
"minItems": 1,
"maxItems": 8
},
"joint_velocities": {
"type": "array",
"items": {
"type": "number",
"minimum": -10,
"maximum": 10
},
"minItems": 1,
"maxItems": 8
},
"joint_accelerations": {
"type": "array",
"items": {
"type": "number",
"minimum": -10,
"maximum": 10
},
"minItems": 1,
"maxItems": 8
},
"link_offsets": {
"type": "array",
"items": {
"type": "array",
"items": {
"type": "number",
"minimum": -10,
"maximum": 10
},
"minItems": 2,
"maxItems": 2
},
"minItems": 1,
"maxItems": 8
},
"center_of_mass_offsets": {
"type": "array",
"items": {
"type": "array",
"items": {
"type": "number",
"minimum": -10,
"maximum": 10
},
"minItems": 2,
"maxItems": 2
},
"minItems": 1,
"maxItems": 8
},
"link_masses": {
"type": "array",
"items": {
"type": "number",
"minimum": 0.01,
"maximum": 100
},
"minItems": 1,
"maxItems": 8
},
"planar_moments_of_inertia": {
"type": "array",
"items": {
"type": "number",
"minimum": 0.0001,
"maximum": 100
},
"minItems": 1,
"maxItems": 8
},
"gravity": {
"type": "array",
"items": {
"type": "number",
"minimum": -10,
"maximum": 10
},
"minItems": 2,
"maxItems": 2
},
"tip_load_wrench": {
"type": "array",
"items": {
"type": "number",
"minimum": -100,
"maximum": 100
},
"minItems": 3,
"maxItems": 3
}
}
},
"claim": {}
}
}
}
}
}
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