Skip to content

RSDK-14772: describe a model built from frames as the typed model - #6688

Open
JohnN193 wants to merge 1 commit into
mainfrom
RSDK-14772-frame-built-model
Open

RSDK-14772: describe a model built from frames as the typed model#6688
JohnN193 wants to merge 1 commit into
mainfrom
RSDK-14772-frame-built-model

Conversation

@JohnN193

@JohnN193 JohnN193 commented Oct 22, 2026 •
edited
Loading

Copy link
Copy Markdown
Member

Third rdk piece of RSDK-14233, the Enhanced Arm Kinematics API, for ticket RSDK-14772. Follows #6655, which has merged, and is based on main.

Changes

  • A model built from frames in code, with no kinematics file behind it, converts to the KinematicModel message like a file backed one. ModelToProto used to return an error for it and KinematicModelToProtobuf sent an empty response. The frames are now written out the way a file would describe them and the existing converters take it from there, so a frame built model serves model and the synthesized SVA bytes both.
  • Static frames become links, with their pose and every geometry they hold. Rotational and translational frames become joints with their axis and limits, radians to degrees for revolute. A mimic mapping becomes a mimic joint. A link built from a pose has no file form to keep, so its orientation goes out as whatever the pose holds, a quaternion for anything built through NewPose or Compose.
  • A model holding a pose frame has no file form and still refuses. A model with no frames at all keeps sending the empty response it always did, since a message with no links in it does not parse on either side.

Notes

  • The mobile base model from New2DMobileModelFrame is the one frame built model in tree. The gantry plus arm plus gripper chain a caller can build from the frame system with FrameSystemSubset and NewModel is the same shape, so it converts too.
  • ModelConfig() still returns nil for a frame built model. The message is the way to such a model, through ModelToProto, and nothing that reads the configuration changes behavior here.

Testing

  • New tests round trip the mobile base model and a hand built chain with a rotated link, several geometries on one link, a velocity bound and a mimic joint, through the message and through the SVA bytes an old client reads, comparing forward kinematics and geometries at random inputs. A continuous joint and a pose frame are covered for the two edges.
  • referenceframe, the arm, gantry, gripper and base components, the frame system and motion services, config and resource pass locally. golangci-lint run ./referenceframe/... clean.

🤖 Generated with Claude Code

@JohnN193
JohnN193 force-pushed the RSDK-14772-frame-built-model branch from a1f8749 to 238d5b1 Compare October 22, 2026 19:26
@JohnN193 JohnN193 mentioned this pull request Oct 23, 2026
Open
@JohnN193
JohnN193 force-pushed the RSDK-14772-frame-built-model branch from 238d5b1 to 897355c Compare October 26, 2026 15:31
Base automatically changed from RSDK-14748-typed-model to main October 26, 2026 16:05
@JohnN193 @claude
RSDK-14772: describe a model built from frames as the typed model
c998926 
A model built in code has no kinematics file behind it, so ModelToProto returned an error and
KinematicModelToProtobuf sent an empty response. The frames are now written out the way a file
would describe them, static frames as links with their geometries, rotational and translational
frames as joints with their limits, mimic mappings as mimic joints, and the existing converters
take it from there. A pose frame has no file form and still refuses, and a model with no frames
keeps sending nothing, since a message with no links does not parse.

Co-Authored-By: Claude Fable 5.1 <noreply@anthropic.com>
@JohnN193
JohnN193 force-pushed the RSDK-14772-frame-built-model branch from 897355c to c998926 Compare October 26, 2026 16:09
@viambot viambot added the safe to test This pull request is marked safe to test from a trusted zone label Oct 26, 2026
@github-actions

github-actions Bot commented Oct 26, 2026

Copy link
Copy Markdown
Contributor

Availability

Scene / Ordered Sequence # viamrobotics:main viamrobotics:RSDK-14772-frame-built-model Percent Improvement Health
Scene 1 100% 100% 0% ➖
Scene 2 100% 100% 0% ➖
Scene 3 100% 100% 0% ➖
Scene 4 100% 100% 0% ➖
Scene 5 100% 100% 0% ➖
Scene 6 100% 100% 0% ➖
Scene 7 100% 100% 0% ➖
Scene 8 100% 100% 0% ➖
Scene 9 100% 100% 0% ➖
Scene 10 100% 100% 0% ➖
Scene 11 0% 0% NaN% ➖
Scene 12 100% 100% 0% ➖
Ordered Sequence 1 (cold) 100% 100% 0% ➖
Ordered Sequence 1 (warm) 100% 100% 0% ➖

Quality

Scene / Ordered Sequence # viamrobotics:main viamrobotics:RSDK-14772-frame-built-model Percent Improvement Probability of Improvement Health
Scene 1 1.31±0.00 1.31±0.00 0% 59% ➖
Scene 2 0.90±0.00 0.90±0.00 0% 57% ➖
Scene 3 6.13±0.00 6.13±0.00 -0% 50% ➖
Scene 4 1.75±0.13 1.78±0.11 -2% 42% ➖
Scene 5 6.66±0.85 7.27±0.79 -9% 30% ➖
Scene 6 7.05±0.98 6.89±1.27 2% 54% ➖
Scene 7 1.69±0.00 1.52±0.00 10% 100% ✅
Scene 8 0.90±0.00 0.90±0.00 0% 50% ➖
Scene 9 4.84±0.90 4.75±0.70 2% 53% ➖
Scene 10 12.69±0.07 12.69±0.07 -0% 50% ➖
Scene 11 NaN±NaN NaN±NaN NaN% NaN% ➖
Scene 12 0.81±0.00 0.81±0.00 -0% 50% ➖
Ordered Sequence 1 (cold) 140.12±0.00 136.55±0.00 3% 100% ➖
Ordered Sequence 1 (warm) 134.64±4.70 133.87±3.20 1% 55% ➖

Performance

Scene / Ordered Sequence # viamrobotics:main viamrobotics:RSDK-14772-frame-built-model Percent Improvement Probability of Improvement Health
Scene 1 0.01±0.00 0.01±0.00 4% 60% ➖
Scene 2 0.02±0.00 0.01±0.00 10% 67% ➖
Scene 3 0.01±0.00 0.01±0.00 13% 71% ➖
Scene 4 0.12±0.05 0.11±0.03 12% 61% ➖
Scene 5 0.65±0.15 0.59±0.18 9% 60% ➖
Scene 6 0.67±0.20 0.64±0.15 4% 55% ➖
Scene 7 0.14±0.00 0.13±0.00 8% 99% ✅
Scene 8 0.01±0.00 0.01±0.00 4% 58% ➖
Scene 9 0.21±0.06 0.20±0.06 5% 55% ➖
Scene 10 0.43±0.08 0.43±0.04 1% 51% ➖
Scene 11 NaN±NaN NaN±NaN NaN% NaN% ➖
Scene 12 0.15±0.00 0.14±0.00 4% 98% ➖
Ordered Sequence 1 (cold) 22.81±0.00 21.29±0.00 7% 100% ✅
Ordered Sequence 1 (warm) 19.11±1.28 18.31±1.37 4% 66% ➖

Ordered Sequence 1 plan-by-plan: cappuccina-5fb95a4c (98 plans replayed in recorded order)

Time moved (seconds, warm passes, by absolute change)

Plan viamrobotics:main viamrobotics:RSDK-14772-frame-built-model Percent Improvement Probability of Improvement Health
015 placing_cup/move 0.83±0.03 1.07±0.16 -29% 6% ❌
031 opening_fridge/move 0.59±0.03 0.41±0.10 31% 96% ✅
075 serving/carry 0.35±0.02 0.19±0.03 46% 100% ✅
007 locking_portafilter/move 1.01±0.05 0.91±0.02 10% 98% ✅
078 grabbing_filter/move 1.34±0.01 1.27±0.03 5% 99% ✅
040 opening_fridge/open_door 0.20±0.00 0.19±0.00 7% 100% ✅
065 serving/move 0.16±0.00 0.15±0.00 8% 100% ✅
045 adding_milk/move 0.18±0.01 0.16±0.00 6% 88% ✅
037 opening_fridge/open_door 0.19±0.01 0.18±0.00 6% 92% ✅
044 adding_milk/move 0.15±0.00 0.14±0.00 7% 100% ✅
013 placing_cup/move 0.12±0.01 0.11±0.00 8% 87% ✅
071 serving/move 0.12±0.01 0.11±0.00 6% 87% ✅
064 serving/move 0.15±0.00 0.14±0.00 5% 99% ✅
047 adding_milk/pivot 0.09±0.01 0.08±0.00 9% 92% ✅
073 serving/move 0.11±0.00 0.11±0.00 6% 99% ✅

…and 1 more.

Joint travel moved (L2, warm passes, by absolute change)

Plan viamrobotics:main viamrobotics:RSDK-14772-frame-built-model Percent Improvement Probability of Improvement Health
075 serving/carry 4.19±0.09 3.82±0.08 9% 100% ✅
All 98 plans (cold pass and warm passes)

Every plan solved every pass in both runs.
Cold columns are the single cold-start pass; the improvement statistics compare the warm passes.

Time (seconds)

Plan viamrobotics:main (cold) viamrobotics:RSDK-14772-frame-built-model (cold) viamrobotics:main (warm) viamrobotics:RSDK-14772-frame-built-model (warm) Percent Improvement Probability of Improvement Health
000 grinding/move 0.36 0.35 0.03±0.00 0.03±0.00 3% 79% ➖
001 grinding/move 0.02 0.02 0.02±0.00 0.02±0.00 2% 86% ➖
002 grinding/move 0.02 0.02 0.02±0.00 0.02±0.00 1% 61% ➖
003 grinding/circular 0.04 0.04 0.04±0.00 0.04±0.00 4% 92% ➖
004 tamping/move 0.27 0.26 0.31±0.01 0.31±0.01 2% 63% ➖
005 tamping/move 0.10 0.09 0.10±0.00 0.09±0.00 2% 93% ➖
006 tamping/move 0.10 0.09 0.09±0.00 0.09±0.00 -1% 37% ➖
007 locking_portafilter/move 0.88 0.86 1.01±0.05 0.91±0.02 10% 98% ✅
008 locking_portafilter/move 0.05 0.05 0.05±0.00 0.05±0.00 2% 87% ➖
009 locking_portafilter/pivot 0.10 0.10 0.09±0.00 0.09±0.00 5% 84% ➖
010 releasing_filter/move 0.38 0.35 0.27±0.00 0.26±0.01 2% 82% ➖
011 placing_cup/move 0.18 0.18 0.09±0.00 0.08±0.00 3% 82% ➖
012 placing_cup/move 0.11 0.10 0.06±0.00 0.05±0.00 3% 91% ➖
013 placing_cup/move 0.11 0.12 0.12±0.01 0.11±0.00 8% 87% ✅
014 placing_cup/move 0.13 0.12 0.13±0.01 0.12±0.00 7% 84% ➖
015 placing_cup/move 0.93 0.91 0.83±0.03 1.07±0.16 -29% 6% ❌
016 placing_cup/move 0.16 0.16 0.15±0.00 0.15±0.00 1% 69% ➖
017 placing_cup/move 0.14 0.14 0.14±0.00 0.14±0.00 2% 91% ➖
018 brewing/move 0.39 0.41 0.47±0.12 0.48±0.05 -2% 48% ➖
019 brewing/move 0.03 0.03 0.03±0.00 0.03±0.00 1% 67% ➖
020 brewing/move 0.03 0.03 0.03±0.00 0.03±0.00 3% 95% ➖
021 brewing/move 0.05 0.05 0.04±0.00 0.04±0.00 -1% 29% ➖
022 brewing/move 0.03 0.03 0.02±0.00 0.02±0.00 1% 60% ➖
023 brewing/move 0.10 0.10 0.09±0.00 0.09±0.00 1% 75% ➖
024 brewing/move 0.11 0.10 0.10±0.00 0.11±0.01 -4% 34% ➖
025 brewing/move 1.81 1.87 1.80±0.47 1.73±0.35 4% 55% ➖
026 brewing/move 0.10 0.10 0.10±0.00 0.09±0.00 3% 99% ➖
027 brewing/move 0.11 0.10 0.10±0.00 0.09±0.00 3% 98% ➖
028 brewing/carry 0.16 0.15 0.07±0.00 0.07±0.01 1% 53% ➖
029 brewing/move 0.13 0.12 0.12±0.00 0.11±0.00 4% 98% ➖
030 brewing/move 0.27 0.27 0.27±0.00 0.27±0.00 1% 74% ➖
031 opening_fridge/move 0.73 0.52 0.59±0.03 0.41±0.10 31% 96% ✅
032 opening_fridge/move 0.08 0.08 0.07±0.00 0.07±0.00 2% 93% ➖
033 opening_fridge/open_door 0.29 0.29 0.29±0.00 0.29±0.00 1% 76% ➖
034 opening_fridge/open_door 0.19 0.19 0.19±0.00 0.19±0.00 1% 89% ➖
035 opening_fridge/open_door 0.18 0.18 0.18±0.00 0.18±0.00 1% 96% ➖
036 opening_fridge/open_door 0.18 0.17 0.18±0.00 0.18±0.00 3% 97% ➖
037 opening_fridge/open_door 0.19 0.17 0.19±0.01 0.18±0.00 6% 92% ✅
038 opening_fridge/open_door 0.19 0.18 0.19±0.00 0.18±0.01 2% 69% ➖
039 opening_fridge/open_door 0.18 0.19 0.19±0.00 0.18±0.00 2% 86% ➖
040 opening_fridge/open_door 0.19 0.20 0.20±0.00 0.19±0.00 7% 100% ✅
041 opening_fridge/move 0.08 0.09 0.08±0.00 0.08±0.00 6% 95% ✅
042 adding_milk/move 0.48 0.49 0.18±0.02 0.16±0.01 9% 76% ➖
043 adding_milk/move 0.03 0.03 0.03±0.00 0.03±0.00 4% 71% ➖
044 adding_milk/move 0.15 0.17 0.15±0.00 0.14±0.00 7% 100% ✅
045 adding_milk/move 0.16 0.17 0.18±0.01 0.16±0.00 6% 88% ✅
046 adding_milk/move 1.48 1.36 0.73±0.29 0.72±0.34 1% 51% ➖
047 adding_milk/pivot 0.09 0.09 0.09±0.01 0.08±0.00 9% 92% ✅
048 adding_milk/pivot 0.09 0.08 0.08±0.00 0.08±0.00 -2% 21% ➖
049 adding_milk/move 0.55 0.47 0.58±0.05 0.52±0.09 11% 73% ➖
050 adding_milk/move 0.18 0.17 0.16±0.00 0.16±0.00 3% 90% ➖
051 adding_milk/move 0.16 0.15 0.15±0.00 0.15±0.00 1% 63% ➖
052 closing_fridge/move 0.49 0.50 0.42±0.08 0.34±0.01 19% 84% ➖
053 closing_fridge/move 0.08 0.08 0.08±0.00 0.08±0.00 2% 65% ➖
054 closing_fridge/close_door 0.20 0.19 0.18±0.00 0.18±0.00 2% 90% ➖
055 closing_fridge/close_door 0.20 0.19 0.19±0.00 0.18±0.00 3% 87% ➖
056 closing_fridge/close_door 0.20 0.19 0.19±0.01 0.18±0.00 2% 69% ➖
057 closing_fridge/close_door 0.19 0.18 0.19±0.00 0.19±0.00 1% 64% ➖
058 closing_fridge/close_door 0.19 0.18 0.18±0.00 0.18±0.00 1% 75% ➖
059 closing_fridge/close_door 0.20 0.20 0.20±0.01 0.19±0.01 3% 79% ➖
060 closing_fridge/close_door 0.20 0.18 0.19±0.00 0.18±0.00 5% 97% ➖
061 closing_fridge/close_door 0.19 0.18 0.19±0.01 0.19±0.01 -1% 43% ➖
062 closing_fridge/move 0.08 0.07 0.08±0.00 0.07±0.00 4% 80% ➖
063 serving/move 1.84 1.80 1.15±0.62 1.13±0.61 2% 51% ➖
064 serving/move 0.15 0.14 0.15±0.00 0.14±0.00 5% 99% ✅
065 serving/move 0.15 0.15 0.16±0.00 0.15±0.00 8% 100% ✅
066 serving/carry 0.07 0.07 0.06±0.00 0.07±0.01 -7% 28% ➖
067 serving/pivot 0.08 0.08 0.07±0.00 0.07±0.00 2% 94% ➖
068 serving/pivot 0.07 0.07 0.08±0.00 0.07±0.00 2% 97% ➖
069 serving/carry 0.14 0.19 0.14±0.01 0.15±0.01 -4% 33% ➖
070 serving/move 0.13 0.13 0.13±0.01 0.13±0.01 4% 70% ➖
071 serving/move 0.11 0.11 0.12±0.01 0.11±0.00 6% 87% ✅
072 serving/move 0.07 0.05 0.04±0.00 0.04±0.00 6% 67% ➖
073 serving/move 0.12 0.12 0.11±0.00 0.11±0.00 6% 99% ✅
074 serving/move 0.28 0.28 0.28±0.01 0.27±0.00 5% 97% ➖
075 serving/carry 1.37 0.59 0.35±0.02 0.19±0.03 46% 100% ✅
076 serving/move 0.13 0.12 0.12±0.00 0.12±0.01 0% 52% ➖
077 serving/move 0.11 0.11 0.11±0.00 0.11±0.00 0% 67% ➖
078 grabbing_filter/move 1.35 1.29 1.34±0.01 1.27±0.03 5% 99% ✅
079 grabbing_filter/move 0.10 0.09 0.10±0.00 0.09±0.00 0% 56% ➖
080 unlocking_portafilter/pivot 0.26 0.25 0.25±0.01 0.24±0.00 2% 80% ➖
081 unlocking_portafilter/move 0.02 0.02 0.02±0.00 0.02±0.00 2% 76% ➖
082 unlocking_portafilter/circular 0.02 0.02 0.02±0.00 0.02±0.00 2% 82% ➖
083 unlocking_portafilter/move 0.02 0.02 0.02±0.00 0.02±0.00 1% 82% ➖
084 unlocking_portafilter/move 0.02 0.02 0.02±0.00 0.02±0.00 1% 63% ➖
085 unlocking_portafilter/circular 0.02 0.02 0.02±0.00 0.02±0.00 8% 89% ✅
086 unlocking_portafilter/move 0.04 0.04 0.04±0.00 0.03±0.00 5% 82% ➖
087 cleaning/move 0.22 0.20 0.18±0.01 0.17±0.01 6% 75% ➖
088 cleaning/move 0.04 0.04 0.04±0.00 0.04±0.00 7% 100% ✅
089 cleaning/move 0.06 0.06 0.06±0.00 0.06±0.00 0% 53% ➖
090 cleaning/circular 0.02 0.02 0.02±0.00 0.02±0.00 1% 64% ➖
091 cleaning/move 0.06 0.06 0.06±0.00 0.06±0.00 0% 62% ➖
092 cleaning/move 0.07 0.07 0.07±0.00 0.07±0.00 1% 59% ➖
093 cleaning/move 0.06 0.06 0.06±0.00 0.06±0.00 4% 70% ➖
094 cleaning/circular 0.02 0.02 0.02±0.00 0.02±0.00 6% 81% ➖
095 cleaning/move 0.05 0.05 0.06±0.00 0.05±0.00 4% 91% ➖
096 cleaning/move 0.04 0.04 0.04±0.00 0.04±0.00 3% 92% ➖
097 finishing_up/move 0.03 0.03 0.03±0.00 0.03±0.00 -0% 48% ➖

Joint travel (L2)

Plan viamrobotics:main (cold) viamrobotics:RSDK-14772-frame-built-model (cold) viamrobotics:main (warm) viamrobotics:RSDK-14772-frame-built-model (warm) Percent Improvement Probability of Improvement Health
000 grinding/move 2.01 2.01 2.01±0.00 2.01±0.00 -0% 50% ➖
001 grinding/move 0.22 0.22 0.22±0.00 0.22±0.00 -0% 50% ➖
002 grinding/move 0.22 0.22 0.22±0.00 0.22±0.00 -0% 50% ➖
003 grinding/circular 0.21 0.21 0.21±0.00 0.21±0.00 -0% 50% ➖
004 tamping/move 1.44 1.44 1.44±0.09 1.44±0.09 -0% 50% ➖
005 tamping/move 0.46 0.46 0.46±0.00 0.46±0.00 -0% 50% ➖
006 tamping/move 0.46 0.46 0.46±0.00 0.46±0.00 -0% 50% ➖
007 locking_portafilter/move 2.51 2.51 2.80±0.12 2.92±0.20 -4% 31% ➖
008 locking_portafilter/move 0.14 0.14 0.14±0.00 0.14±0.00 -0% 50% ➖
009 locking_portafilter/pivot 2.86 2.86 2.86±0.00 2.86±0.00 -0% 50% ➖
010 releasing_filter/move 0.63 0.63 0.63±0.00 0.63±0.00 0% 76% ➖
011 placing_cup/move 3.28 3.28 3.28±0.00 3.28±0.00 -0% 50% ➖
012 placing_cup/move 3.78 3.78 3.78±0.00 3.78±0.00 -0% 0% ➖
013 placing_cup/move 0.63 0.63 0.63±0.00 0.63±0.00 -0% 50% ➖
014 placing_cup/move 0.63 0.63 0.63±0.00 0.63±0.00 -0% 50% ➖
015 placing_cup/move 5.01 5.58 5.57±0.15 5.39±0.37 3% 67% ➖
016 placing_cup/move 0.61 0.61 0.61±0.00 0.61±0.00 -0% 50% ➖
017 placing_cup/move 0.61 0.61 0.61±0.00 0.61±0.00 -0% 50% ➖
018 brewing/move 2.20 2.20 2.70±0.65 2.43±0.80 10% 60% ➖
019 brewing/move 0.15 0.15 0.15±0.00 0.15±0.00 -0% 50% ➖
020 brewing/move 0.15 0.15 0.15±0.00 0.15±0.00 -0% 50% ➖
021 brewing/move 3.83 3.83 3.83±0.00 3.83±0.00 -0% 50% ➖
022 brewing/move 1.08 1.08 1.08±0.00 1.08±0.00 0% 100% ➖
023 brewing/move 0.59 0.59 0.59±0.00 0.59±0.00 0% 53% ➖
024 brewing/move 0.59 0.59 0.59±0.00 0.59±0.00 -0% 47% ➖
025 brewing/move 8.35 8.37 5.15±2.20 5.65±1.87 -10% 43% ➖
026 brewing/move 0.45 0.45 0.45±0.00 0.45±0.00 -0% 50% ➖
027 brewing/move 0.45 0.45 0.45±0.00 0.45±0.00 -0% 31% ➖
028 brewing/carry 2.64 2.64 2.64±0.00 2.64±0.00 -0% 50% ➖
029 brewing/move 0.76 0.76 0.76±0.00 0.76±0.00 -0% 50% ➖
030 brewing/move 0.76 0.76 0.76±0.00 0.76±0.00 -0% 50% ➖
031 opening_fridge/move 7.11 2.92 4.36±1.89 4.29±1.93 2% 51% ➖
032 opening_fridge/move 0.34 0.34 0.34±0.00 0.34±0.00 -0% 50% ➖
033 opening_fridge/open_door 0.61 0.61 0.63±0.02 0.63±0.02 -0% 50% ➖
034 opening_fridge/open_door 0.45 0.45 0.45±0.00 0.45±0.00 0% 69% ➖
035 opening_fridge/open_door 0.41 0.41 0.41±0.00 0.41±0.00 -0% 50% ➖
036 opening_fridge/open_door 0.32 0.32 0.32±0.00 0.32±0.00 -0% 50% ➖
037 opening_fridge/open_door 0.23 0.23 0.23±0.00 0.23±0.00 -0% 50% ➖
038 opening_fridge/open_door 0.24 0.24 0.24±0.00 0.24±0.00 -0% 50% ➖
039 opening_fridge/open_door 0.32 0.32 0.32±0.00 0.32±0.00 -0% 50% ➖
040 opening_fridge/open_door 0.40 0.40 0.40±0.00 0.40±0.00 -0% 50% ➖
041 opening_fridge/move 0.44 0.44 0.44±0.00 0.44±0.00 -0% 35% ➖
042 adding_milk/move 0.67 0.67 0.70±0.03 0.72±0.01 -3% 22% ➖
043 adding_milk/move 1.34 1.34 1.34±0.00 1.34±0.00 -0% 24% ➖
044 adding_milk/move 1.08 1.08 1.08±0.00 1.08±0.00 -0% 23% ➖
045 adding_milk/move 1.08 1.08 1.08±0.00 1.08±0.00 -0% 50% ➖
046 adding_milk/move 4.63 4.18 4.24±0.27 4.23±0.28 0% 51% ➖
047 adding_milk/pivot 3.14 3.14 3.14±0.00 3.14±0.00 -0% 50% ➖
048 adding_milk/pivot 3.14 3.14 3.14±0.00 3.14±0.00 -0% 50% ➖
049 adding_milk/move 4.21 4.76 4.50±0.09 4.34±0.22 4% 75% ➖
050 adding_milk/move 1.08 1.08 1.08±0.00 1.08±0.00 -0% 29% ➖
051 adding_milk/move 1.08 1.08 1.08±0.00 1.08±0.00 0% 76% ➖
052 closing_fridge/move 1.85 1.85 2.07±0.09 1.98±0.18 4% 67% ➖
053 closing_fridge/move 0.44 0.44 0.44±0.00 0.44±0.00 -0% 50% ➖
054 closing_fridge/close_door 0.40 0.40 0.40±0.00 0.40±0.00 -0% 50% ➖
055 closing_fridge/close_door 0.32 0.32 0.32±0.00 0.32±0.00 0% 83% ➖
056 closing_fridge/close_door 0.24 0.24 0.24±0.00 0.24±0.00 -0% 50% ➖
057 closing_fridge/close_door 0.23 0.23 0.23±0.00 0.23±0.00 -0% 8% ➖
058 closing_fridge/close_door 0.32 0.32 0.32±0.00 0.32±0.00 -0% 50% ➖
059 closing_fridge/close_door 0.41 0.41 0.41±0.00 0.41±0.00 -0% 16% ➖
060 closing_fridge/close_door 0.45 0.45 0.45±0.00 0.45±0.00 -0% 0% ➖
061 closing_fridge/close_door 0.55 0.55 0.55±0.00 0.55±0.00 0% 52% ➖
062 closing_fridge/move 0.34 0.34 0.34±0.00 0.34±0.00 -0% 50% ➖
063 serving/move 5.80 5.80 4.89±0.62 4.65±0.50 5% 62% ➖
064 serving/move 0.61 0.61 0.61±0.00 0.61±0.00 -0% 50% ➖
065 serving/move 0.61 0.61 0.61±0.00 0.61±0.00 -0% 50% ➖
066 serving/carry 1.84 1.84 1.84±0.00 1.82±0.02 1% 92% ➖
067 serving/pivot 3.47 3.47 3.47±0.00 3.47±0.00 -0% 50% ➖
068 serving/pivot 3.47 3.47 3.47±0.00 3.47±0.00 -0% 50% ➖
069 serving/carry 6.20 6.45 6.21±0.02 6.23±0.11 -0% 43% ➖
070 serving/move 0.80 0.80 0.80±0.00 0.80±0.00 0% 77% ➖
071 serving/move 0.80 0.80 0.80±0.00 0.80±0.00 -0% 50% ➖
072 serving/move 2.73 2.73 2.73±0.00 2.73±0.00 -0% 50% ➖
073 serving/move 0.76 0.76 0.76±0.00 0.76±0.00 -0% 50% ➖
074 serving/move 0.76 0.76 0.76±0.00 0.76±0.00 -0% 50% ➖
075 serving/carry 4.34 4.01 4.19±0.09 3.82±0.08 9% 100% ✅
076 serving/move 0.67 0.67 0.67±0.00 0.67±0.00 -0% 50% ➖
077 serving/move 0.67 0.67 0.67±0.00 0.67±0.00 -0% 50% ➖
078 grabbing_filter/move 6.43 6.43 6.43±0.00 6.43±0.00 -0% 50% ➖
079 grabbing_filter/move 0.63 0.63 0.63±0.00 0.63±0.00 -0% 50% ➖
080 unlocking_portafilter/pivot 2.41 2.41 2.41±0.00 2.41±0.00 -0% 50% ➖
081 unlocking_portafilter/move 0.04 0.04 0.04±0.00 0.04±0.00 -0% 50% ➖
082 unlocking_portafilter/circular 0.03 0.03 0.03±0.00 0.03±0.00 -0% 50% ➖
083 unlocking_portafilter/move 0.04 0.04 0.04±0.00 0.04±0.00 -0% 50% ➖
084 unlocking_portafilter/move 0.16 0.16 0.16±0.00 0.16±0.00 -0% 50% ➖
085 unlocking_portafilter/circular 0.03 0.03 0.03±0.00 0.03±0.00 -0% 50% ➖
086 unlocking_portafilter/move 0.24 0.24 0.24±0.00 0.24±0.00 -0% 50% ➖
087 cleaning/move 1.18 1.18 1.18±0.00 1.18±0.00 -0% 50% ➖
088 cleaning/move 3.27 3.27 3.27±0.00 3.27±0.00 -0% 50% ➖
089 cleaning/move 0.21 0.21 0.21±0.00 0.21±0.00 -0% 50% ➖
090 cleaning/circular 0.10 0.10 0.10±0.00 0.10±0.00 -0% 40% ➖
091 cleaning/move 0.21 0.21 0.21±0.00 0.21±0.00 -0% 50% ➖
092 cleaning/move 0.47 0.47 0.47±0.00 0.47±0.00 -0% 50% ➖
093 cleaning/move 0.20 0.20 0.20±0.00 0.20±0.00 -0% 50% ➖
094 cleaning/circular 0.12 0.12 0.12±0.00 0.12±0.00 -0% 50% ➖
095 cleaning/move 0.20 0.20 0.20±0.00 0.20±0.00 -0% 50% ➖
096 cleaning/move 3.55 3.55 3.55±0.00 3.55±0.00 -0% 50% ➖
097 finishing_up/move 1.46 1.46 1.46±0.00 1.46±0.00 -0% 50% ➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 710c139cc5492f8920d9ec60c779fb80a33f975d
The SHA1 for viamrobotics:RSDK-14772-frame-built-model is: 710c139cc5492f8920d9ec60c779fb80a33f975d

  • 12 samples were taken for each scene, 1 cold + 3 warm passes for each ordered sequence

@JohnN193 JohnN193 mentioned this pull request Oct 26, 2026
Closed
@JohnN193
JohnN193 added this pull request to stack #6707 October 26, 2026 18:20
@JohnN193 JohnN193 mentioned this pull request Oct 26, 2026
Open
npmenard
Nicolas Menard (npmenard) approved these changes Oct 26, 2026
View reviewed changes

@npmenard Nicolas Menard (npmenard) left a comment

Copy link
Copy Markdown
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

LGTM

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@npmenard Nicolas Menard (npmenard) npmenard approved these changes
@dgottlieb Dan Gottlieb (dgottlieb) Awaiting requested review from dgottlieb
@bkaravan Bohdan Karavan (bkaravan) Awaiting requested review from bkaravan

Assignees

No one assigned

Labels

safe to test This pull request is marked safe to test from a trusted zone

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

3 participants

@JohnN193 @npmenard @viambot