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Robot_Arm/docs/experiment_round32_uniform_validation.json
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{
"segments": 48,
"kin_fp": "2ebcbf17",
"dense_cap_mm": 2.0,
"eps_mm": 0.0001,
"bound_falsification": "每条组对:预测下限 (ga+gb-bound)/2 应 ≤ 网格上该组对的最小实测间隙",
"per_segment": [
{
"n": 8,
"safe": 26,
"collision": 1,
"unproven": 21,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 5.919107314806348,
"known_missed_segment_collision": true
},
{
"n": 16,
"safe": 30,
"collision": 1,
"unproven": 17,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 2.959653657403174,
"known_missed_segment_collision": true
},
{
"n": 32,
"safe": 34,
"collision": 1,
"unproven": 13,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 1.479926828701587,
"known_missed_segment_collision": true
},
{
"n": 64,
"safe": 36,
"collision": 1,
"unproven": 11,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 0.7400634143507935,
"known_missed_segment_collision": true
},
{
"n": 128,
"safe": 38,
"collision": 1,
"unproven": 9,
"outside_box": 0,
"false_accept_vs_dense": 0,
"cap_required_mm": 0.37013170717539673,
"known_missed_segment_collision": true
}
],
"bound_checks": 61,
"bound_violations": [],
"worst_margin_mm": 0.0
}