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$$ % Define your custom commands here \newcommand{\bmat}[1]{\begin{bmatrix}#1\end{bmatrix}} \newcommand{\E}{\mathbb{E}} \newcommand{\P}{\mathbb{P}} \newcommand{\S}{\mathbb{S}} \newcommand{\R}{\mathbb{R}} \newcommand{\S}{\mathbb{S}} \newcommand{\norm}[2]{\|{#1}\|_{{}_{#2}}} \newcommand{\pd}[2]{\frac{\partial #1}{\partial #2}} \newcommand{\pdd}[2]{\frac{\partial^2 #1}{\partial #2^2}} \newcommand{\vectornorm}[1]{\left|\left|#1\right|\right|} \newcommand{\abs}[1]{\left|{#1}\right|} \newcommand{\mbf}[1]{\mathbf{#1}} \newcommand{\mc}[1]{\mathcal{#1}} \newcommand{\bm}[1]{\boldsymbol{#1}} \newcommand{\nicefrac}[2]{{}^{#1}\!/_{\!#2}} \newcommand{\argmin}{\operatorname*{arg\,min}} \newcommand{\argmax}{\operatorname*{arg\,max}} \newcommand{\dd}{\operatorname{d}\!} $$
Variant Chain edits Hard set Canonical Next edit Max pen. (mm) Median max dev (mm) Median time (s)
open 23/24 0/6 8/8 12/20 4.19 37.3 2.74
open+F 22/24 0/6 7/8 10/19 5.54 38.7 2.78
RH20 22/24 0/6 8/8 12/19 2.87 19.2 8.8
RH40 22/24 0/6 8/8 12/19 4.19 41.5 7.5
RH80 22/24 0/6 8/8 12/20 96.24 42.3 5.72
RH20+F 21/24 0/6 7/8 11/18 5.54 19.0 10.36
RH40+F 21/24 0/6 7/8 11/18 5.54 41.2 7.47
RH80+F 21/24 0/6 7/8 11/18 5.54 40.2 5.7
RH40r 20/24 0/6 7/8 9/17 4.19 34.8 9.8
E 15/24 0/6 5/8 6/15 4.61 0.0 39.8
Variant corner not released dynamic overshoot late change (dwell) penetration persistence loss slip (disk on box) slip (environment) slump during ramp-in
open 4 0 0 0 0 0 0 3
open+F 4 0 0 0 1 0 0 3
RH20 5 0 0 0 0 0 0 3
RH40 3 0 2 0 0 0 0 3
RH80 3 0 1 1 0 0 0 3
RH20+F 4 0 1 0 1 0 0 3
RH40+F 5 0 0 0 1 0 0 3
RH80+F 5 0 0 0 1 0 0 3
RH40r 4 3 0 0 0 0 0 3
E 6 3 0 0 2 2 2 0