6.9 단계별 실습

실습 1: 로그 진단과 신뢰구간

실습 6-1: Sim2Real 로그 진단을 따른다.

python code/sim2real_diagnostics.py --demo

예상 출력 예시

episodes=20 success=15 rate=0.750 wilson95=[0.531, 0.888]
infer_ms  n=20 p50=31.1 p95=41.5 p99=n/a(n<100) max=42.3
e2e_ms    n=20 p50=82.4 p95=105.3 p99=n/a(n<100) max=107.0
condition=baseline     n=10 success= 8 rate=0.800 ci95=[0.490, 0.943]
condition=side_light   n=10 success= 7 rate=0.700 ci95=[0.397, 0.892]

실습 2: 필터와 안전 승격

실습 6-2: Temporal Filter와 안전 승격 감독기를 따른다.

python code/temporal_filters.py
python code/safety_supervisor.py

예상 출력 예시

mode=DRY_RUN accepted=True send_to_hardware=False
promotion DRY_RUN -> LOW_SPEED: approved
workspace violation: latched FAULT
reset denied: human approval and pose alignment required

실습 3: ROS 2 Workspace Guard

실습 6-3: ROS 2 Cartesian Workspace Guard를 따른다.

cd code/ros2_ws
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install
source install/setup.bash
ros2 run sim2real_safety workspace_guard