TABLE 4.

Identified constraint frames of robot demonstrations.

Figure 2 label	Min. norm $\left(7\right)\text{\hspace{0.17em}in\hspace{0.17em}frame\hspace{0.17em}type\hspace{0.17em}}\left\{\varphi \right\}\left(\text{mrad\hspace{0.17em}}{\mathrm{s}}^{-1}\right)$				Degrees of freedom*			Geometry error*
	Min. norm $\left(8\right)\text{\hspace{0.17em}in\hspace{0.17em}frame\hspace{0.17em}type\hspace{0.17em}}\left\{\psi \right\}\left(\text{mm\hspace{0.17em}}{\mathrm{s}}^{-1}\right)$
	$\left\{\mathcal{G}\right\}$		$\left\{\mathcal{B}\right\}$		${\mathbf{\lambda }}^{\mathbf{\varphi }}\left(\text{mrad\hspace{0.17em}}{\mathrm{s}}^{-1}\right)$			${\Delta R}^{\varphi }\left(\mathrm{deg}\right)$	$-$
	$\left\{\mathcal{B}\mathcal{B}\right\}$	$\left\{\mathcal{G}\mathcal{B}\right\}$	$\left\{\mathcal{G}\mathcal{G}\right\}$	$\left\{\mathcal{B}\mathcal{G}\right\}$	${\mathbf{\lambda }}^{\mathbf{\psi }}\left(\text{mm\hspace{0.17em}}{\mathrm{s}}^{-1}\right)$			${\Delta R}^{\psi }\left(\mathrm{deg}\right)$	$\Delta p^{\psi }\left(\text{mm}\right)$
A	$\mathbf{108.2}\pm \mathbf{7.9}$		$20.5\pm 10.8$		$37.9\pm 2.8$	$47.2\pm 3.8$	863.7 $\pm 46$ .7	$0.19\pm 0.02$ ‡	$-$
	$2.4\pm 0.2$	$3.6\pm 0.2$	$\mathbf{2.3}\pm \mathbf{0.1}$	$2.3\pm 0.2$	$1.6\pm 0.2$	$1.8\pm 0.2$	$4.5\pm 0.2$	$-$	$6.46\pm 0.21$
B	$47.5\pm 3.7$		$47.5\pm 3.7$		$39.0\pm 3.5$	$50.0\pm 3.8$	$55.3\pm 4.4$	$-$	$-$
	$12.9\pm 1.1$	$\mathbf{7.9}\pm \mathbf{0.5}$	$21.3\pm 1.5$	$23.3\pm 1.6$	$0.9\pm 0.1$	$1.8\pm 0.2$	256.5 $\pm 13.4$	$0.94\pm 0.18$ ‡	$-$
D	$144.3\pm 10.1$		$\mathbf{142.1}\pm \mathbf{9.2}$		$50.5\pm 3.7$	$60.8\pm 3.5$	958.2 $\pm 115.6$	$2.59\pm 0.50$	$-$
	$47.9\pm 7.2$	$\mathbf{35.1}\pm \mathbf{2.3}$	$60.3\pm 7.2$	$58.4\pm 8.1$	$1.4\pm 0.2$	156.4 $\pm 25.3$	185.7 $\pm 14.2$	$0.52\pm 0.13$	$-$
I	$\mathbf{85.4}\pm \mathbf{5.0}$		$86.3\pm 2.3$		$25.5\pm 1.7$	$30.3\pm 3.9$	786.5 $\pm 77.5$	$0.56\pm 0.15$	$-$
	$18.0\pm 1.9$	$\mathbf{10.6}\pm \mathbf{1.2}$	$23.1\pm 2.3$	$23.5\pm 2.1$	$2.4\pm 0.3$	$5.2\pm 0.9$	93.9 $\pm 7.3$	$1.64\pm 0.18$	$3.53\pm 1.12$ ‡
K	$\mathbf{428.3}\pm \mathbf{2.1}$		$495.3\pm 4.0$		260.2 $\pm 30.3$	430.8 $\pm 78.8$	716.1 $\pm 71.6$	$-$	$-$
	$54.2\pm 10.8$	$\mathbf{30.3}\pm \mathbf{4.9}$	$56.4\pm 8.1$	$59.8\pm 11.0$	$4.2\pm 1.4$	68.3 $\pm 17.8$	99.4 $\pm 14.6$	$2.45\pm 1.43$	$7.69\pm 2.32$

* In frame type with lowest minimized norm (bold). Italic: corresponds to ground-truth free axis. ^‡Error used in reproduction (Figure 5).