What 20 poses determine

The singular values of the identification Jacobian, on a log axis, with the rank cut at 1e-9 of the largest. 3 of 4 parameters are determined; 1 is not, and the one that is not sits at 3.85e-15 against the largest at 1.97e+0. That is not a small number, it is nought: the gap between the last kept value and the first discarded one is a factor of 9.8e+13, so the decision does not depend on where the cut is put. The condition number over the recovered directions is 5.21.