Initial commit

config/robot.json.example

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+{
+  "_comment": "Kopiere deine robot.json hierher und benenne sie in robot.json um.",
+  "_comment2": "Die Pipeline liest nur: links, pose_estimation, vision_config, units.",
+  "_comment3": "Alle anderen Abschnitte (renderingInfo, robot_test_poses) werden ignoriert.",
+  "units": { "length": "mm", "angle": "deg" },
+  "links": [],
+  "vision_config": { "aruco_dict": "DICT_4X4_250" },
+  "pose_estimation": {
+    "method": "hybrid",
+    "marker_observation": "corner_pose",
+    "use_normals": true,
+    "normal_weight": 100.0,
+    "robust_loss": "huber",
+    "huber_delta_mm": 8.0,
+    "max_iterations": 200,
+    "min_cameras_per_marker": 2,
+    "per_link_method": {}
+  }
+}