Initial commit

tests/data/Scene9a/pose.json

@@ -0,0 +1,91 @@
+{
+  "name": "9a",
+  "position": {
+    "x": 60,
+    "y": -2,
+    "z": 95,
+    "a": 200,
+    "b": 60,
+    "c": 9,
+    "e": 8
+  },
+  "rendering": {
+    "width": 1440,
+    "height": 1080,
+    "dofFStop": 11
+  },
+  "camera_positions": {
+    "a": [
+      -300,
+      -800,
+      800
+    ],
+    "b": [
+      300,
+      -900,
+      1200
+    ],
+    "c": [
+      300,
+      -900,
+      400
+    ],
+    "d": [
+      700,
+      -800,
+      400
+    ],
+    "e": [
+      1200,
+      -900,
+      400
+    ],
+    "f": [
+      500,
+      -300,
+      1400
+    ],
+    "g": [
+      -200,
+      200,
+      1400
+    ]
+  },
+  "camera_targets": {
+    "a": [
+      210,
+      -100,
+      180
+    ],
+    "b": [
+      310,
+      -80,
+      180
+    ],
+    "c": [
+      210,
+      -100,
+      150
+    ],
+    "d": [
+      210,
+      -100,
+      150
+    ],
+    "e": [
+      210,
+      -100,
+      50
+    ],
+    "f": [
+      200,
+      -200,
+      180
+    ],
+    "g": [
+      200,
+      -200,
+      180
+    ]
+  }
+}

tests/data/robot.json

@@ -0,0 +1,468 @@
+{
+  "coordinateSystem": {"handedness": "right", "x": "right", "y": "backward", "z": "up"},
+  "units": {"length": "mm", "rotation": "degree"},
+  "vision_config": {"MarkerType": "DICT_4X4_250", "MarkerSize": 0.025},
+  "renderingInfo": {
+    "width": 1280,
+    "height": 720,
+    "renderDefaults": {"width": 1280, "height": 720, "dofFStop": 11},
+    "cameraPosition__1": [-10, -800, 500],
+    "cameraPosition__2": [-500, 300, 1200],
+    "cameraPosition__3": [-200, -900, 200],
+    "cameraPosition__4": [1200, 200, 300],
+    "cameraPosition_a": [-300, -800, 500],
+    "cameraPosition": [-200, 200, 1400],
+    "cameraPosition_c": [600, -500, 600],
+    "cameraTarget": [200, -200, 180],
+    "cameraUpVector": [0, 0, 1],
+    "lightPosition": [-500, -500, 500],
+    "lightTarget": [0, 0, 0],
+    "lightUpVector": [0, 0, 1],
+    "metric": "mm",
+    "showSkeleton": true,
+    "showMarkers": true,
+    "backgroundColor": [0.7, 0.85, 1.0],
+    "backgroundStrength": 0.2,
+    "sunEnergy": 0.35,
+    "areaEnergy": 120,
+    "exposure": -1.5,
+    "lensDirt": true,
+    "lensDirtStrength": 0.08,
+    "dofEnabled": true,
+    "dofFStop": 11.0,
+    "arucoDust": true,
+    "arucoDustStrength": 1.6,
+    "markerOffsetMaxMm": 4.0,
+    "markerOffsetSeed": 0,
+    "markerRotationMaxDeg": 3,
+    "motionBlur": true,
+    "motionBlurMaxPx": 5.5,
+    "focalErrorPct": 0.5,
+    "principalErrorPx": 3.0,
+    "residualDistortion": [0.02, -0.01],
+    "localizedBlur": false,
+    "localizedBlurStrength": 0.15,
+    "vignette": true,
+    "vignetteStrength": 0.08,
+    "sensorNoise": true,
+    "sensorNoiseStrength": 0.01,
+    "lensDistortion": true,
+    "lensDistortionStrength": 0.002,
+    "materials": {
+      "wood": {"baseColor": [0.72, 0.52, 0.33], "roughness": 0.85, "metallic": 0.0},
+      "plaWhite": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.45, "metallic": 0.0},
+      "steel": {"baseColor": [0.72, 0.72, 0.75], "roughness": 0.25, "metallic": 1.0},
+      "powderCoatBlue": {"baseColor": [0.15, 0.25, 0.7], "roughness": 0.55, "metallic": 0.0},
+      "defaultPlastic": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.4, "metallic": 0.0},
+      "skeletonRed": {"baseColor": [0.85, 0.2, 0.2], "roughness": 0.35, "metallic": 0.0},
+      "markerBlack": {"baseColor": [0.04, 0.04, 0.04], "roughness": 0.8, "metallic": 0.0}
+    },
+    "skeletonDefaults": {"radius": 4, "color": [0.85, 0.2, 0.2]},
+    "markerDefaults": {"size": 25, "thickness": 1, "color": [0.04, 0.04, 0.04]},
+    "defaultPosition": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3}
+  },
+  "defaultPosition__": {"x": 10, "y": 4, "z": 20, "a": 10, "b": 2, "c": 9, "e": 1},
+  "defaultPosition": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
+  "recognized": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null},
+  "constraint_rules": {
+    "rigid_distance": {"enabled": true, "mode": "mst", "weight": 1.0},
+    "joint_axis_projection": {"enabled": true, "max_pairs": 2, "weight": 0.35},
+    "chain_axis_projection": {"enabled": false, "max_depth": 3, "max_pairs": 2, "weight": 0.15},
+    "axis_alignment_threshold": 0.95
+  },
+  "observation_weighting": {"enabled": true, "distance_weight": true, "marker_size_weight": true, "view_angle_weight": true},
+  "multiview_calculation": {
+    "combine_mode": "mean",
+    "size_ref_px": 50.0,
+    "border_ref_px": 120.0,
+    "center_ref_norm": 0.01,
+    "sharpness_ref": 2500.0,
+    "homography_ref": 0.18,
+    "size_factor": 0.3,
+    "aspect_factor": 0.3,
+    "border_factor": 0.01,
+    "center_factor": 0.01,
+    "sharpness_factor": 0.5,
+    "homography_factor": 0.2,
+    "normal_visibility_factor": 0.01,
+    "spin_factor": 0.3,
+    "weight_floor": 0.3
+  },
+  "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,
+    "finger_block_joints": ["b", "c", "e"],
+    "per_link_method": {}
+  },
+  "robot_test_poses": {
+    "4": {"x": 70, "y": 50, "z": -70, "a": 120, "b": 50, "c": 30, "e": 20},
+    "5": {"x": 180, "y": 86, "z": -120, "a": -60, "b": 22, "c": 91, "e": 10},
+    "6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
+    "7": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
+    "8": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
+    "9": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
+    "9a": {
+      "x": 60,
+      "y": -2,
+      "z": 95,
+      "a": 200,
+      "b": 60,
+      "c": 9,
+      "e": 8,
+      "rendering": {"width": 1440, "height": 1080, "dofFStop": 11}
+    },
+    "9b": {
+      "x": 60,
+      "y": -2,
+      "z": 95,
+      "a": 200,
+      "b": 60,
+      "c": 9,
+      "e": 8,
+      "rendering": {"width": 4896, "height": 3264, "dofFStop": 5.6}
+    },
+    "10": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
+    "11": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
+    "12": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6}
+  },
+  "test_camera_positions": {
+    "a": [-300, -800, 800],
+    "b": [300, -900, 1200],
+    "c": [300, -900, 400],
+    "d": [700, -800, 400],
+    "e": [1200, -900, 400],
+    "f": [500, -300, 1400],
+    "g": [-200, 200, 1400]
+  },
+  "test_camera_targets": {
+    "a": [210, -100, 180],
+    "b": [310, -80, 180],
+    "c": [210, -100, 150],
+    "d": [210, -100, 150],
+    "e": [210, -100, 50],
+    "f": [200, -200, 180],
+    "g": [200, -200, 180]
+  },
+  "movements": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null},
+  "state_pose_params": {
+    "numbers_of_Elements_to_consider_start": 3,
+    "numbers_of_Elements_to_consider_final": 5,
+    "solver_in_between_geometrical": false,
+    "solver_after_geometrical": false,
+    "geometric_passes_per_stage": 2,
+    "revolute_search_coarse_deg": 5.0,
+    "revolute_search_fine_deg": 1.0,
+    "root_pose_min_markers": 3,
+    "use_marker_normals_flip_tiebreak": true,
+    "normal_flip_weight": 0.05
+  },
+  "links": {
+    "Board": {
+      "parent": null,
+      "size": [1000, 200, 25],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "skeleton": {"from": [0, 0, 16], "to": [1000, 0, 16], "radius": 4, "color": [0.85, 0.2, 0.2]},
+      "markers": [
+        {"id": 210, "set": "Brett", "position": [20, -20, 0.3], "normal": [0, 0, 1]},
+        {"id": 211, "set": "Brett", "position": [250, -10, 0.3], "normal": [0, 0, 1]},
+        {"id": 215, "set": "Brett", "position": [250, -90, 0.3], "normal": [0, 0, 1]},
+        {"id": 214, "set": "Brett", "position": [350, -10, 0.3], "normal": [0, 0, 1]},
+        {"id": 208, "set": "Brett", "position": [350, -90, 0.3], "normal": [0, 0, 1]},
+        {"id": 206, "set": "Brett", "position": [650, -10, 0.3], "normal": [0, 0, 1]},
+        {"id": 205, "set": "Brett", "position": [750, -90, 0.3], "normal": [0, 0, 1]},
+        {"id": 207, "set": "Brett", "position": [750, -10, 0.3], "normal": [0, 0, 1]},
+        {"id": 217, "set": "Brett", "position": [650, -90, 0.3], "normal": [0, 0, 1]},
+        {
+          "id": 46,
+          "set": "A0",
+          "position": [536.71, 185.44, -27.3],
+          "normal": [0, 0, 1],
+          "spin": 90,
+          "info": "is placed on a white paper, A0_60Arucos_25mm_Seet223.pdf, with the following marker placements:"
+        },
+        {"id": 47, "set": "A0", "position": [344.23, -286.54, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 48, "set": "A0", "position": [688.69, -320.72, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 49, "set": "A0", "position": [1006.0, 158.33, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 50, "set": "A0", "position": [573.41, 211.86, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 51, "set": "A0", "position": [167.8, -172.08, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 52, "set": "A0", "position": [94.68, 208.66, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 53, "set": "A0", "position": [486.25, 212.24, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 54, "set": "A0", "position": [342.27, -330.59, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 55, "set": "A0", "position": [283.72, -262.58, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 56, "set": "A0", "position": [498.68, 168.67, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 57, "set": "A0", "position": [602.86, -364.05, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 58, "set": "A0", "position": [50.09, -218.11, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 59, "set": "A0", "position": [626.21, -278.75, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 60, "set": "A0", "position": [434.36, 283.81, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 61, "set": "A0", "position": [-22.42, 335.83, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 62, "set": "A0", "position": [404.7, -175.1, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 63, "set": "A0", "position": [777.4, -236.15, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 64, "set": "A0", "position": [-21.27, -188.23, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 65, "set": "A0", "position": [803.39, -297.37, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 66, "set": "A0", "position": [209.75, -363.23, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 67, "set": "A0", "position": [523.07, 267.04, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 68, "set": "A0", "position": [573.73, 170.64, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 69, "set": "A0", "position": [7.61, -281.21, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 70, "set": "A0", "position": [601.87, 300.33, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 71, "set": "A0", "position": [749.75, -284.01, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 72, "set": "A0", "position": [440.99, 194.32, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 73, "set": "A0", "position": [221.73, 333.11, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 74, "set": "A0", "position": [93.78, 144.5, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 75, "set": "A0", "position": [-25.7, 194.58, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 76, "set": "A0", "position": [685.21, 166.8, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 77, "set": "A0", "position": [18.19, 191.57, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 78, "set": "A0", "position": [823.11, -344.38, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 79, "set": "A0", "position": [312.3, -159.11, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 80, "set": "A0", "position": [863.59, -335.92, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 81, "set": "A0", "position": [132.14, 169.03, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 82, "set": "A0", "position": [219.16, 297.24, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 83, "set": "A0", "position": [44.16, 339.22, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 84, "set": "A0", "position": [407.49, 258.42, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 85, "set": "A0", "position": [504.58, -312.75, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 86, "set": "A0", "position": [362.89, 292.01, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 87, "set": "A0", "position": [943.63, -245.76, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 88, "set": "A0", "position": [765.87, 316.04, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 89, "set": "A0", "position": [988.02, -369.14, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 90, "set": "A0", "position": [643.17, 316.43, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 91, "set": "A0", "position": [723.35, 328.05, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 92, "set": "A0", "position": [645.09, -184.84, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 93, "set": "A0", "position": [934.88, 143.6, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 94, "set": "A0", "position": [875.7, 173.65, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 95, "set": "A0", "position": [186.04, -274.07, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 96, "set": "A0", "position": [369.77, -186.49, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 97, "set": "A0", "position": [304.35, -359.67, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 98, "set": "A0", "position": [575.27, 315.06, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 99, "set": "A0", "position": [959.16, -321.55, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 100, "set": "A0", "position": [803.25, 172.36, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 101, "set": "A0", "position": [117.7, 298.66, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 102, "set": "A0", "position": [649.69, -223.0, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 103, "set": "A0", "position": [105.71, -187.71, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 104, "set": "A0", "position": [826.71, 239.16, -27.3], "normal": [0, 0, 1], "spin": 90},
+        {"id": 105, "set": "A0", "position": [524.84, -266.25, -27.3], "normal": [0, 0, 1], "spin": 90}
+      ],
+      "model": [
+        {
+          "stlFile": "surfaces/Board.stl",
+          "originOfModel": [0, 0, 0],
+          "rotationOfModelDegree": [0, 0, -90],
+          "material": "wood"
+        },
+        {
+          "stlFile": "surfaces/BoardRail.stl",
+          "originOfModel": [0, 0, 0],
+          "rotationOfModelDegree": [0, 0, -90],
+          "material": "steel"
+        }
+      ]
+    },
+    "Base": {
+      "parent": "Board",
+      "size": [150, 200, 150],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Slider",
+        "type": "linear",
+        "axis": [1, 0, 0],
+        "origin": [0, 0, 16],
+        "rotation": [0, 0, 0],
+        "variable": "x"
+      },
+      "skeleton": {"from": [0, 108, 45], "to": [110, 108, 45], "radius": 4, "color": [0.2, 0.8, 0.2]},
+      "markers": [],
+      "model": [
+        {
+          "stlFile": "surfaces/Base.stl",
+          "originOfModel": [-30, 0, -35],
+          "rotationOfModelDegree": [0, 0, 0],
+          "material": "plaWhite"
+        }
+      ]
+    },
+    "Arm1": {
+      "parent": "Base",
+      "size": [70, 250, 70],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Joint1",
+        "type": "revolute",
+        "axis": [-1, 0, 0],
+        "origin": [110, 108, 45],
+        "rotation": [0, 0, 0],
+        "variable": "y"
+      },
+      "skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.2, 0.2, 0.9]},
+      "markers": [
+        {"id": 198, "name": "aruco_198", "position": [0, -160, 35], "normal": [0, 0, 1], "size": 25, "spin": 0},
+        {"id": 229, "name": "aruco_229", "position": [0, -250, 35], "normal": [0, 0, 1], "size": 25, "spin": 0},
+        {"id": 242, "name": "aruco_242", "position": [0, -250, -35], "normal": [0, 0, -1], "size": 25, "spin": 0},
+        {"id": 243, "name": "aruco_243", "position": [0, -285, 0], "normal": [0, -1, 0], "size": 25, "spin": 0}
+      ],
+      "model": [
+        {
+          "stlFile": "surfaces/Holm.stl",
+          "originOfModel__": [-25, 29, -28.5],
+          "originOfModel": [-29, 25, 28.5],
+          "rotationOfModelDegree__": [0, 0, 0],
+          "rotationOfModelDegree": [180, 0, -90],
+          "material": "powderCoatBlue"
+        }
+      ]
+    },
+    "Ellbow": {
+      "parent": "Arm1",
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Joint2",
+        "type": "revolute",
+        "axis": [-1, 0, 0],
+        "origin": [0, -250, 0],
+        "rotation": [0, 0, 0],
+        "variable": "z"
+      },
+      "skeleton": {"from": [0, 0, 0], "to": [90, 0, 0], "radius": 4, "color": [0.9, 0.2, 0.2]},
+      "model": [
+        {
+          "stlFile": "surfaces/Ellebogen.stl",
+          "originOfModel": [90, 0, 0],
+          "rotationOfModelDegree": [0, -90, -90],
+          "material": "defaultPlastic"
+        }
+      ],
+      "markers": [
+        {"id": 244, "name": "aruco_244", "position": [125, 0, 0], "normal": [1, 0, 0], "size": 25, "spin": 0},
+        {"id": 245, "name": "aruco_245", "position": [90, 0, -35], "normal": [0, 0, -1], "size": 25, "spin": 0},
+        {"id": 246, "name": "aruco_246", "position": [90, 0, 35], "normal": [0, 0, 1], "size": 25},
+        {"id": 247, "name": "aruco_247", "position": [52.5, 0, 35], "normal": [0, 0, 1], "size": 25},
+        {"id": 248, "name": "aruco_248", "position": [52.5, 0, -35], "normal": [0, 0, -1], "size": 25},
+        {"id": 232, "name": "aruco_232", "position": [90, 24.75, -24.75], "normal": [0, 1, -1], "size": 25},
+        {"id": 231, "name": "aruco_231", "position": [90, 24.75, 24.75], "normal": [0, 1, 1], "size": 25}
+      ]
+    },
+    "Arm2": {
+      "parent": "Ellbow",
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Joint3",
+        "type": "revolute",
+        "axis": [0, -1, 0],
+        "origin": [90, 0, 0],
+        "rotation": [0, 0, 0],
+        "variable": "a"
+      },
+      "skeleton": {"from": [0, 0, 0], "to": [0, -250, 0], "radius": 4, "color": [0.95, 0.85, 0.2]},
+      "model": [
+        {
+          "stlFile": "surfaces/Unterarm.stl",
+          "originOfModel": [0, -250, 0],
+          "rotationOfModelDegree": [180, 0, -90],
+          "material": "defaultPlastic"
+        }
+      ],
+      "markers": [
+        {"id": 120, "position": [24.75, -112, -24.75], "normal": [1, 0, -1]},
+        {"id": 122, "name": "aruco_122", "position": [-35, -112, 0], "normal": [-1, 0, 0]},
+        {"id": 218, "name": "aruco_218", "position": [35, -112, 0], "normal": [1, 0, 0]},
+        {"id": 113, "name": "aruco_113", "position": [0, -182, 30], "normal": [0, 0, 1]},
+        {"id": 114, "name": "aruco_114", "position": [24.75, -182, -24.75], "normal": [1, 0, -1]},
+        {"id": 115, "name": "aruco_115", "position": [-24.75, -182, -24.75], "normal": [-1, 0, -1]},
+        {"id": 124, "name": "aruco_124", "position": [-35, -219, 0], "normal": [-1, 0, 0]},
+        {"id": 219, "name": "aruco_219", "position": [35, -219, 0], "normal": [1, 0, 0]}
+      ]
+    },
+    "Hand": {
+      "parent": "Arm2",
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Joint4",
+        "type": "revolute",
+        "axis": [1, 0, 0],
+        "origin": [0, -250, 0],
+        "rotation": [0, 0, 0],
+        "variable": "b"
+      },
+      "skeleton": {"from": [0, 0, 0], "to": [0, -35, 0], "radius": 4, "color": [0.95, 0.55, 0.15]}
+    },
+    "Palm": {
+      "parent": "Hand",
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Joint3",
+        "type": "revolute",
+        "axis": [0, -1, 0],
+        "origin": [0, 0, 0],
+        "rotation": [0, 0, 0],
+        "variable": "c"
+      },
+      "skeleton": {"from": [-50, -35, 0], "to": [50, -35, 0], "radius": 7, "color": [0.95, 0.2, 0.2]}
+    },
+    "FingerA": {
+      "parent": "Palm",
+      "size": [80, 60, 20],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Slider",
+        "type": "linear",
+        "axis": [1, 0, 0],
+        "origin": [4, -35, 0],
+        "rotation": [0, 0, 0],
+        "variable": "e"
+      },
+      "skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
+      "markers": [
+        {"id": 40, "position": [12, -24, -17.1], "normal": [-10.98, 0, -23.56]},
+        {"id": 41, "position": [1.5, -2.2, 25.8], "normal": [0, -25.6, 9.5]},
+        {"id": 42, "position": [13.9, -40, 0], "normal": [1, -0.35, 0.4], "spin": 27}
+      ],
+      "model": [
+        {
+          "stlFile": "surfaces/Finger.stl",
+          "originOfModel": [24, 0, -9.1],
+          "rotationOfModelDegree": [90, -90, 0],
+          "material": "defaultPlastic"
+        }
+      ]
+    },
+    "FingerB": {
+      "parent": "Palm",
+      "size": [80, 60, 20],
+      "mountPosition": [0, 0, 0],
+      "mountRotation": [0, 0, 0],
+      "jointToParent": {
+        "name": "Slider",
+        "type": "linear",
+        "axis": [-1, 0, 0],
+        "origin": [-4, -35, 0],
+        "rotation": [0, 0, 0],
+        "variable": "e"
+      },
+      "skeleton": {"from": [0, 0, 0], "to": [0, -60, 0], "radius": 4, "color": [0.2, 0.8, 0.2]},
+      "markers": [
+        {"id": 43, "position": [-12, -24, 17.1], "normal": [10.98, 0, 23.56], "spin": 90},
+        {"id": 44, "position": [-1.5, -2.2, -25.8], "normal": [0, -25.6, -9.5], "spin": 90},
+        {"id": 45, "position": [-13.9, -40, 0], "normal": [-1, -0.35, -0.4], "spin": -27}
+      ],
+      "model": [
+        {
+          "stlFile": "surfaces/Finger.stl",
+          "originOfModel": [-24, 0, 9.1],
+          "rotationOfModelDegree": [90, 90, 0],
+          "material": "defaultPlastic"
+        }
+      ]
+    }
+  }
+}

tests/fixtures/robot_minimal.json

@@ -0,0 +1,19 @@
+{
+  "units": {"length": "mm", "angle": "deg"},
+  "links": [],
+  "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": {}
+  },
+  "vision_config": {
+    "aruco_dict": "DICT_4X4_250",
+    "marker_size_mm": 20.0
+  }
+}

tests/test_e2e.py

@@ -0,0 +1,123 @@
+"""
+End-to-End Tests für die Pipeline gegen echte Daten.
+
+Diese Tests rufen die Pipeline direkt auf und validieren,
+dass sinnvolle Ergebnisse erzeugt werden.
+"""
+import json
+from pathlib import Path
+
+import pytest
+
+from scripts import estimate_from_dir
+
+DATA = Path(__file__).parent / "data"
+SCENE_9A = DATA / "Scene9a"
+ROBOT_JSON = DATA / "robot.json"
+REFERENCE_POSE = SCENE_9A / "pose.json"
+
+
+def _normalize_angle(angle: float) -> float:
+    """Normalisiere Winkel auf [-180, 180]."""
+    while angle > 180:
+        angle -= 360
+    while angle <= -180:
+        angle += 360
+    return angle
+
+
+def _angle_distance(a1: float, a2: float) -> float:
+    """Berechne die kürzeste Winkel-Differenz in Grad."""
+    a1_norm = _normalize_angle(a1)
+    a2_norm = _normalize_angle(a2)
+    diff = abs(a1_norm - a2_norm)
+    if diff > 180:
+        diff = 360 - diff
+    return diff
+
+
+@pytest.mark.skipif(
+    not SCENE_9A.exists(),
+    reason="Scene9a Testdaten nicht vorhanden"
+)
+def test_estimate_from_scene9a():
+    """
+    E2E-Test: Scene9a-Bilder mit allen Kameras a-g,
+    dazugehörige Intrinsiken und robot.json auswerten.
+    
+    Validiert, dass:
+    - Pipeline ohne Fehler läuft
+    - Alle 7 Gelenke Werte erhalten
+    - Confidence-Werte für alle Gelenke vorhanden
+    - Plausible numerische Ergebnisse erzeugt werden
+    - Ergebnisse mit Referenzhaltung übereinstimmen (±5mm, ±5°)
+    """
+    result = estimate_from_dir(
+        SCENE_9A,
+        robot_json=ROBOT_JSON,
+    )
+    
+    # [*] Basis-Validierungen
+    assert result is not None
+    assert isinstance(result.joints, dict)
+    assert isinstance(result.confidence, dict)
+    
+    # [*] Gelenke prüfen
+    expected_joints = {"x", "y", "z", "a", "b", "c", "e"}
+    assert set(result.joints.keys()) == expected_joints, \
+        f"Erwartet {expected_joints}, aber erhalten {set(result.joints.keys())}"
+    
+    # [*] Alle Werte sollten numerisch sein und nicht NaN
+    for joint, value in result.joints.items():
+        assert isinstance(value, (int, float)), \
+            f"Gelenk {joint} sollte numerisch sein, ist aber {type(value)}"
+        assert not (isinstance(value, float) and value != value), \
+            f"Gelenk {joint} ist NaN"
+    
+    # [*] Confidence-Werte prüfen
+    confidence_levels = {"high", "medium", "low", "none"}
+    for joint, conf in result.confidence.items():
+        assert conf in confidence_levels, \
+            f"Gelenk {joint} hat ungültiges Confidence {conf}"
+    
+    # [*] Marker und Residuum
+    assert result.n_markers > 0, "Sollte mindestens einen Marker haben"
+    assert result.residual_rms >= 0, "RMS-Residuum sollte nicht negativ sein"
+    assert result.processing_ms > 0, "Verarbeitung sollte Zeit brauchen"
+    
+    # [*] Fehlerbehandlung
+    assert isinstance(result.errors, list)
+    
+    # [*] Vergleich mit Referenzwerten aus pose.json
+    if REFERENCE_POSE.exists():
+        ref_data = json.loads(REFERENCE_POSE.read_text())
+        ref_position = ref_data.get("position", {})
+        
+        # Toleranzen: ±2mm für Linear, ±2° für Rotation
+        LINEAR_TOLERANCE = 2.0  # mm
+        ANGULAR_TOLERANCE = 2.0  # Grad
+        
+        for joint in expected_joints:
+            estimated = result.joints[joint]
+            reference = ref_position.get(joint)
+            
+            if reference is not None:
+                if joint in {"x", "y", "z"}:
+                    # Linear-Achsen: Toleranz ±5mm
+                    diff = abs(estimated - reference)
+                    assert diff <= LINEAR_TOLERANCE, \
+                        f"Gelenk {joint}: Abweichung {diff:.2f}mm > {LINEAR_TOLERANCE}mm " \
+                        f"(Referenz: {reference}, Gemessen: {estimated:.2f})"
+                else:
+                    # Rotations-Achsen: Toleranz ±5°
+                    angle_diff = _angle_distance(estimated, reference)
+                    assert angle_diff <= ANGULAR_TOLERANCE, \
+                        f"Gelenk {joint}: Abweichung {angle_diff:.2f}° > {ANGULAR_TOLERANCE}° " \
+                        f"(Referenz: {reference}°, Gemessen: {estimated:.2f}°)"
+    
+    # [OK] Ausgeben zur manuellen Validierung
+    print(f"\n[OK] Scene9a erfolgreich verarbeitet")
+    print(f"  Gelenke: {result.joints}")
+    print(f"  Confidence: {result.confidence}")
+    print(f"  Marker: {result.n_markers}, RMS: {result.residual_rms:.3f} mm")
+    print(f"  Zeit: {result.processing_ms} ms")

tests/test_pipeline.py

@@ -0,0 +1,57 @@
+"""
+Grundlegende Unit- und Fehler-Tests für scripts.
+
+End-to-end-Tests gegen echte Bilder sind in tests/test_e2e.py
+(erfordert fixtures/Scene*-Ordner, nicht im Repo).
+"""
+import os
+from pathlib import Path
+
+import pytest
+
+from scripts import PipelineResult, __version__, estimate_from_dir
+
+FIXTURES = Path(__file__).parent / "fixtures"
+
+
+def test_version_format():
+    parts = __version__.split(".")
+    assert len(parts) == 3
+    assert all(p.isdigit() for p in parts)
+
+
+def test_pipeline_result_dataclass():
+    r = PipelineResult(
+        joints={"x": 50.0, "y": -2.0, "z": 94.0, "a": 20.0, "b": 59.0, "c": 9.0, "e": 3.0},
+        confidence={"x": "high", "y": "high", "z": "high", "a": "high", "b": "low", "c": "low", "e": "low"},
+        n_markers=42,
+        residual_rms=1.45,
+        processing_ms=1200.0,
+    )
+    assert r.joints["x"] == 50.0
+    assert r.confidence["b"] == "low"
+    assert r.n_markers == 42
+    assert r.errors == []
+
+
+def test_estimate_raises_on_empty_dir(tmp_path):
+    with pytest.raises(FileNotFoundError, match="render_"):
+        estimate_from_dir(tmp_path, robot_json=FIXTURES / "robot_minimal.json")
+
+
+def test_estimate_raises_without_robot_json(tmp_path):
+    env_backup = os.environ.pop("ROBOT_JSON", None)
+    try:
+        with pytest.raises(ValueError, match="robot_json"):
+            estimate_from_dir(tmp_path, robot_json=None)
+    finally:
+        if env_backup is not None:
+            os.environ["ROBOT_JSON"] = env_backup
+
+
+def test_robot_minimal_json_is_valid():
+    import json
+    data = json.loads((FIXTURES / "robot_minimal.json").read_text())
+    assert "pose_estimation" in data
+    assert "links" in data
+    assert data["pose_estimation"]["method"] == "hybrid"