robot definition

Work to define the markers on the robot

docs/position.tex

@@ -13,10 +13,18 @@
 % Optional: bessere Schrift
 \usepackage{lmodern}
 
+\usepackage{caption}
+
+% Then in your document preamble
+\captionsetup[figure]{font=smaller}
+
+
 \title{How to get  a robot position  from video  images}
 \author{Christoph Kendel}
 \date{\today}
 
+
+
 \begin{document}
 
 \maketitle
@@ -53,7 +61,7 @@ ArUcos are visable.
 
 
 \begin{figure}[h!]
-\includegraphics[width=\linewidth]{pic/robot_image_a.png}
+\includegraphics[width=\linewidth]{pic/robot_image_b.png}
 \caption{Video Capture with recognized Aruco markers}
 \end{figure}
 
@@ -105,7 +113,7 @@ $$
 
 
 \noindent
-as I know the angle $\alpha$ (yellow triangle) from the printed geometry of the arm. The $x_{242}$ is calculated from all visible markers of the 
+as I know the angle $\alpha$ (yellow triangle) from the printed geometry of the arm. The $x_{226}$ is calculated from all visible markers of the 
 sled and bizeps, as their markers are fixed in $x$ position. This $\alpha$ is calculated for all markers of the forearm. 
 
 
@@ -156,7 +164,7 @@ The direction $P \to M$  in combination with the forearm-direction results in th
 \hfill
 \includegraphics[height=0.26\linewidth]{pic/robot_hand_topView.pdf}
 \hfill {}
-\caption{\small Hand with points to calculate the values for {\tt b, c, e}.}
+\caption{ Hand with points to calculate the values for {\tt b, c, e}.}
 \end{figure}
 
 
@@ -175,4 +183,19 @@ And only if the point $M$ lies in the plane of the rotation {\tt a} arround the
 
 The NodeJS Program calculates the angles and checks, if they are the ones at the moment represented by the system.
 
+First try is to just hard-code all the relevant ArucoPoints. That seems to be ok, but it gets impossible to maintain. 
+After a week I dont recognize my own code. It's hard to make improvements, when you first have to re-think all those
+small steps, when you have constantly to look up all positions of the markers.
+
+It seems to be a solution to save the geometry and all markers in one file. That can be edited, that can be improved. 
+And here I can save the relation between x,y, and the position of the Aruco Markers. Of course, at the moment 
+the geometry is still proitty much hard-coded. But i have some flexibility. And mainly: I can loop over {\sl all
+Arucos on the Board} to find the coordinate system. Or I can loop over all Arucos that
+attache to the ``arm1''.
+
+\begin{figure}[h!]
+\includegraphics[width=\linewidth]{pic/code_robot_definition.pdf}
+\caption{Robot Geometry in a {\tt .json} File}
+\end{figure}
+
 \end{document}

public/robot.json

@@ -0,0 +1,26 @@
+{
+    "Elements":["Board","Base","Arm1","Joint1","Arm2","Finger1","Finger2"], 
+    "MarkerType":"DICT_4X4_250",
+    "Marker":[
+        {"id":205,"on":"Board","position":[0.80, -0.090, 0.0]},        
+        {"id":208,"on":"Board","position":[0.50, -0.090, 0.0]},
+        {"id":210,"on":"Board","position":[0.00,  0.0,   0.0]},
+        {"id":211,"on":"Board","position":[0.20,  0.0,   0.0]},
+        {"id":214,"on":"Board","position":[0.40,  0.0,   0.0]},
+        {"id":215,"on":"Board","position":[0.20, -0.090, 0.0]},
+
+        {"id":200,"on":"Base","relPos":[-166,   6.5,  55]},
+        {"id":201,"on":"Base","relPos":[-190,  97.5,  74.5]},
+        {"id":204,"on":"Base","relPos":[-158.5,152.5,111]},
+              
+        {"id":198,"on":"Arm1", "relPos":[-89.5,-160, 35]},  
+        {"id":229,"on":"Arm1", "relPos":[-89.5,-250, 35]},        
+        {"id":243,"on":"Arm1", "relPos":[-89.5,-285, 0]}, 
+
+        {"id":222,"on":"Joint1", "relPos":[0,0, -35]},
+        {"id":226,"on":"Joint1", "relPos":[0,0, 35]},
+        
+        {"id":218,"on":"Finger1","name":"A1","relPos":[-1.70,-25.14, 38.04]},
+        {"id":222,"on":"Finger1","name":"B1","relPos":[-14.55, 0.84, 74.79]}
+    ]
+}