arbeiten am callibration
This commit is contained in:
chk
@@ -736,6 +736,10 @@ function buildCompareLines() {
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// ── Y-Achsen-Berechnung aus drei Positionen ───────────────────────────────────
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/** Marker, die sich weniger als diesen Wert bewegen, werden ignoriert.
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* Entspricht dem min_movement_mm-Parameter im Python-Skript. */
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const Y_AXIS_MIN_MOVEMENT_MM = 10.0;
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function computeAndShowYAxis() {
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clearGroup(gYAxis);
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@@ -755,6 +759,8 @@ function computeAndShowYAxis() {
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const circumcenters = []; // [{id, C:[x,y,z]}] in mm
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const normals = []; // [[nx,ny,nz]] – Achsenrichtung je Marker
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const markerData = []; // [{markerId, posA, posB, posC, circumcenter, normal}] für Speicherung
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const skipped = []; // [{id, reason, maxMoveMm}]
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for (const [id, ma] of mapA) {
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const mb = mapB.get(id);
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@@ -765,6 +771,22 @@ function computeAndShowYAxis() {
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const P2 = mb.position_mm.map(Number);
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const P3 = mc.position_mm.map(Number);
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// ── Mindest-Bewegungs-Filter ─────────────────────────────────────────────
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// Marker, die sich zwischen den drei Positionen kaum bewegen, liefern
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// degenerate Umkreismittelpunkte und korrumpieren die Achsenschätzung.
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// Dieselbe Logik wie im Python-Skript (min_movement_mm).
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const maxMoveMm = Math.max(
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Math.sqrt(dist2(P1, P2)),
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Math.sqrt(dist2(P2, P3)),
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Math.sqrt(dist2(P1, P3)),
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);
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if (maxMoveMm < Y_AXIS_MIN_MOVEMENT_MM) {
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vlog(`Y-Achse: Marker ${id} übersprungen – Bewegung zu gering` +
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` (${maxMoveMm.toFixed(1)} mm < ${Y_AXIS_MIN_MOVEMENT_MM} mm, kein rotierender Marker)`, 'warn');
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skipped.push({ id, reason: 'Bewegung zu gering', maxMoveMm: +maxMoveMm.toFixed(2) });
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continue;
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}
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// Normalenvektor der Kreisebene = Achsenrichtung
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const v1 = [P2[0]-P1[0], P2[1]-P1[1], P2[2]-P1[2]];
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const v2 = [P3[0]-P1[0], P3[1]-P1[1], P3[2]-P1[2]];
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@@ -795,6 +817,7 @@ function computeAndShowYAxis() {
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(w1*P1[2] + w2*P2[2] + w3*P3[2]) / wSum,
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];
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circumcenters.push({ id, C });
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markerData.push({ markerId: id, posA: P1, posB: P2, posC: P3, circumcenter: C, normal: n });
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// Kreismittelpunkt (rose)
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gYAxis.add(makeSphere(r2vArr(C), 0.007, 0xfb7185));
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@@ -803,8 +826,11 @@ function computeAndShowYAxis() {
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}
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if (circumcenters.length === 0) {
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vlog('Y-Achse: Keine gemeinsamen fremd-Marker in Pos A+B+C gefunden', 'warn');
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window.parent.postMessage({ type: 'yaxis-measurement', axisDir: null }, '*');
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const why = skipped.length
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? `Alle ${skipped.length} Marker gefiltert (Bewegung < ${Y_AXIS_MIN_MOVEMENT_MM} mm)`
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: 'Keine gemeinsamen fremd-Marker in Pos A+B+C gefunden';
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vlog(`Y-Achse: ${why}`, 'warn');
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window.parent.postMessage({ type: 'yaxis-measurement', axisDir: null, skipped }, '*');
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return;
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}
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@@ -837,7 +863,11 @@ function computeAndShowYAxis() {
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const fmt = v => (v >= 0 ? '+' : '') + v.toFixed(3) + '°';
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const good = Math.abs(tiltXY) < 0.5 && Math.abs(tiltYZ) < 0.5;
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vlog(`Y-Achse (${circumcenters.length} Marker): dir=[${axisDir.map(v => v.toFixed(4)).join(', ')}]`);
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const usedIds = circumcenters.map(c => c.id);
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const skippedIds = skipped.map(s => s.id);
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vlog(`Y-Achse: ${usedIds.length} Marker genutzt (${usedIds.join(', ')})` +
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(skippedIds.length ? ` · ${skippedIds.length} gefiltert (${skippedIds.join(', ')})` : ''));
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vlog(` dir=[${axisDir.map(v => v.toFixed(4)).join(', ')}]`);
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vlog(` Referenzpunkt: [${axisPoint.map(v => v.toFixed(1)).join(', ')}] mm`);
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vlog(` Abw. von Y-Achse: XY ${fmt(tiltXY)} YZ ${fmt(tiltYZ)}`, good ? 'ok' : 'warn');
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@@ -847,7 +877,14 @@ function computeAndShowYAxis() {
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axisPoint,
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tiltXY,
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tiltYZ,
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numMarkers: circumcenters.length,
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numMarkers: circumcenters.length,
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numMarkersCommon: circumcenters.length + skipped.length,
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skipped,
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// Für rotation_detection.json: Run-Referenzen und Marker-Rohdaten
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runA: document.getElementById('sel-run-primary')?.value ?? null,
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runB: document.getElementById('sel-run-compare')?.value ?? null,
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runC: document.getElementById('sel-run-c')?.value ?? null,
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markerData,
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}, '*');
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}
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@@ -60,7 +60,6 @@ body {
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display: flex;
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flex-direction: column;
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gap: 3px;
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padding-top: 4px;
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flex-shrink: 0;
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width: 148px;
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}
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@@ -92,6 +91,7 @@ body {
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border-right: none;
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border-left: 3px solid var(--accent);
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padding-left: 13px; /* kompensiert den dickeren linken Rand */
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margin-right: -1px; /* überlappt 1px ins Panel → kein Zoom-Spalt */
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z-index: 1;
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}
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@@ -565,6 +565,20 @@ function initArm(tab) {
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log(`📐 Achse (${msg.numMarkers} Marker): dir=[${msg.axisDir.map(v => v.toFixed(4)).join(', ')}]` +
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` XY=${fmt(msg.tiltXY)} YZ=${fmt(msg.tiltYZ)}`);
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log(` Referenzpunkt: [${msg.axisPoint.map(v => v.toFixed(1)).join(', ')}] mm`);
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// In rotation_detection.json speichern (anhängen)
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fetch('/api/xaxis/save-rotation-detection', {
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method: 'POST',
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headers: { 'Content-Type': 'application/json' },
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body: JSON.stringify({
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axis: { dir: msg.axisDir, referencePoint: msg.axisPoint, tiltXY_deg: msg.tiltXY, tiltYZ_deg: msg.tiltYZ },
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runs: { A: msg.runA ?? null, B: msg.runB ?? null, C: msg.runC ?? null },
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numMarkers: msg.numMarkers,
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markers: msg.markerData ?? [],
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}),
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}).then(r => r.json())
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.then(d => log(`💾 Gespeichert: ${d.file} (${d.total} Messungen)`))
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.catch(e => log(`⚠ Speichern fehlgeschlagen: ${e.message}`));
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}
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});
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}
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@@ -20,6 +20,20 @@
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</div>
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</div>
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<!-- ── Aktionen ───────────────────────────────────────────────────────────── -->
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<div class="section full">
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<h2>Aktionen</h2>
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<div style="margin-top:14px;display:flex;align-items:center;gap:20px;flex-wrap:wrap">
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<button id="btn-arm1-ccw" style="font-size:18px;padding:6px 22px" title="Bieps rauf">
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⤴ Rauf
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</button>
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<span style="color:var(--muted);font-size:11px">Roboter-Bieps drehen (Schrittweite folgt)</span>
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<button id="btn-arm1-cw" style="font-size:18px;padding:6px 22px" title="Bieps runter">
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Runter ⤵
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</button>
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</div>
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</div>
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<div class="section full">
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<h2>Ausgabe / Log</h2>
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<textarea id="log-arm1" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
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@@ -20,6 +20,20 @@
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</div>
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</div>
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<!-- ── Aktionen ───────────────────────────────────────────────────────────── -->
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<div class="section full">
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<h2>Aktionen</h2>
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<div style="margin-top:14px;display:flex;align-items:center;gap:20px;flex-wrap:wrap">
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<button id="btn-arm2-ccw" style="font-size:18px;padding:6px 22px" title="Unterarm rauf">
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⤴ Rauf
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</button>
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<span style="color:var(--muted);font-size:11px">Roboter-Unterarm drehen (Schrittweite folgt)</span>
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<button id="btn-arm2-cw" style="font-size:18px;padding:6px 22px" title="Unterarm runter">
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Runter ⤵
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</button>
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</div>
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</div>
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<div class="section full">
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<h2>Ausgabe / Log</h2>
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<textarea id="log-arm2" readonly placeholder="(Ausgabe erscheint hier)"></textarea>
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349
scripts/4_yAxis_rotation_reconstruction.py
Normal file
349
scripts/4_yAxis_rotation_reconstruction.py
Normal file
@@ -0,0 +1,349 @@
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#!/usr/bin/env python3
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"""
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4_yAxis_rotation_reconstruction.py
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====================================
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Berechnet die Rotationsachse eines Gelenks aus drei Board-Erkennungs-Timestamps.
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Gegeben drei Messungen (Pos A, B, C) – in denen dieselben fremd-Marker
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(link != 'Board') erkannt wurden – bestimmt das Skript:
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- Richtung der Rotationsachse (axisDir, Einheitsvektor)
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- Referenzpunkt auf der Achse (axisPoint_mm)
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- Residuen pro Punkt (Qualitätsmass)
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Methode (doc/04_y_achse.md):
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Jeder Marker bewegt sich auf einem Kreisbogen. Die Ebene des Kreises
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steht senkrecht zur Rotationsachse → Normalenvektor = Achsenrichtung.
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Der Umkreismittelpunkt des Dreiecks P1-P2-P3 liegt auf der Achse.
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Statt nur dem Marker-Zentrum werden alle vier Ecken (corners_m) verwendet:
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das liefert 4× mehr Datenpunkte und macht die Schätzung robuster.
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Usage:
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python3 4_yAxis_rotation_reconstruction.py <posA> <posB> <posC> [Optionen]
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<posA/B/C> Verzeichnis mit aruco_marker_poses.json ODER direkter Dateipfad
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Optionen:
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--output, -o Ergebnis in JSON-Datei speichern
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--pretty Eingerücktes JSON auf stdout
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--link Marker-Link, der als "Referenz" gilt und NICHT verwendet wird
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(Default: 'Board')
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Output (stdout):
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JSON mit axisDir, axisPoint_mm, residuals, tiltXY_deg, tiltYZ_deg, …
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"""
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from __future__ import annotations
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import argparse
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import json
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import math
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import os
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import sys
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from typing import List, Optional, Tuple
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import numpy as np
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# ── Laden ─────────────────────────────────────────────────────────────────────
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def load_poses(path: str) -> dict:
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"""Lädt aruco_marker_poses.json – akzeptiert Verzeichnis oder direkten Pfad."""
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if os.path.isdir(path):
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path = os.path.join(path, 'aruco_marker_poses.json')
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if not os.path.exists(path):
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raise FileNotFoundError(f'Nicht gefunden: {path}')
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with open(path, 'r', encoding='utf-8') as f:
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return json.load(f)
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def fremd_markers(data: dict, ref_link: str = 'Board') -> dict[int, dict]:
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"""Gibt fremd-Marker als {marker_id: marker_dict} zurück."""
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return {
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m['marker_id']: m
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for m in data.get('markers', [])
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if m.get('link') != ref_link
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}
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def get_points_mm(marker: dict) -> List[np.ndarray]:
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"""
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Gibt alle 3D-Punkte eines Markers in mm zurück.
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Bevorzugt corners_m (4 Ecken); Fallback: Zentrum position_mm.
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"""
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corners = marker.get('corners_m')
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if corners:
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return [np.array(c, dtype=float) * 1000.0 for c in corners]
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pos = marker.get('position_mm')
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if pos:
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return [np.array(pos, dtype=float)]
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pos_m = marker.get('position_m')
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if pos_m:
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return [np.array(pos_m, dtype=float) * 1000.0]
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return []
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# ── Geometrie ─────────────────────────────────────────────────────────────────
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def circumcenter_and_normal(
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P1: np.ndarray, P2: np.ndarray, P3: np.ndarray
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) -> Tuple[Optional[np.ndarray], Optional[np.ndarray], float]:
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"""
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Umkreismittelpunkt + Normalenvektor des Dreiecks P1-P2-P3.
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Rückgabe: (circumcenter_mm, normal, cross_length)
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Bei Degeneration (kollinear / identisch): (None, None, cross_length)
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"""
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v1 = P2 - P1
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v2 = P3 - P1
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cross = np.cross(v1, v2)
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cross_len = float(np.linalg.norm(cross))
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if cross_len < 1e-6: # Punkte (fast) kollinear oder identisch
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return None, None, cross_len
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n = cross / cross_len
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# Baryzentrische Gewichte → Umkreismittelpunkt
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a2 = float(np.dot(P2 - P3, P2 - P3))
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b2 = float(np.dot(P1 - P3, P1 - P3))
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c2 = float(np.dot(P1 - P2, P1 - P2))
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w1 = a2 * (b2 + c2 - a2)
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w2 = b2 * (a2 + c2 - b2)
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w3 = c2 * (a2 + b2 - c2)
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w_sum = w1 + w2 + w3
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if abs(w_sum) < 1e-12: # gleichseitiges / entartetes Dreieck
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return None, None, cross_len
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C = (w1 * P1 + w2 * P2 + w3 * P3) / w_sum
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return C, n, cross_len
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def point_line_distance(point: np.ndarray, line_pt: np.ndarray, line_dir: np.ndarray) -> float:
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"""Abstand Punkt → Gerade (line_pt + t·line_dir, line_dir normiert)."""
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diff = point - line_pt
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return float(np.linalg.norm(diff - np.dot(diff, line_dir) * line_dir))
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# ── Kernberechnung ────────────────────────────────────────────────────────────
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def compute_rotation_axis(
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posA: dict,
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posB: dict,
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posC: dict,
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ref_link: str = 'Board',
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min_radius_mm: float = 0.5,
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min_movement_mm: float = 10.0,
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) -> dict:
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"""
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Berechnet die Rotationsachse aus drei Messungen.
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Parameter:
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min_radius_mm – Kreisradius unter dem ein Ecken-Triplet als degenerat gilt
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min_movement_mm – Minimale Zentren-Bewegung (max Paarweisabstand A/B/C)
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Marker die sich weniger bewegen werden ignoriert.
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Default 10 mm → filtert Board-nahe / fest stehende Marker.
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"""
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mA = fremd_markers(posA, ref_link)
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mB = fremd_markers(posB, ref_link)
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mC = fremd_markers(posC, ref_link)
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common_ids = sorted(set(mA) & set(mB) & set(mC))
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if not common_ids:
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return {'ok': False, 'error': 'Keine gemeinsamen fremd-Marker in A+B+C'}
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circumcenters: List[np.ndarray] = []
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normals: List[np.ndarray] = []
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skipped: List[dict] = []
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marker_results: List[dict] = []
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for mid in common_ids:
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# ── Mindest-Bewegungs-Filter ───────────────────────────────────────────
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# Marker die sich kaum bewegen liefern degenerate Umkreismittelpunkte.
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# Wir vergleichen die Zentren (position_mm) der drei Messungen.
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cA = np.array(mA[mid].get('position_mm', [0, 0, 0]), dtype=float)
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cB = np.array(mB[mid].get('position_mm', [0, 0, 0]), dtype=float)
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cC = np.array(mC[mid].get('position_mm', [0, 0, 0]), dtype=float)
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max_movement = max(
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np.linalg.norm(cB - cA),
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np.linalg.norm(cC - cB),
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np.linalg.norm(cC - cA),
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)
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if max_movement < min_movement_mm:
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skipped.append({
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'marker_id': mid,
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'reason': 'Bewegung zu gering (kein rotierender Marker)',
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'max_movement_mm': round(float(max_movement), 2),
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'threshold_mm': min_movement_mm,
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})
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continue
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pts_a = get_points_mm(mA[mid])
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pts_b = get_points_mm(mB[mid])
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pts_c = get_points_mm(mC[mid])
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n_pts = min(len(pts_a), len(pts_b), len(pts_c))
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ok_pts: List[np.ndarray] = []
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ok_ns: List[np.ndarray] = []
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for i in range(n_pts):
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P1, P2, P3 = pts_a[i], pts_b[i], pts_c[i]
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C, n, cross_len = circumcenter_and_normal(P1, P2, P3)
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if C is None:
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skipped.append({
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'marker_id': mid, 'point_idx': i,
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'reason': 'degenerat (kollinear)',
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'cross_len': round(cross_len, 6),
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})
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continue
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radius = float(np.linalg.norm(C - P1))
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if radius < min_radius_mm:
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skipped.append({
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'marker_id': mid, 'point_idx': i,
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'reason': 'radius zu klein (Bewegung zu gering)',
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'radius_mm': round(radius, 4),
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})
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continue
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ok_pts.append(C)
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ok_ns.append(n)
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||||
circumcenters.append(C)
|
||||
normals.append(n)
|
||||
|
||||
cc_arr = np.array(ok_pts) if ok_pts else np.empty((0, 3))
|
||||
marker_results.append({
|
||||
'marker_id': mid,
|
||||
'n_points_used': len(ok_pts),
|
||||
'n_points_total': n_pts,
|
||||
'circumcenter_mean_mm': cc_arr.mean(axis=0).round(3).tolist()
|
||||
if len(ok_pts) else None,
|
||||
})
|
||||
|
||||
if not normals:
|
||||
return {
|
||||
'ok': False,
|
||||
'error': 'Alle Triplets degenerat – Bewegung zu gering oder Marker kollinear.',
|
||||
'skipped': skipped,
|
||||
}
|
||||
|
||||
normals_arr = np.array(normals) # (N, 3)
|
||||
circumcenters_arr = np.array(circumcenters) # (N, 3)
|
||||
|
||||
# ── Achsenrichtung ─────────────────────────────────────────────────────────
|
||||
# Alle Normalen auf dieselbe Halbkugel (Vorzeichenanpassung)
|
||||
ref = normals_arr[0]
|
||||
signs = np.where(normals_arr @ ref >= 0, 1.0, -1.0)
|
||||
aligned = normals_arr * signs[:, np.newaxis]
|
||||
|
||||
mean_n = aligned.mean(axis=0)
|
||||
axis_dir = mean_n / np.linalg.norm(mean_n)
|
||||
|
||||
# Streuung der Normalen (Winkelresidum)
|
||||
cos_angles = np.clip(aligned @ axis_dir, -1, 1)
|
||||
angle_residuals_deg = np.degrees(np.arccos(cos_angles))
|
||||
|
||||
# ── Referenzpunkt ──────────────────────────────────────────────────────────
|
||||
axis_point = circumcenters_arr.mean(axis=0)
|
||||
|
||||
# ── Abstandsresiduen ───────────────────────────────────────────────────────
|
||||
dist_residuals = np.array([
|
||||
point_line_distance(C, axis_point, axis_dir)
|
||||
for C in circumcenters_arr
|
||||
])
|
||||
|
||||
# ── Abweichung von Y-Achse [0, 1, 0] in Roboter-Koordinaten ──────────────
|
||||
ax, ay, az = axis_dir
|
||||
tilt_xy_deg = math.degrees(math.atan2(ax, ay)) # Kippung in XY-Ebene
|
||||
tilt_yz_deg = math.degrees(math.atan2(az, ay)) # Kippung in YZ-Ebene
|
||||
|
||||
used_ids = [r['marker_id'] for r in marker_results if r['n_points_used'] > 0]
|
||||
|
||||
return {
|
||||
'ok': True,
|
||||
'axisDir': axis_dir.round(6).tolist(),
|
||||
'axisPoint_mm': axis_point.round(3).tolist(),
|
||||
'tiltXY_deg': round(tilt_xy_deg, 4),
|
||||
'tiltYZ_deg': round(tilt_yz_deg, 4),
|
||||
'numMarkersUsed': len(used_ids),
|
||||
'numMarkersCommon': len(common_ids),
|
||||
'usedMarkerIds': used_ids,
|
||||
'commonMarkerIds': common_ids,
|
||||
'numPoints': len(normals),
|
||||
'residual_dist_mean_mm': round(float(dist_residuals.mean()), 3),
|
||||
'residual_dist_max_mm': round(float(dist_residuals.max()), 3),
|
||||
'residual_dist_mm': dist_residuals.round(3).tolist(),
|
||||
'residual_angle_mean_deg': round(float(angle_residuals_deg.mean()), 4),
|
||||
'residual_angle_max_deg': round(float(angle_residuals_deg.max()), 4),
|
||||
'markerResults': marker_results,
|
||||
'skipped': skipped,
|
||||
}
|
||||
|
||||
|
||||
# ── CLI ───────────────────────────────────────────────────────────────────────
|
||||
|
||||
def main() -> None:
|
||||
parser = argparse.ArgumentParser(
|
||||
description='Rotationsachse aus drei Board-Timestamps berechnen'
|
||||
)
|
||||
parser.add_argument('posA', help='Timestamp A – Verzeichnis oder aruco_marker_poses.json')
|
||||
parser.add_argument('posB', help='Timestamp B – Verzeichnis oder aruco_marker_poses.json')
|
||||
parser.add_argument('posC', help='Timestamp C – Verzeichnis oder aruco_marker_poses.json')
|
||||
parser.add_argument('--output', '-o', metavar='FILE',
|
||||
help='Ergebnis zusätzlich in JSON-Datei speichern')
|
||||
parser.add_argument('--pretty', action='store_true',
|
||||
help='Eingerücktes JSON auf stdout')
|
||||
parser.add_argument('--link', default='Board',
|
||||
help='Referenz-Link der Board-Marker (Default: Board)')
|
||||
parser.add_argument('--min-radius', type=float, default=0.5,
|
||||
help='Min. Kreisradius mm (Default 0.5)')
|
||||
parser.add_argument('--min-movement', type=float, default=10.0,
|
||||
help='Min. Marker-Zentrumsbewegung mm (Default 10.0)')
|
||||
args = parser.parse_args()
|
||||
|
||||
try:
|
||||
data_a = load_poses(args.posA)
|
||||
data_b = load_poses(args.posB)
|
||||
data_c = load_poses(args.posC)
|
||||
except FileNotFoundError as e:
|
||||
print(f'Fehler: {e}', file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
result = compute_rotation_axis(data_a, data_b, data_c,
|
||||
ref_link=args.link,
|
||||
min_radius_mm=args.min_radius,
|
||||
min_movement_mm=args.min_movement)
|
||||
|
||||
indent = 2 if args.pretty else None
|
||||
out_str = json.dumps(result, indent=indent, ensure_ascii=False)
|
||||
print(out_str)
|
||||
|
||||
if args.output:
|
||||
with open(args.output, 'w', encoding='utf-8') as f:
|
||||
f.write(out_str)
|
||||
print(f'Ergebnis gespeichert: {args.output}', file=sys.stderr)
|
||||
|
||||
if result['ok']:
|
||||
r = result
|
||||
fmt = lambda v: f'{v:+.3f}°'
|
||||
print('', file=sys.stderr)
|
||||
print('─── Rotationsachse ───────────────────────────────────────', file=sys.stderr)
|
||||
print(f" Richtung: [{', '.join(f'{v:.4f}' for v in r['axisDir'])}]", file=sys.stderr)
|
||||
print(f" Referenzpunkt: [{', '.join(f'{v:.1f}' for v in r['axisPoint_mm'])}] mm", file=sys.stderr)
|
||||
print(f" Abw. von Y: XY={fmt(r['tiltXY_deg'])} YZ={fmt(r['tiltYZ_deg'])}", file=sys.stderr)
|
||||
print(f" Marker: {r['numMarkersUsed']} genutzt / {r['numMarkersCommon']} gemeinsam "
|
||||
f"Punkte: {r['numPoints']}", file=sys.stderr)
|
||||
print(f" Residuen Abstand: ⌀{r['residual_dist_mean_mm']:.2f} mm "
|
||||
f"max={r['residual_dist_max_mm']:.2f} mm", file=sys.stderr)
|
||||
print(f" Residuen Winkel: ⌀{r['residual_angle_mean_deg']:.3f}° "
|
||||
f"max={r['residual_angle_max_deg']:.3f}°", file=sys.stderr)
|
||||
print('──────────────────────────────────────────────────────────', file=sys.stderr)
|
||||
else:
|
||||
print(f"Fehler: {result['error']}", file=sys.stderr)
|
||||
sys.exit(1)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
69
server/robotActions.js
Normal file
69
server/robotActions.js
Normal file
@@ -0,0 +1,69 @@
|
||||
/**
|
||||
* robotActions.js – Roboter-Bewegungsaktionen
|
||||
*
|
||||
* Alle Bewegungsbefehle laufen hier durch, bevor sie ans Roboter-Backend
|
||||
* weitergeleitet werden (ROBOT_URL). Solange ROBOT_URL nicht konfiguriert
|
||||
* ist, werden die Aktionen nur geloggt und eine Stub-Antwort zurückgegeben.
|
||||
*
|
||||
* Joint-Namen: 'x-axis' | 'arm1' | 'arm2' | 'elbow' | 'hand'
|
||||
* Directions: 'left' | 'right' (x-axis, linear)
|
||||
* 'cw' | 'ccw' (alle Gelenke, rotatorisch)
|
||||
*/
|
||||
|
||||
const ROBOT_URL = process.env.ROBOT_URL || '';
|
||||
|
||||
// ── Validierung ───────────────────────────────────────────────────────────────
|
||||
|
||||
const VALID_JOINTS = new Set(['x-axis', 'arm1', 'arm2', 'elbow', 'hand']);
|
||||
const VALID_DIRECTIONS = new Set(['left', 'right', 'cw', 'ccw']);
|
||||
|
||||
function validateMove({ joint, direction, steps = 1 }) {
|
||||
if (!joint) return '"joint" fehlt';
|
||||
if (!direction) return '"direction" fehlt';
|
||||
if (!VALID_JOINTS.has(joint)) return `Unbekanntes Joint: "${joint}"`;
|
||||
if (!VALID_DIRECTIONS.has(direction)) return `Unbekannte Richtung: "${direction}"`;
|
||||
if (typeof steps !== 'number' || steps < 1 || steps > 100)
|
||||
return '"steps" muss eine Zahl zwischen 1 und 100 sein';
|
||||
return null; // ok
|
||||
}
|
||||
|
||||
// ── Ausführung ────────────────────────────────────────────────────────────────
|
||||
|
||||
/**
|
||||
* Sendet einen Bewegungsbefehl.
|
||||
* Gibt { ok, joint, direction, steps, message } zurück oder wirft einen Fehler.
|
||||
*/
|
||||
export async function executeMove({ joint, direction, steps = 1 }) {
|
||||
const err = validateMove({ joint, direction, steps });
|
||||
if (err) throw Object.assign(new Error(err), { statusCode: 400 });
|
||||
|
||||
const payload = { joint, direction, steps };
|
||||
console.log(`[robotActions] move: ${JSON.stringify(payload)}`);
|
||||
|
||||
if (ROBOT_URL) {
|
||||
// ── Weiterleitung an das Roboter-Backend ─────────────────────────────────
|
||||
const url = new URL('/api/move', ROBOT_URL).toString();
|
||||
const res = await fetch(url, {
|
||||
method: 'POST',
|
||||
headers: { 'Content-Type': 'application/json' },
|
||||
body: JSON.stringify(payload),
|
||||
});
|
||||
if (!res.ok) {
|
||||
const text = await res.text().catch(() => '');
|
||||
throw Object.assign(
|
||||
new Error(`Robot-Backend: ${res.status} – ${text}`),
|
||||
{ statusCode: 502 }
|
||||
);
|
||||
}
|
||||
const data = await res.json();
|
||||
return { ok: true, joint, direction, steps, ...data };
|
||||
}
|
||||
|
||||
// ── Stub (ROBOT_URL nicht konfiguriert) ───────────────────────────────────
|
||||
const label = joint === 'x-axis'
|
||||
? `X-Achse ${direction === 'left' ? '⬅' : '➡'}`
|
||||
: `${joint} ${direction === 'ccw' ? '↺ Rauf' : 'Runter ↻'}`;
|
||||
const message = `[Stub] ${label} – ${steps} Schritt(e). ROBOT_URL nicht konfiguriert.`;
|
||||
console.warn(`[robotActions] ${message}`);
|
||||
return { ok: true, stub: true, joint, direction, steps, message };
|
||||
}
|
||||
@@ -937,6 +937,54 @@ app.post('/api/calibration/upload-npz', async (req, res) => {
|
||||
}
|
||||
});
|
||||
|
||||
// ── X-Achse / Rotations-Detektion ────────────────────────────────────────────
|
||||
|
||||
const xaxisDataDir = path.join(__dirname, '..', 'data', 'xaxis');
|
||||
const ROTATION_DETECTION_FILE = path.join(xaxisDataDir, 'rotation_detection.json');
|
||||
|
||||
/** POST /api/xaxis/save-rotation-detection
|
||||
* Speichert eine Achsmessung an rotation_detection.json (append-Modus). */
|
||||
app.post('/api/xaxis/save-rotation-detection', express.json(), async (req, res) => {
|
||||
try {
|
||||
const { axis, runs, numMarkers, markers } = req.body ?? {};
|
||||
if (!axis || !axis.dir || !axis.referencePoint) {
|
||||
return res.status(400).json({ error: 'Ungültige Nutzlast: axis.dir und axis.referencePoint erwartet' });
|
||||
}
|
||||
|
||||
// Verzeichnis anlegen falls nötig
|
||||
await fsPromises.mkdir(xaxisDataDir, { recursive: true });
|
||||
|
||||
// Bestehende Einträge lesen oder leer beginnen
|
||||
let entries = [];
|
||||
try {
|
||||
const raw = await fsPromises.readFile(ROTATION_DETECTION_FILE, 'utf-8');
|
||||
entries = JSON.parse(raw);
|
||||
if (!Array.isArray(entries)) entries = [];
|
||||
} catch {
|
||||
// Datei existiert noch nicht – kein Fehler
|
||||
}
|
||||
|
||||
const newEntry = {
|
||||
timestamp: new Date().toISOString(),
|
||||
runs: runs ?? {},
|
||||
axis,
|
||||
numMarkers: numMarkers ?? null,
|
||||
markers: markers ?? [],
|
||||
};
|
||||
|
||||
entries.push(newEntry);
|
||||
await fsPromises.writeFile(ROTATION_DETECTION_FILE, JSON.stringify(entries, null, 2), 'utf-8');
|
||||
|
||||
return res.json({
|
||||
file: 'data/xaxis/rotation_detection.json',
|
||||
total: entries.length,
|
||||
});
|
||||
} catch (err) {
|
||||
console.error('save-rotation-detection error:', err);
|
||||
return res.status(500).json({ error: String(err) });
|
||||
}
|
||||
});
|
||||
|
||||
async function checkServiceReachability(name, url) {
|
||||
try {
|
||||
const controller = new AbortController();
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
marker_id,link,set,num_cameras,x_mm,y_mm,z_mm,nx,ny,nz,model_x_mm,model_y_mm,model_z_mm,dist_to_model_mm,delta_z_mm,edge_length_mm
|
||||
0,Board,rail,2,493.98,-96.39,-8.97,-0.00886,0.04951,0.99873,494.12,-100.21,-9.76,3.908,0.794,23.35
|
||||
50,Board,A0,2,576.77,208.61,-25.71,0.06252,0.0994,0.99308,578.55,209.43,-26.11,1.995,0.397,25.08
|
||||
55,Board,A0,2,277.19,-258.42,-29.07,0.00488,-0.03269,0.99945,277.76,-258.03,-29.52,0.823,0.45,23.98
|
||||
62,Board,A0,2,399.27,-174.12,-27.58,0.01876,0.03279,0.99929,400.76,-173.44,-28.11,1.717,0.526,23.1
|
||||
79,Board,A0,2,306.77,-156.23,-28.44,-0.02974,0.00922,0.99952,308.77,-155.27,-29.18,2.337,0.74,23.06
|
||||
101,Board,A0,2,123.4,305.1,-30.43,-0.05779,0.03321,0.99778,125.05,306.96,-31.31,2.64,0.882,23.2
|
||||
197,unknown,,2,133.85,89.2,297.08,-0.99892,0.04634,-0.00288,,,,,,24.59
|
||||
201,unknown,,3,82.03,56.25,90.01,-0.99863,-0.01609,0.04969,,,,,,24.11
|
||||
204,unknown,,3,117.59,128.98,111.27,0.02638,0.04121,0.9988,,,,,,24.3
|
||||
211,Board,rail,2,321.33,-1.22,-9.18,0.05719,-0.04545,0.99733,321.45,-2.7,-10.7,2.127,1.522,22.73
|
||||
215,Board,rail,2,322.26,-90.67,-11.82,0.01124,-0.02807,0.99954,318.76,-92.52,-11.4,3.976,-0.422,24.6
|
||||
218,unknown,,2,237.95,75.51,408.78,-0.90327,0.41967,0.08937,,,,,,24.53
|
||||
219,unknown,,3,245.24,50.43,509.71,-0.91875,0.39116,0.05377,,,,,,24.43
|
||||
242,unknown,,2,187.54,55.65,288.93,0.02295,-0.99479,-0.09934,,,,,,23.94
|
||||
|
||||
camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
|
||||
cam0,-718.06,-492.09,666.56,0.85634,0.40766,-0.31702
|
||||
cam1,-262.59,-550.95,834.39,0.50249,0.63431,-0.5875
|
||||
cam2,-583.76,-45.55,423.16,0.98358,-0.02341,-0.17892
|
||||
|
@@ -0,0 +1,683 @@
|
||||
{
|
||||
"schema_version": "1.1",
|
||||
"stage": "corner_marker_poses",
|
||||
"created_utc": "2026-06-12T19:00:31Z",
|
||||
"summary": {
|
||||
"num_cameras": 3,
|
||||
"num_markers": 14
|
||||
},
|
||||
"cameras": [
|
||||
{
|
||||
"camera_id": "cam0",
|
||||
"position_m": [
|
||||
-0.7180634917282753,
|
||||
-0.49208966903674867,
|
||||
0.6665606327170663
|
||||
],
|
||||
"position_mm": [
|
||||
-718.0634917282754,
|
||||
-492.08966903674866,
|
||||
666.5606327170664
|
||||
],
|
||||
"direction": [
|
||||
0.8563353419303894,
|
||||
0.40766438841819763,
|
||||
-0.3170166611671448
|
||||
]
|
||||
},
|
||||
{
|
||||
"camera_id": "cam1",
|
||||
"position_m": [
|
||||
-0.26258841285717693,
|
||||
-0.5509450542524021,
|
||||
0.8343948303300692
|
||||
],
|
||||
"position_mm": [
|
||||
-262.58841285717693,
|
||||
-550.9450542524021,
|
||||
834.3948303300692
|
||||
],
|
||||
"direction": [
|
||||
0.5024934411048889,
|
||||
0.6343097686767578,
|
||||
-0.5874959230422974
|
||||
]
|
||||
},
|
||||
{
|
||||
"camera_id": "cam2",
|
||||
"position_m": [
|
||||
-0.5837626291434723,
|
||||
-0.04555215829402515,
|
||||
0.4231631282080641
|
||||
],
|
||||
"position_mm": [
|
||||
-583.7626291434723,
|
||||
-45.55215829402515,
|
||||
423.1631282080641
|
||||
],
|
||||
"direction": [
|
||||
0.9835845232009888,
|
||||
-0.023413510993123055,
|
||||
-0.17892251908779144
|
||||
]
|
||||
}
|
||||
],
|
||||
"markers": [
|
||||
{
|
||||
"marker_id": 0,
|
||||
"link": "Board",
|
||||
"set": "rail",
|
||||
"position_m": [
|
||||
0.49397948741994885,
|
||||
-0.09638593339821536,
|
||||
-0.00896644769861376
|
||||
],
|
||||
"position_mm": [
|
||||
493.97948741994884,
|
||||
-96.38593339821536,
|
||||
-8.96644769861376
|
||||
],
|
||||
"normal": [
|
||||
-0.008863367653711178,
|
||||
0.049510108714268405,
|
||||
0.9987342939185259
|
||||
],
|
||||
"corners_m": [
|
||||
[
|
||||
0.48294592590238633,
|
||||
-0.08480381756456407,
|
||||
-0.009607839817976846
|
||||
],
|
||||
[
|
||||
0.5066424602465543,
|
||||
-0.08438346867471515,
|
||||
-0.009478690251174529
|
||||
],
|
||||
[
|
||||
0.5043368833035816,
|
||||
-0.1083683622695555,
|
||||
-0.008249155572841175
|
||||
],
|
||||
[
|
||||
0.48199268022727293,
|
||||
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test/y-axis-finder-examples/20260612_190104/cam2_debug.jpg
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}
|
||||
}
|
||||
BIN
test/y-axis-finder-examples/20260612_190241/cam2_debug.jpg
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BIN
test/y-axis-finder-examples/20260612_190241/cam2_debug.jpg
Normal file
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After Width: | Height: | Size: 427 KiB |
170
test/yAxisRotation.test.js
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170
test/yAxisRotation.test.js
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|
||||
/**
|
||||
* Unit-Test für scripts/4_yAxis_rotation_reconstruction.py
|
||||
*
|
||||
* Das Python-Skript wird via child_process aufgerufen.
|
||||
* stdout enthält das JSON-Ergebnis (letzte Zeile – davor ggf. Leerzeilen).
|
||||
* stderr enthält menschenlesbare Zusammenfassung (wird ignoriert).
|
||||
*
|
||||
* Test-Daten: test/y-axis-finder-examples/ (drei Timestamps → Arm1-Bogen)
|
||||
*
|
||||
* Erwartete Werte stammen aus verifiziertem Lauf (2026-06-12):
|
||||
* Marker 197, 218, 219 → rotieren (12 Punkte, 3 × 4 Ecken)
|
||||
* Marker 201, 204 → gefiltert (Bewegung < 10 mm)
|
||||
* axisDir ≈ [0.9995, 0.029, -0.015] (fast reine X-Achse des Roboters)
|
||||
*/
|
||||
|
||||
const { execFileSync } = require('child_process');
|
||||
const path = require('path');
|
||||
|
||||
const SCRIPT = path.join(__dirname, '..', 'scripts', '4_yAxis_rotation_reconstruction.py');
|
||||
const EXAMPLES = path.join(__dirname, 'y-axis-finder-examples');
|
||||
const POS_A = path.join(EXAMPLES, '20260612_190019');
|
||||
const POS_B = path.join(EXAMPLES, '20260612_190104');
|
||||
const POS_C = path.join(EXAMPLES, '20260612_190241');
|
||||
|
||||
// ── Hilfsfunktion ──────────────────────────────────────────────────────────────
|
||||
const { spawnSync } = require('child_process');
|
||||
|
||||
/**
|
||||
* Ruft das Python-Skript auf und gibt das geparste JSON zurück.
|
||||
* Verwendet spawnSync (statt execFileSync) damit ein Fehler-Exit-Code (ok:false)
|
||||
* nicht sofort eine Exception auslöst – wir parsen das stdout trotzdem.
|
||||
* stdout kann mehrere Zeilen haben – JSON ist die letzte nicht-leere Zeile.
|
||||
*/
|
||||
function runScript(posA, posB, posC, extraArgs = []) {
|
||||
const proc = spawnSync('python3', [SCRIPT, posA, posB, posC, ...extraArgs], {
|
||||
encoding: 'utf-8',
|
||||
// stderr läuft zum Terminal durch → menschenlesbarer Summary sichtbar
|
||||
});
|
||||
if (proc.error) throw proc.error; // z. B. python3 nicht gefunden
|
||||
|
||||
const stdout = proc.stdout || '';
|
||||
const lastJsonLine = stdout
|
||||
.trim()
|
||||
.split('\n')
|
||||
.filter(l => l.trim().startsWith('{'))
|
||||
.at(-1);
|
||||
|
||||
if (!lastJsonLine) {
|
||||
throw new Error(
|
||||
`Kein JSON in stdout.\nstdout: ${stdout}\nstderr: ${proc.stderr}`
|
||||
);
|
||||
}
|
||||
return JSON.parse(lastJsonLine);
|
||||
}
|
||||
|
||||
// ── Haupt-Test-Suite ──────────────────────────────────────────────────────────
|
||||
describe('4_yAxis_rotation_reconstruction.py – Arm1-Testdaten (190019 / 190104 / 190241)', () => {
|
||||
|
||||
/** Einmalig ausführen – dauert ca. 1 s */
|
||||
let r;
|
||||
beforeAll(() => {
|
||||
r = runScript(POS_A, POS_B, POS_C);
|
||||
});
|
||||
|
||||
// ── Grundstatus ───────────────────────────────────────────────────────────
|
||||
test('Berechnung erfolgreich (ok: true)', () => {
|
||||
expect(r.ok).toBe(true);
|
||||
});
|
||||
|
||||
// ── Marker-Anzahlen ───────────────────────────────────────────────────────
|
||||
test('5 gemeinsame fremd-Marker erkannt', () => {
|
||||
expect(r.numMarkersCommon).toBe(5);
|
||||
expect(r.commonMarkerIds).toEqual([197, 201, 204, 218, 219]);
|
||||
});
|
||||
|
||||
test('3 Marker tatsächlich genutzt (197, 218, 219)', () => {
|
||||
expect(r.numMarkersUsed).toBe(3);
|
||||
expect(r.usedMarkerIds).toEqual([197, 218, 219]);
|
||||
});
|
||||
|
||||
test('12 Punkte (3 Marker × 4 Ecken)', () => {
|
||||
expect(r.numPoints).toBe(12);
|
||||
});
|
||||
|
||||
// ── Filterung ─────────────────────────────────────────────────────────────
|
||||
test('2 Marker wegen zu geringer Bewegung gefiltert (201, 204)', () => {
|
||||
expect(r.skipped).toHaveLength(2);
|
||||
|
||||
const skippedIds = r.skipped.map(s => s.marker_id).sort((a, b) => a - b);
|
||||
expect(skippedIds).toEqual([201, 204]);
|
||||
|
||||
// Beide mit korrektem Grund
|
||||
r.skipped.forEach(s => {
|
||||
expect(s.reason).toMatch(/Bewegung zu gering/);
|
||||
expect(s.max_movement_mm).toBeLessThan(10.0); // unter dem Threshold
|
||||
});
|
||||
});
|
||||
|
||||
// ── Residuen ──────────────────────────────────────────────────────────────
|
||||
test('Abstandsresiduen: Mittelwert < 10 mm', () => {
|
||||
expect(r.residual_dist_mean_mm).toBeLessThan(10);
|
||||
});
|
||||
|
||||
test('Abstandsresiduen: Maximum < 15 mm', () => {
|
||||
expect(r.residual_dist_max_mm).toBeLessThan(15);
|
||||
});
|
||||
|
||||
test('Winkelresiduen: Mittelwert < 5°', () => {
|
||||
expect(r.residual_angle_mean_deg).toBeLessThan(5);
|
||||
});
|
||||
|
||||
test('Winkelresiduen: Maximum < 7°', () => {
|
||||
expect(r.residual_angle_max_deg).toBeLessThan(7);
|
||||
});
|
||||
|
||||
// ── Achsenrichtung ────────────────────────────────────────────────────────
|
||||
test('axisDir ist ein Einheitsvektor (|axisDir| ≈ 1)', () => {
|
||||
const [ax, ay, az] = r.axisDir;
|
||||
const len = Math.sqrt(ax * ax + ay * ay + az * az);
|
||||
expect(len).toBeCloseTo(1.0, 4); // ≤ 0.00005 Abweichung
|
||||
});
|
||||
|
||||
test('Achse liegt fast auf X-Achse des Roboters (axisDir[0] > 0.99)', () => {
|
||||
// Physikalisch: Arm1 schwingt auf/ab → Drehachse = X-Richtung
|
||||
expect(r.axisDir[0]).toBeGreaterThan(0.99);
|
||||
});
|
||||
|
||||
test('axisDir hat 3 Komponenten', () => {
|
||||
expect(r.axisDir).toHaveLength(3);
|
||||
});
|
||||
|
||||
test('axisPoint_mm hat 3 Komponenten', () => {
|
||||
expect(r.axisPoint_mm).toHaveLength(3);
|
||||
});
|
||||
|
||||
// ── Marker-Ergebnis-Struktur ──────────────────────────────────────────────
|
||||
test('markerResults enthält genau 3 Einträge (verwendete Marker)', () => {
|
||||
expect(r.markerResults).toHaveLength(3);
|
||||
});
|
||||
|
||||
test('jeder Marker-Eintrag hat n_points_used === 4', () => {
|
||||
r.markerResults.forEach(mr => {
|
||||
expect(mr.n_points_used).toBe(4);
|
||||
expect(mr.circumcenter_mean_mm).toHaveLength(3);
|
||||
});
|
||||
});
|
||||
});
|
||||
|
||||
// ── Parametertest: benutzerdefinierter min-movement-Threshold ─────────────────
|
||||
describe('4_yAxis_rotation_reconstruction.py – min-movement-Parameter', () => {
|
||||
|
||||
test('mit --min-movement 0 werden alle 5 Marker genutzt (kein Filter)', () => {
|
||||
const r = runScript(POS_A, POS_B, POS_C, ['--min-movement', '0']);
|
||||
// Alle 5 gemeinsamen Marker werden versucht; Ergebnis ist schlechter
|
||||
expect(r.ok).toBe(true);
|
||||
expect(r.numMarkersUsed).toBe(5);
|
||||
expect(r.numMarkersCommon).toBe(5);
|
||||
// skipped enthält nur noch ggf. degenerierte Punkte (keine Bewegungs-Skips)
|
||||
const movementSkips = r.skipped.filter(s => s.reason && s.reason.includes('Bewegung zu gering'));
|
||||
expect(movementSkips).toHaveLength(0);
|
||||
});
|
||||
|
||||
test('mit --min-movement 1000 werden alle Marker gefiltert → ok: false', () => {
|
||||
// Die rotierenden Marker (197, 218, 219) bewegen sich >100 mm,
|
||||
// erst ab 1000 mm werden auch sie herausgefiltert.
|
||||
const r = runScript(POS_A, POS_B, POS_C, ['--min-movement', '1000']);
|
||||
expect(r.ok).toBe(false);
|
||||
expect(r.error).toBeDefined();
|
||||
});
|
||||
});
|
||||
Reference in New Issue
Block a user