Roadmap planen
This commit is contained in:
chk
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{
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||||
"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": [0.90, 0.20, 0.20]
|
||||
},
|
||||
"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, 0.20]
|
||||
},
|
||||
"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, 0.20, 0.20]
|
||||
}
|
||||
},
|
||||
"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": [0.20, 0.80, 0.20]
|
||||
},
|
||||
"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,-0.35,0.40], "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": [0.20, 0.80, 0.20]
|
||||
},
|
||||
"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,-0.40], "spin": -27}
|
||||
],
|
||||
"model": [
|
||||
{
|
||||
"stlFile": "surfaces/Finger.stl",
|
||||
"originOfModel": [-24,0,9.1],
|
||||
"rotationOfModelDegree": [90, 90,0],
|
||||
"material": "defaultPlastic"
|
||||
}
|
||||
]
|
||||
}
|
||||
}
|
||||
}
|
||||
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|
Before Width: | Height: | Size: 2.9 MiB |
@@ -8,374 +8,322 @@
|
||||
|
||||
## Was ist Homing?
|
||||
|
||||
Homing = der Roboter weiss **nicht**, wo er ist.
|
||||
Homing = der Roboter weiss **nicht**, wo er ist.
|
||||
Die Kameras schauen auf das Board + die ArUco-Marker am Roboter und berechnen
|
||||
daraus die vollständige Pose aller Gelenke — ohne mechanische Endschalter.
|
||||
|
||||
Homing läuft bei **jedem** Einschalten ab, also muss es schnell und robust sein.
|
||||
Homing läuft bei **jedem** Einschalten ab: schnell, robust, vollautomatisch.
|
||||
Kalibrierung hingegen läuft nur nach mechanischen Änderungen (≈ einmalig).
|
||||
|
||||
---
|
||||
|
||||
## Voraussetzungen (Kalibrierung muss abgeschlossen sein)
|
||||
## Kinematik-Kette (aus `robot.json → links`)
|
||||
|
||||
| Was | Wo gespeichert | Status |
|
||||
|-----|----------------|--------|
|
||||
| Kamera-Intrinsik (NPZ) | `data/calibration/camX_calibration.npz` | ✅ |
|
||||
| Board-Marker-Positionen | `robot.json → links.Board.markers[]` | ✅ |
|
||||
| X-Achsen-Richtung | `robot.json → links.*.position` (rotiert) | ✅ |
|
||||
| **Arm1-Gelenkursprung Y/Z** | `robot.json → links.Arm1.jointToParent.origin[1,2]` | 🔶 in Arbeit |
|
||||
| Arm-Marker-Zuordnung | `robot.json → links.Arm1/Ellbow/Arm2/Hand.markers[]` | ❌ offen |
|
||||
```
|
||||
Board (ROOT, fest) ← Referenz aller Kameras
|
||||
│
|
||||
├── Base linear x axis=[1,0,0] ← Slider-Position
|
||||
├── Arm1 revolute y axis=[-1,0,0] ← Schultergelenk
|
||||
├── Ellbow revolute z axis=[-1,0,0] ← Ellbogen
|
||||
├── Arm2 revolute a axis=[0,-1,0] ← Unterarm-Drehung
|
||||
├── Hand revolute b axis=[1,0,0] ← Handgelenk
|
||||
├── Palm revolute c axis=[0,-1,0] ← Handfläche
|
||||
└── FingerA/B linear e axis=±[1,0,0] ← Greifer (symmetrisch)
|
||||
```
|
||||
|
||||
> **Schlüssel-Erkenntnis:** Sobald `Arm1.jointToParent.origin` korrekt gesetzt ist (aus
|
||||
> der Y-Achsen-Kalibrierung), ist die gesamte Kinematikkette in `robot.json` geometrisch
|
||||
> definiert. Dann kann Homing starten.
|
||||
**Resultat-State:** `{ x_mm, y_deg, z_deg, a_deg, b_deg, c_deg, e_mm }`
|
||||
|
||||
---
|
||||
|
||||
## Kinematik-Kette (aus `robot.json`)
|
||||
## Voraussetzungen (Kalibrierung)
|
||||
|
||||
```
|
||||
Board (ROOT, fest)
|
||||
│
|
||||
├── Base linear variable=x axis=[1,0,0] origin=[0,0,16]
|
||||
│ → Slider-Position entlang Board-X
|
||||
│
|
||||
├── Arm1 revolute variable=y axis=[-1,0,0] origin=[110, 108*, 45*]
|
||||
│ → Schultergelenk (heben/senken) *aus Y-Achsen-Kalib.
|
||||
│
|
||||
├── Ellbow revolute variable=z axis=[-1,0,0] origin=[0,-250,0]
|
||||
│ → Ellbogen (relativ zu Arm1-Ende)
|
||||
│
|
||||
├── Arm2 revolute variable=a axis=[0,-1,0] origin=[90,0,0]
|
||||
│ → Unterarm-Drehung
|
||||
│
|
||||
├── Hand revolute variable=b axis=[1,0,0] origin=[0,-250,0]
|
||||
│ → Handgelenk
|
||||
│
|
||||
├── Palm revolute variable=c axis=[0,-1,0] origin=[0,0,0]
|
||||
│ → Handflächen-Rotation
|
||||
│
|
||||
└── FingerA/B linear variable=e axis=±[1,0,0] origin=[±4,-35,0]
|
||||
→ Greifer (symmetrisch)
|
||||
```
|
||||
| Was | Mechanismus | Status |
|
||||
|-----|-------------|--------|
|
||||
| Kamera-Intrinsik (NPZ) | `calibration.html` → Tab Camera NPZ | ✅ fertig |
|
||||
| Board-Marker-Positionen | `calibration.html` → Tab Board | ✅ fertig |
|
||||
| X-Achsen-Richtung | `calibration.html` → Tab Robot X-Axis | ✅ fertig |
|
||||
| **Arm1 Joint-Origin Y/Z** | `calibration.html` → Tab Arm1 → Button „Joint-Origin Y/Z übernehmen" | ✅ **Button vorhanden, ausführbar** |
|
||||
| Arm-Marker in robot.json | Manuell eintragen (links.Arm1/Ellbow/Arm2/Hand.markers) | 🔶 Nutzer trägt ein |
|
||||
|
||||
**Gelenkvariablen:** `x` (mm), `y z a b c` (Grad), `e` (mm)
|
||||
> **Kalibrierung gilt als abgeschlossen** sobald der Arm1-Button geklickt und
|
||||
> die Arm-Marker eingetragen sind.
|
||||
|
||||
---
|
||||
|
||||
## Homing-Ablauf (Schritt für Schritt)
|
||||
## robot.json – Ladestrategie
|
||||
|
||||
### Schritt 1 — Snapshot aufnehmen
|
||||
|
||||
**Was:** Alle Kameras gleichzeitig ein Foto.
|
||||
|
||||
**Script:** — (direkt via Webcam-API)
|
||||
|
||||
**UI-Aktion:** Button `[Foto aufnehmen]`
|
||||
|
||||
**Ausgabe:**
|
||||
- `cam0.jpg`, `cam1.jpg`, `cam2.jpg` im aktuellen Run-Verzeichnis
|
||||
- **Snapshots-Sektion:** Kamerabilder erscheinen
|
||||
|
||||
---
|
||||
|
||||
### Schritt 2 — ArUco-Marker erkennen
|
||||
|
||||
**Was:** Pixel-Koordinaten aller sichtbaren Marker in jedem Kamerabild.
|
||||
|
||||
**Script:** `1_detect_aruco_observations.py`
|
||||
|
||||
```bash
|
||||
python 1_detect_aruco_observations.py \
|
||||
-i cam0.jpg cam1.jpg cam2.jpg \
|
||||
-robot robot.json \
|
||||
-outDir data/homing/TIMESTAMP/
|
||||
### Aktuell: lokale Datei
|
||||
```
|
||||
ROBOT_JSON = process.env.ROBOT_JSON || 'scripts/robot_1781069752019.json'
|
||||
```
|
||||
|
||||
**Output-Dateien:**
|
||||
- `cam0_aruco_detection.json` — Marker-IDs + Pixel-Ecken + Kamera-Pose-Kandidaten
|
||||
### Geplant: vom Driver per API
|
||||
Der Driver-Service (ROBOT_URL) kennt die aktuelle Roboter-Konfiguration.
|
||||
Lademechanismus (bereits implementiertes Muster aus `ROBOT_URL`/`BODYTRACKER_URL`):
|
||||
|
||||
**Snapshot CSV:** Tabelle: MarkerID | Kamera | px-Koordinaten | confidence
|
||||
|
||||
**Fehlerfälle:**
|
||||
- Marker verdeckt → weniger Marker in CSV sichtbar
|
||||
- Schlechte Beleuchtung → confidence niedrig
|
||||
|
||||
---
|
||||
|
||||
### Schritt 3 — Kamera-Posen schätzen
|
||||
|
||||
**Was:** Aus den Board-Markern (fix im Raum) die extrinsische Lage jeder Kamera
|
||||
berechnen.
|
||||
|
||||
**Script:** `2_estimate_camera_from_observations.py`
|
||||
|
||||
```bash
|
||||
python 2_estimate_camera_from_observations.py \
|
||||
-i data/homing/TIMESTAMP/ \
|
||||
-robot robot.json \
|
||||
-outDir data/homing/TIMESTAMP/
|
||||
```
|
||||
GET ROBOT_URL/api/robot/config → robot.json Inhalt
|
||||
```
|
||||
|
||||
**Output-Dateien:**
|
||||
- `cam0_camera_pose.json` — 4×4 Transformationsmatrix Kamera→Welt
|
||||
|
||||
**Analysis & Reasoning:** Reprojektions-Fehler pro Kamera (sollte < 3 px)
|
||||
|
||||
**Fehlerfälle:**
|
||||
- Zu wenig Board-Marker sichtbar (< 3) → Kamera-Pose nicht berechenbar
|
||||
- Hoher Reprojektions-Fehler → Kalibrierung möglicherweise veraltet
|
||||
|
||||
---
|
||||
|
||||
### Schritt 3b — 3D-Marker-Positionen triangulieren
|
||||
|
||||
**Was:** Aus den Kamera-Posen und den Pixel-Koordinaten die echten 3D-Positionen
|
||||
aller Marker berechnen (inkl. Arm-Marker).
|
||||
|
||||
**Script:** `3b_corner_marker_poses.py`
|
||||
|
||||
```bash
|
||||
python 3b_corner_marker_poses.py \
|
||||
-i data/homing/TIMESTAMP/ \
|
||||
-robot robot.json \
|
||||
--outDir data/homing/TIMESTAMP/
|
||||
```
|
||||
|
||||
**Output-Dateien:**
|
||||
- `aruco_marker_poses.json` — für jeden Marker: `position_mm`, `normal`, `corners_m`, `link`
|
||||
|
||||
**Snapshot CSV:** Vollständige Marker-Tabelle mit triangulierten 3D-Positionen
|
||||
|
||||
**Fehlerfälle:**
|
||||
- Marker nur in 1 Kamera → keine Triangulation möglich (braucht ≥ 2)
|
||||
|
||||
---
|
||||
|
||||
### Schritt 4 — Gelenkwinkel bestimmen
|
||||
|
||||
Zwei Methoden — **4b** ist sequenziell und robuster:
|
||||
|
||||
#### Methode A — Vollständige State-Schätzung (schnell)
|
||||
|
||||
**Script:** `4_robotState_estimation_v6.py`
|
||||
|
||||
```bash
|
||||
python 4_robotState_estimation_v6.py \
|
||||
aruco_marker_poses.json \
|
||||
--robot robot.json \
|
||||
--output homing_state.json
|
||||
```
|
||||
|
||||
Schätzt alle Gelenke in einem Durchlauf mit geometrischen Gleichungen
|
||||
(Kabsch-Fit, Projektions-Residuen, 2D-Winkel).
|
||||
|
||||
#### Methode B — Sequenziell Gelenk für Gelenk (robuster)
|
||||
|
||||
**Script:** `4b_revolute_angle.py` — einmal pro Gelenk, von root nach tip:
|
||||
|
||||
```bash
|
||||
# Slider-Position (x) aus Board-Markern bekannt → manuell oder aus 4a
|
||||
python 4b_revolute_angle.py --robot robot.json --aruco aruco_marker_poses.json \
|
||||
--link Arm1 --x-mm 180 --output state_arm1.json
|
||||
|
||||
python 4b_revolute_angle.py --robot robot.json --aruco aruco_marker_poses.json \
|
||||
--link Ellbow --from-state state_arm1.json --output state_ellbow.json
|
||||
|
||||
python 4b_revolute_angle.py --robot robot.json --aruco aruco_marker_poses.json \
|
||||
--link Arm2 --from-state state_ellbow.json --output state_arm2.json
|
||||
|
||||
python 4b_revolute_angle.py --robot robot.json --aruco aruco_marker_poses.json \
|
||||
--link Hand --from-state state_arm2.json --output state_hand.json
|
||||
```
|
||||
|
||||
Jedes `--from-state` enthält den akkumulierten Gelenk-State aus allen
|
||||
vorherigen Schritten.
|
||||
|
||||
**Warum sequenziell?** Arm2-Winkel kann nur korrekt berechnet werden wenn
|
||||
Arm1 und Ellbow bereits bekannt sind (der Weltachsenvektor des Arm2-Joints
|
||||
ändert sich mit den vorherigen Gelenkwinkeln).
|
||||
|
||||
**Output-JSON-Struktur (pro Schritt):**
|
||||
```json
|
||||
{
|
||||
"link": "Arm1",
|
||||
"joint": "y",
|
||||
"mean_angle_deg": 23.4,
|
||||
"circular_std_deg": 0.8,
|
||||
"num_pairs": 6,
|
||||
"joint_origin_world_mm": [290, 108, 45],
|
||||
"joint_axis_world": [-1, 0, 0],
|
||||
"accumulated_state": { "x": 180, "y": 23.4, "z": null, "a": null, ... }
|
||||
**Implementierung (Backend `server.js`):**
|
||||
```javascript
|
||||
async function loadRobotConfig() {
|
||||
if (ROBOT_URL) {
|
||||
// Vom Driver holen
|
||||
const res = await fetch(new URL('/api/robot/config', ROBOT_URL));
|
||||
return res.json();
|
||||
}
|
||||
// Fallback: lokale Datei
|
||||
return JSON.parse(await fs.readFile(ROBOT_JSON, 'utf8'));
|
||||
}
|
||||
```
|
||||
|
||||
**Analysis & Reasoning:** Gelenk-für-Gelenk-Ergebnis als JSON-Baum
|
||||
**Konsequenz für Homing:** Das Homing-Script bekommt robot.json als
|
||||
temporäre Datei (bereits vorhandenes Muster: `ROBOT_JSON` als Pfad an Python).
|
||||
Falls ROBOT_URL konfiguriert: zuerst fetch → temp-Datei schreiben → Script aufrufen.
|
||||
|
||||
**Fehlerfälle:**
|
||||
- `circular_std_deg` > 5° → Marker-Konfiguration fragwürdig, Messung wiederholen
|
||||
- `num_pairs` < 2 → Arm-Marker nicht genug sichtbar
|
||||
**Priorität:** Kann nach dem restlichen Homing implementiert werden.
|
||||
Solange ROBOT_URL nicht konfiguriert, läuft alles mit der lokalen Datei.
|
||||
|
||||
---
|
||||
|
||||
### Schritt 5 (optional) — Kamera-Z verfeinern
|
||||
## X-Position (Slider) – Bestimmung
|
||||
|
||||
**Was:** Kamera-Höhe (Z) ist aus Board-Markern schlecht bestimmt (Board ist flach).
|
||||
Wenn Ellbow-Winkel bekannt → FK-Vorhersage als Z-Referenz nutzen.
|
||||
Die Slider-Position `x` wird **nicht** manuell eingegeben, sondern aus den
|
||||
triangulierten Marker-Positionen berechnet (nach Schritt 3b).
|
||||
|
||||
**Script:** `5_camera_z_refine.py`
|
||||
**Ansatz:** Die absolute X-Position eines bekannten Arm-Markers im
|
||||
Board-Koordinatensystem enthält direkt die Slider-Information —
|
||||
alle anderen Gelenke sind rotatorisch und verschieben den Marker nicht
|
||||
entlang der X-Achse des Boards.
|
||||
|
||||
```bash
|
||||
python 5_camera_z_refine.py \
|
||||
--angle state_ellbow.json \
|
||||
--robot robot.json \
|
||||
--aruco aruco_marker_poses.json \
|
||||
-pose cam0_camera_pose.json \
|
||||
-pose cam1_camera_pose.json \
|
||||
--outDir data/homing/TIMESTAMP/
|
||||
Alternativ: Schwerpunkt der Board-nahen A0-Marker projiziert auf die X-Achse
|
||||
(robust, braucht keine Arm-Marker).
|
||||
|
||||
**In `4b_revolute_angle.py`:** `--x-mm` wird aus `aruco_marker_poses.json`
|
||||
berechnet und als erstes Argument übergeben. Alle weiteren 4b-Aufrufe
|
||||
nutzen `--from-state` des vorherigen Schritts.
|
||||
|
||||
---
|
||||
|
||||
## Homing-Ablauf (Script-Kette)
|
||||
|
||||
```
|
||||
[Foto] → [1_detect] → [2_camera] → [3b_poses]
|
||||
│
|
||||
▼
|
||||
[4b Arm1]
|
||||
[4b Ellbow]
|
||||
[4b Arm2]
|
||||
[4b Hand]
|
||||
│
|
||||
▼
|
||||
State-JSON
|
||||
{x,y,z,a,b,c,e}
|
||||
│
|
||||
▼
|
||||
POST ROBOT_URL/api/state
|
||||
```
|
||||
|
||||
**Output:** Korrigierte `*_camera_pose_v8.json` + `z_correction.json`
|
||||
|
||||
**Wann nötig:** Wenn Residuen in Schritt 4 systematisch in Z-Richtung driften.
|
||||
**Strategie:** `4b_revolute_angle.py` sequenziell, Link für Link von root nach tip.
|
||||
X-Position (`--x-mm`) wird aus den triangulierten Board-Marker-Positionen bestimmt.
|
||||
|
||||
---
|
||||
|
||||
### Schritt 6 — Ergebnis senden
|
||||
## Implementierungsplan: Homing-UI
|
||||
|
||||
**Was:** Vollständigen Joint-State an Roboter-Controller übermitteln.
|
||||
### Phase 1 — Backend-Route `POST /api/homing/run`
|
||||
|
||||
**UI-Aktion:** Button `[An Roboter senden]`
|
||||
**Datei:** `server/server.js` (neue Route) + `server/homingOrchestrator.js` (neue Datei)
|
||||
|
||||
**Body:** `{ x, y, z, a, b, c, e }`
|
||||
→ `POST ROBOT_URL/api/state` (oder Motion-Controller-Protokoll)
|
||||
**Ablauf als SSE-Stream:**
|
||||
|
||||
**Result – Raw JSON:**
|
||||
```json
|
||||
{
|
||||
"status": "ok",
|
||||
"timestamp": "2026-06-13T19:00:00",
|
||||
"state": { "x": 180.0, "y": 23.4, "z": -12.1, "a": 5.0, "b": 0.0, "c": 0.0, "e": 0.0 },
|
||||
"confidence": { "y_std_deg": 0.8, "z_std_deg": 1.2 }
|
||||
```javascript
|
||||
// server/homingOrchestrator.js
|
||||
export async function runHoming({ robotJsonPath, boardDataDir, send, options }) {
|
||||
|
||||
// 1. Snapshot (Webcam-API)
|
||||
send({ type: 'step', step: 1, text: 'Foto aufnehmen …' });
|
||||
const runDir = await takeSnapshot(); // WEBCAM_URL
|
||||
|
||||
// 2. Marker erkennen
|
||||
send({ type: 'step', step: 2, text: 'Marker erkennen …' });
|
||||
await runScript(['1_detect_aruco_observations.py',
|
||||
'-i', ...camImages, '-robot', robotJsonPath, '-outDir', runDir], send);
|
||||
|
||||
// 3. Kamera-Posen
|
||||
send({ type: 'step', step: 3, text: 'Kamera-Posen schätzen …' });
|
||||
await runScript(['2_estimate_camera_from_observations.py',
|
||||
'-i', runDir, '-robot', robotJsonPath, '-outDir', runDir], send);
|
||||
|
||||
// 3b. 3D-Triangulation
|
||||
send({ type: 'step', step: 4, text: '3D-Positionen triangulieren …' });
|
||||
await runScript(['3b_corner_marker_poses.py',
|
||||
'-i', runDir, '-robot', robotJsonPath, '--outDir', runDir], send);
|
||||
|
||||
// 4. X-Position aus triangulierten Board-Markern bestimmen
|
||||
const xMm = estimateXFromMarkers(arucoJson); // aus position_mm der A0-Marker
|
||||
|
||||
// 4b. Gelenkwinkel sequenziell, Link für Link
|
||||
const links = ['Arm1', 'Ellbow', 'Arm2', 'Hand'];
|
||||
let fromState = null;
|
||||
for (const link of links) {
|
||||
send({ type: 'step', text: `Gelenkwinkel ${link} …` });
|
||||
const args = ['4b_revolute_angle.py',
|
||||
'--robot', robotJsonPath, '--aruco', arucoJson,
|
||||
'--link', link,
|
||||
'--output', path.join(runDir, `state_${link}.json`),
|
||||
];
|
||||
if (fromState) args.push('--from-state', fromState);
|
||||
else args.push('--x-mm', String(xMm));
|
||||
fromState = await runScript(args, send);
|
||||
}
|
||||
|
||||
// Ergebnis
|
||||
const finalState = JSON.parse(fs.readFileSync(fromState));
|
||||
send({ type: 'done', state: finalState.accumulated_state, runDir });
|
||||
}
|
||||
```
|
||||
|
||||
**Result – Tree View:** Gelenk-Werte als lesbare Tabelle
|
||||
**Route:**
|
||||
```javascript
|
||||
app.post('/api/homing/run', async (req, res) => {
|
||||
// SSE-Header
|
||||
res.setHeader('Content-Type', 'text/event-stream');
|
||||
const send = (data) => res.write(`data: ${JSON.stringify(data)}\n\n`);
|
||||
await runHoming({ robotJsonPath: ROBOT_JSON, boardDataDir, send });
|
||||
res.end();
|
||||
});
|
||||
|
||||
---
|
||||
|
||||
## UI-Seitenstruktur (analog index.html)
|
||||
|
||||
```
|
||||
┌─────────────────────────────────────────┐
|
||||
│ AKTIONEN │
|
||||
│ [Foto aufnehmen] [Homing berechnen] │
|
||||
│ [An Roboter senden] │
|
||||
├─────────────────────────────────────────┤
|
||||
│ AUSGABE / LOG │
|
||||
│ Schritt-für-Schritt Log aller Scripts │
|
||||
├─────────────────────────────────────────┤
|
||||
│ ANALYSIS & REASONING │
|
||||
│ Kamera-Posen, Reprojektionsfehler, │
|
||||
│ Gelenk-Schätzungen je Schritt als JSON │
|
||||
├──────────────────┬──────────────────────┤
|
||||
│ RESULT – RAW JSON │ RESULT – TREE │
|
||||
│ Vollst. State-JSON │ Gelenk-Tabelle │
|
||||
├─────────────────────────────────────────┤
|
||||
│ SNAPSHOT CSV │
|
||||
│ Tabelle aller Marker: ID, Position, │
|
||||
│ Link, Residual, num_cameras │
|
||||
├─────────────────────────────────────────┤
|
||||
│ SNAPSHOTS (Bilder) │
|
||||
│ Annotierte Kamerabilder mit Markern │
|
||||
└─────────────────────────────────────────┘
|
||||
app.post('/api/homing/send-state', async (req, res) => {
|
||||
// Sendet { x, y, z, a, b, c, e } an ROBOT_URL/api/state
|
||||
});
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Offene Punkte (Voraussetzungen für Homing)
|
||||
### Phase 2 — Frontend `public/homing.html`
|
||||
|
||||
### 🔶 A — Arm-Marker in robot.json eintragen
|
||||
Neue Seite (zugänglich von `index.html` via Link-Button, wie `calibration.html`).
|
||||
|
||||
Die Arm-Links haben noch **keine Marker** in `robot.json` (links.Arm1/Ellbow/Arm2/Hand.markers).
|
||||
**Sektionen (identisches Muster wie `index.html`):**
|
||||
|
||||
Mögliche Quellen:
|
||||
- Aus der Y-Achsen-Kalibrierung: Marker 197, 218, 219 wurden als rotierend erkannt
|
||||
→ diese können mit relativen Positionen in den jeweiligen Links eingetragen werden
|
||||
- Mit `4b_revolute_angle.py` lässt sich pro Link prüfen, welche Marker
|
||||
"zu diesem Link gehören" (paarweise Baseline-Methode)
|
||||
```
|
||||
┌──────────────────────────────────────────────────────┐
|
||||
│ AKTIONEN │
|
||||
│ [📷 Foto & Homing berechnen] │
|
||||
│ [✅ An Roboter senden] (disabled bis Ergebnis) │
|
||||
│ Status-Badge: ○ Warte ● Läuft ✓ Fertig ✗ Fehler │
|
||||
├──────────────────────────────────────────────────────┤
|
||||
│ AUSGABE / LOG │
|
||||
│ Schritt-für-Schritt Log aller Scripts (SSE-Stream) │
|
||||
│ Fortschritt: ──── Schritt 3/6 ──── │
|
||||
├──────────────────────────────────────────────────────┤
|
||||
│ ANALYSIS & REASONING │
|
||||
│ Zwischenergebnisse je Script als JSON │
|
||||
│ { camera_reprojection_px, arm1_std_deg, … } │
|
||||
├──────────────────┬───────────────────────────────────┤
|
||||
│ RESULT RAW JSON │ RESULT TREE VIEW │
|
||||
│ { │ x (Slider): 180.0 mm │
|
||||
│ "x": 180.0, │ y (Arm1): +23.4° │
|
||||
│ "y": 23.4, │ z (Ellbow): -12.1° │
|
||||
│ ... │ a (Arm2): +5.0° │
|
||||
│ } │ b (Hand): 0.0° │
|
||||
│ │ c (Palm): 0.0° │
|
||||
│ │ e (Greifer): 0.0 mm │
|
||||
├──────────────────┴───────────────────────────────────┤
|
||||
│ SNAPSHOT CSV (Marker-Tabelle) │
|
||||
│ ID │ Link │ x mm │ y mm │ z mm │ Residual │ │
|
||||
│ 218 │ Arm2 │ 229.1 │ 118.5 │ 48.3 │ 2.1 mm │ │
|
||||
├──────────────────────────────────────────────────────┤
|
||||
│ SNAPSHOTS (annotierte Kamerabilder) │
|
||||
│ [cam0] [cam1] [cam2] │
|
||||
└──────────────────────────────────────────────────────┘
|
||||
```
|
||||
|
||||
**Aktion:** Für jedes Arm-Segment mind. 2 Marker bestimmen und in robot.json eintragen.
|
||||
**Schlüssel-Implementierungsdetails:**
|
||||
|
||||
### 🔶 B — Arm1.jointToParent.origin[Y, Z] finalisieren
|
||||
```javascript
|
||||
// homing.js (client)
|
||||
|
||||
Aus der Arm1-Y-Achsen-Kalibrierung (calibration_arm.html):
|
||||
- Berechneter Wert: Y ≈ 115.6 mm, Z ≈ 50.3 mm
|
||||
- Aktueller Wert in robot.json: origin = [110, 108, 45]
|
||||
- **Aktion:** Button „Joint-Origin Y/Z übernehmen" klicken → schreibt in robot.json
|
||||
// SSE-Stream vom Backend empfangen
|
||||
async function runHoming() {
|
||||
const response = await fetch('/api/homing/run', { method: 'POST' });
|
||||
await readSseStream(response, appendLog, (evt) => {
|
||||
if (evt.type === 'step') { updateProgress(evt); }
|
||||
if (evt.type === 'analysis') { showAnalysis(evt.data); }
|
||||
if (evt.type === 'done') {
|
||||
showResult(evt.state);
|
||||
enableSendButton(evt.state);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
### 🔶 C — X-Position (Slider) im Homing
|
||||
|
||||
Die Slider-Position `x` ist für `4b_revolute_angle.py --x-mm` nötig.
|
||||
Optionen:
|
||||
1. Mechanischer Anschlag / Encoder → immer bekannt
|
||||
2. Aus Board-Markern schätzen (funktioniert wenn A0-Marker sichtbar)
|
||||
3. Manuell eingeben (Fallback)
|
||||
|
||||
### 🔶 D — Homing-Seite implementieren
|
||||
|
||||
Eine neue `homing.html`-Seite (oder Tab in `calibration.html`) die:
|
||||
- Die Script-Kette 1 → 2 → 3b → 4b(je Link) → (5) als SSE-Stream orchestriert
|
||||
- Alle Ausgabe-Sektionen wie in index.html befüllt
|
||||
- „An Roboter senden" Button mit finalem State-JSON verdrahtet
|
||||
// Ergebnis an Roboter senden
|
||||
async function sendToRobot(state) {
|
||||
await fetch('/api/homing/send-state', {
|
||||
method: 'POST',
|
||||
body: JSON.stringify({ state }),
|
||||
});
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Script-Abhängigkeitsgraph
|
||||
### Phase 3 — robot.json via Driver-API
|
||||
|
||||
**Voraussetzung:** ROBOT_URL ist konfiguriert und der Driver hat `GET /api/robot/config`.
|
||||
|
||||
**Implementierung in `server.js`:**
|
||||
```javascript
|
||||
// Beim Start oder on-demand: robot.json vom Driver laden
|
||||
async function fetchRobotConfig() {
|
||||
if (!ROBOT_URL) return; // lokale Datei reicht
|
||||
const res = await fetch(new URL('/api/robot/config', ROBOT_URL));
|
||||
if (!res.ok) return; // Fallback auf lokale Datei
|
||||
const data = await res.json();
|
||||
// Temporär in data/robot/robot_live.json cachen
|
||||
await fs.writeFile(ROBOT_JSON_LIVE, JSON.stringify(data, null, 2));
|
||||
}
|
||||
```
|
||||
|
||||
**Auswirkung:** Nur `ROBOT_JSON` Variable ändern — alle Scripts bekommen
|
||||
automatisch die aktuelle Konfiguration.
|
||||
|
||||
---
|
||||
|
||||
## Reihenfolge der Implementierung
|
||||
|
||||
```
|
||||
Kamera-Snapshot
|
||||
│
|
||||
▼
|
||||
[1] detect_aruco → cam*_aruco_detection.json
|
||||
│
|
||||
▼
|
||||
[2] estimate_camera → cam*_camera_pose.json
|
||||
│ (aus Board-Markern)
|
||||
▼
|
||||
[3b] corner_marker_poses → aruco_marker_poses.json
|
||||
│ (alle Marker trianguliert)
|
||||
├──────────────────────────────────────┐
|
||||
▼ ▼
|
||||
[4b] revolute Arm1 [4] state_v6 (alternativ)
|
||||
│
|
||||
[4b] revolute Ellbow ──► [5] camera_z_refine (optional, nutzt Ellbow)
|
||||
│
|
||||
[4b] revolute Arm2
|
||||
│
|
||||
[4b] revolute Hand
|
||||
│
|
||||
▼
|
||||
State-JSON {x, y, z, a, b, c, e}
|
||||
│
|
||||
▼
|
||||
→ Roboter-Controller
|
||||
[Jetzt] Arm-Marker eintragen (Nutzer)
|
||||
→ Arm1 Joint-Origin Button klicken (bereits ausführbar)
|
||||
|
||||
[1] POST /api/homing/run + homingOrchestrator.js
|
||||
→ Script-Kette als SSE orchestrieren
|
||||
→ Minimale UI: nur Log + Raw JSON
|
||||
|
||||
[2] public/homing.html
|
||||
→ Vollständige UI mit allen Sektionen
|
||||
→ Link von index.html
|
||||
|
||||
[3] POST /api/homing/send-state
|
||||
→ ROBOT_URL/api/state aufrufen (analog zu robotActions.js)
|
||||
|
||||
[4] robot.json via Driver-API (wenn ROBOT_URL verfügbar)
|
||||
→ Nur wenn Driver den Endpunkt implementiert
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## Status-Tabelle
|
||||
|
||||
| Schritt | Script | Status | Blockiert durch |
|
||||
|---------|--------|--------|-----------------|
|
||||
| 1 Snapshot | Webcam-API | ✅ vorhanden | — |
|
||||
| 2 Marker erkennen | `1_detect_aruco.py` | ✅ vorhanden | — |
|
||||
| 3 Kamera-Pose | `2_estimate_camera.py` | ✅ vorhanden | — |
|
||||
| 3b Triangulation | `3b_corner_marker_poses.py` | ✅ vorhanden | — |
|
||||
| 4 State-Schätzung | `4_robotState_estimation_v6.py` | ✅ vorhanden | Arm-Marker fehlen |
|
||||
| 4b Sequenziell | `4b_revolute_angle.py` | ✅ vorhanden | Arm-Marker fehlen |
|
||||
| 5 Z-Verfeinern | `5_camera_z_refine.py` | ✅ vorhanden | Ellbow-Marker fehlen |
|
||||
| **Arm1-Origin** | calibration_arm.html | 🔶 bereit | Joint-Origin Y/Z übernehmen |
|
||||
| **Arm-Marker** | robot.json | ❌ fehlen | manuelle Zuordnung |
|
||||
| **Homing-UI** | homing.html | ❌ fehlt | erst nach Markern sinnvoll |
|
||||
| Schritt | Was | Status |
|
||||
|---------|-----|--------|
|
||||
| Scripts 1, 2, 3b, 4b | Homing-Scripts | ✅ vorhanden |
|
||||
| Kalibrierung | Kamera, Board, X-Achse | ✅ fertig |
|
||||
| Arm1 Joint-Origin | Button in calibration_arm.html | ✅ **ausführbar** |
|
||||
| Arm-Marker | robot.json links.Arm1/… .markers | 🔶 Nutzer trägt ein |
|
||||
| `/api/homing/run` | Backend-Orchestrierung | ❌ zu implementieren |
|
||||
| `homing.html` | Frontend-UI | ❌ zu implementieren |
|
||||
| `/api/homing/send-state` | State an Roboter | ❌ zu implementieren |
|
||||
| robot.json via API | Driver-Integration | ⏳ nach allem anderen |
|
||||
|
||||
Reference in New Issue
Block a user