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2026-06-25 20:36:09 +02:00
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commit 33dcbe72bf
40 changed files with 32217 additions and 16 deletions
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49
data/homing/20260625_172504/aruco_marker_poses.csv Normal file
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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,unknown,,2,505.2,-100.88,-7.16,0.02189,0.03624,0.9991,,,,,,24.24
46,Board,A0,2,537.83,185.51,-27.88,-0.08568,-0.05354,0.99488,537.44,185.2,-27.2,0.841,-0.679,23.2
47,Board,A0,2,343.18,-286.29,-27.16,-0.03123,0.01004,0.99946,343.18,-286.05,-27.49,0.407,0.326,24.03
50,Board,A0,2,574.07,210.38,-26.23,-0.00073,0.03209,0.99948,574.23,211.48,-27.15,1.448,0.925,24.06
51,Board,A0,2,166.73,-171.08,-27.09,-0.03386,0.01172,0.99936,167.18,-170.93,-27.76,0.818,0.667,24.31
53,Board,A0,2,487.37,212.32,-27.38,-0.07361,-0.01564,0.99716,487.08,212.19,-27.28,0.33,-0.103,23.53
54,Board,A0,3,341.07,-330.3,-27.22,-0.03362,0.04017,0.99863,341.05,-330.09,-27.5,0.351,0.28,24.36
55,Arm1,A0,2,282.65,-261.75,-26.65,-0.05274,0.01696,0.99846,,,,,,24.32
58,Board,A0,2,48.62,-216.5,-27.86,-0.00162,-0.0094,0.99995,49.3,-216.52,-27.93,0.684,0.068,24.24
62,Board,A0,3,404.15,-174.92,-26.96,0.01614,-0.01502,0.99976,404.07,-174.84,-27.4,0.454,0.439,23.97
64,Board,A0,2,-22.59,-186.68,-26.97,-0.00648,0.01133,0.99991,-21.95,-186.37,-28.04,1.286,1.074,24.24
66,Board,A0,2,208.51,-363.21,-27.64,-0.04961,0.03216,0.99825,208.41,-362.24,-27.7,0.98,0.055,24.38
68,Board,A0,2,574.39,169.06,-26.11,-0.00044,0.05167,0.99866,574.4,170.26,-27.15,1.591,1.04,24.52
73,Board,A0,2,221.97,337.22,-30.29,-0.05172,0.1462,0.9879,223.01,334.05,-27.67,4.242,-2.621,26.49
76,Board,A0,2,686.21,165.02,-27.13,-0.04548,-0.03114,0.99848,685.86,166,-26.98,1.054,-0.149,23.28
79,Board,A0,2,311.51,-157.95,-27.04,0.05023,-0.04899,0.99754,311.73,-158.5,-27.54,0.776,0.496,23.36
82,Board,A0,2,219.37,300.46,-29.79,0.00751,0.1232,0.99235,220.31,298.19,-27.68,3.238,-2.111,25.14
85,Board,A0,3,503.91,-313.51,-27.06,0.00515,-0.00866,0.99995,503.43,-312.87,-27.25,0.816,0.191,24.1
90,Board,A0,2,644.93,316.2,-28.16,-0.02384,-0.04569,0.99867,644.39,315.79,-27.04,1.307,-1.118,23.32
91,Board,A0,2,725.49,327.85,-27.51,-0.02708,0.03694,0.99895,724.61,327.11,-26.92,1.289,-0.587,24.21
92,Board,A0,2,644.7,-186.93,-25.55,-0.05883,-0.0185,0.9981,644.42,-185.49,-27.04,2.094,1.489,23.69
95,Board,A0,3,184.77,-273.26,-27.61,-0.03697,0.01835,0.99915,185.04,-272.99,-27.73,0.401,0.121,24.34
96,Board,A0,3,369.2,-185.74,-27.61,-0.04836,0.02152,0.9986,369.1,-186.1,-27.46,0.398,-0.148,24.06
103,Board,A0,3,104.63,-186.32,-27.25,-0.01721,0.02455,0.99955,105.03,-186.33,-27.85,0.721,0.6,24.42
105,Board,A0,3,524.3,-267.15,-27.08,-0.016,0.01938,0.99968,523.86,-266.44,-27.22,0.848,0.137,23.92
118,unknown,,3,322.99,-174.22,47.16,0.02335,-0.99462,0.10089,,,,,,24.14
122,Ellbow,,3,359.95,-173.78,46.07,0.00204,-0.99361,0.11286,,,,,,24.26
143,Arm2,,2,340.07,-138.22,229.66,-0.72695,-0.68151,0.08421,,,,,,24.03
144,Arm2,,3,362.93,-157.15,158.16,-0.05456,-0.9917,0.11642,,,,,,24.31
146,Arm2,,2,337.31,-147.71,160.02,-0.68833,-0.72303,0.05854,,,,,,24.0
147,FingerA,,3,383.25,-144.05,226.5,0.43778,-0.89607,0.07357,,,,,,23.85
148,Arm2,,3,367.21,-142.91,264.34,-0.04936,-0.99586,0.07639,,,,,,24.28
178,FingerB,,2,287.73,-121.4,315.33,-0.67179,-0.7215,-0.16775,,,,,,23.25
179,FingerB,,2,329.15,-139.64,311.4,-0.61251,-0.17201,0.77152,,,,,,23.53
198,Arm1,,2,268.53,-53.98,84.4,0.00864,0.01319,0.99988,,,,,,24.79
200,unknown,,2,199.66,-28.82,110.04,-0.15134,-0.01695,0.98834,,,,,,23.71
204,unknown,,2,198.48,115.43,120.91,0.03546,0.04428,0.99839,,,,,,24.17
208,Board,rail,2,626.35,-98.62,-6.79,-0.00084,0.01537,0.99988,631.01,-98.43,-7.71,4.748,0.917,24.04
210,Board,rail,2,129.9,-7.86,-5.67,0.06219,0.02253,0.99781,122.63,-13.98,-0.72,10.715,-4.946,23.24
214,unknown,,2,531.62,-8.59,-6.83,-0.02922,0.04196,0.99869,,,,,,24.25
217,Board,rail,2,730.01,-8.51,-5.0,-0.08513,-0.01438,0.99627,732.39,-23.88,7.39,19.881,-12.386,23.12
229,Arm1,,3,271.17,-142.11,79.1,0.01062,-0.04516,0.99892,,,,,,23.94
243,Arm1,,2,270.3,-176.61,43.73,0.02044,-0.9996,-0.01934,,,,,,24.13
camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
cam0,335.33,-885.66,468.37,-0.06588,0.89247,-0.44628
cam1,296.81,-462.82,780.61,0.09503,0.4331,-0.89632
cam2,712.91,-665.53,724.31,-0.42887,0.59445,-0.68022
1 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
2 0 unknown 2 505.2 -100.88 -7.16 0.02189 0.03624 0.9991 24.24
3 46 Board A0 2 537.83 185.51 -27.88 -0.08568 -0.05354 0.99488 537.44 185.2 -27.2 0.841 -0.679 23.2
4 47 Board A0 2 343.18 -286.29 -27.16 -0.03123 0.01004 0.99946 343.18 -286.05 -27.49 0.407 0.326 24.03
5 50 Board A0 2 574.07 210.38 -26.23 -0.00073 0.03209 0.99948 574.23 211.48 -27.15 1.448 0.925 24.06
6 51 Board A0 2 166.73 -171.08 -27.09 -0.03386 0.01172 0.99936 167.18 -170.93 -27.76 0.818 0.667 24.31
7 53 Board A0 2 487.37 212.32 -27.38 -0.07361 -0.01564 0.99716 487.08 212.19 -27.28 0.33 -0.103 23.53
8 54 Board A0 3 341.07 -330.3 -27.22 -0.03362 0.04017 0.99863 341.05 -330.09 -27.5 0.351 0.28 24.36
9 55 Arm1 A0 2 282.65 -261.75 -26.65 -0.05274 0.01696 0.99846 24.32
10 58 Board A0 2 48.62 -216.5 -27.86 -0.00162 -0.0094 0.99995 49.3 -216.52 -27.93 0.684 0.068 24.24
11 62 Board A0 3 404.15 -174.92 -26.96 0.01614 -0.01502 0.99976 404.07 -174.84 -27.4 0.454 0.439 23.97
12 64 Board A0 2 -22.59 -186.68 -26.97 -0.00648 0.01133 0.99991 -21.95 -186.37 -28.04 1.286 1.074 24.24
13 66 Board A0 2 208.51 -363.21 -27.64 -0.04961 0.03216 0.99825 208.41 -362.24 -27.7 0.98 0.055 24.38
14 68 Board A0 2 574.39 169.06 -26.11 -0.00044 0.05167 0.99866 574.4 170.26 -27.15 1.591 1.04 24.52
15 73 Board A0 2 221.97 337.22 -30.29 -0.05172 0.1462 0.9879 223.01 334.05 -27.67 4.242 -2.621 26.49
16 76 Board A0 2 686.21 165.02 -27.13 -0.04548 -0.03114 0.99848 685.86 166 -26.98 1.054 -0.149 23.28
17 79 Board A0 2 311.51 -157.95 -27.04 0.05023 -0.04899 0.99754 311.73 -158.5 -27.54 0.776 0.496 23.36
18 82 Board A0 2 219.37 300.46 -29.79 0.00751 0.1232 0.99235 220.31 298.19 -27.68 3.238 -2.111 25.14
19 85 Board A0 3 503.91 -313.51 -27.06 0.00515 -0.00866 0.99995 503.43 -312.87 -27.25 0.816 0.191 24.1
20 90 Board A0 2 644.93 316.2 -28.16 -0.02384 -0.04569 0.99867 644.39 315.79 -27.04 1.307 -1.118 23.32
21 91 Board A0 2 725.49 327.85 -27.51 -0.02708 0.03694 0.99895 724.61 327.11 -26.92 1.289 -0.587 24.21
22 92 Board A0 2 644.7 -186.93 -25.55 -0.05883 -0.0185 0.9981 644.42 -185.49 -27.04 2.094 1.489 23.69
23 95 Board A0 3 184.77 -273.26 -27.61 -0.03697 0.01835 0.99915 185.04 -272.99 -27.73 0.401 0.121 24.34
24 96 Board A0 3 369.2 -185.74 -27.61 -0.04836 0.02152 0.9986 369.1 -186.1 -27.46 0.398 -0.148 24.06
25 103 Board A0 3 104.63 -186.32 -27.25 -0.01721 0.02455 0.99955 105.03 -186.33 -27.85 0.721 0.6 24.42
26 105 Board A0 3 524.3 -267.15 -27.08 -0.016 0.01938 0.99968 523.86 -266.44 -27.22 0.848 0.137 23.92
27 118 unknown 3 322.99 -174.22 47.16 0.02335 -0.99462 0.10089 24.14
28 122 Ellbow 3 359.95 -173.78 46.07 0.00204 -0.99361 0.11286 24.26
29 143 Arm2 2 340.07 -138.22 229.66 -0.72695 -0.68151 0.08421 24.03
30 144 Arm2 3 362.93 -157.15 158.16 -0.05456 -0.9917 0.11642 24.31
31 146 Arm2 2 337.31 -147.71 160.02 -0.68833 -0.72303 0.05854 24.0
32 147 FingerA 3 383.25 -144.05 226.5 0.43778 -0.89607 0.07357 23.85
33 148 Arm2 3 367.21 -142.91 264.34 -0.04936 -0.99586 0.07639 24.28
34 178 FingerB 2 287.73 -121.4 315.33 -0.67179 -0.7215 -0.16775 23.25
35 179 FingerB 2 329.15 -139.64 311.4 -0.61251 -0.17201 0.77152 23.53
36 198 Arm1 2 268.53 -53.98 84.4 0.00864 0.01319 0.99988 24.79
37 200 unknown 2 199.66 -28.82 110.04 -0.15134 -0.01695 0.98834 23.71
38 204 unknown 2 198.48 115.43 120.91 0.03546 0.04428 0.99839 24.17
39 208 Board rail 2 626.35 -98.62 -6.79 -0.00084 0.01537 0.99988 631.01 -98.43 -7.71 4.748 0.917 24.04
40 210 Board rail 2 129.9 -7.86 -5.67 0.06219 0.02253 0.99781 122.63 -13.98 -0.72 10.715 -4.946 23.24
41 214 unknown 2 531.62 -8.59 -6.83 -0.02922 0.04196 0.99869 24.25
42 217 Board rail 2 730.01 -8.51 -5.0 -0.08513 -0.01438 0.99627 732.39 -23.88 7.39 19.881 -12.386 23.12
43 229 Arm1 3 271.17 -142.11 79.1 0.01062 -0.04516 0.99892 23.94
44 243 Arm1 2 270.3 -176.61 43.73 0.02044 -0.9996 -0.01934 24.13
45 camera_id x_mm y_mm z_mm dir_x dir_y dir_z
46 cam0 335.33 -885.66 468.37 -0.06588 0.89247 -0.44628
47 cam1 296.81 -462.82 780.61 0.09503 0.4331 -0.89632
48 cam2 712.91 -665.53 724.31 -0.42887 0.59445 -0.68022

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data/homing/20260625_172504/aruco_marker_poses.json Normal file
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data/homing/20260625_172504/cam0_camera_pose.json Normal file
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{
"schema_version": "1.0",
"created_utc": "2026-06-25T17:25:09Z",
"source": {
"detection_json": "/app/data/homing/20260625_172504/cam0_aruco_detection.json",
"robot_json": "/app/scripts/robot_1781069752019.json"
},
"camera": {
"camera_id": "cam0",
"camera_matrix": [
[
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0.0,
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],
[
0.0,
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],
[
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]
],
"distortion_coefficients": [
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},
"estimation": {
"method": "single_camera_marker_center_lm",
"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 20,
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66,
85,
54,
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69,
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96,
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"history": {
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"rms": [
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"lambda": [
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},
"residual_rms_px": 3.4096867660331136,
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"sigma2_normalized": 3.2778193707572165e-06
},
"camera_pose": {
"world_to_camera": {
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},
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],
"position_mm": [
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],
"orientation_deg": {
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"pitch": 3.777391195297241,
"yaw": -1.6990946531295776
}
},
"uncertainty": {
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],
[
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],
[
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},
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],
"camera_center_std_mm": [
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}
}
},
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"confidence": 0.42385670146087856
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{
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{
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{
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{
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data/homing/20260625_172504/robot_1781069752019.json Normal file
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data/homing/20260625_172504/robot_state.json Normal file
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data/homing/20260625_172504/state_Arm1.json Normal file
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{
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data/homing/20260625_172504/state_Arm2.json Normal file
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{
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54
data/homing/20260625_172504/state_Ellbow.json Normal file
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{
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61
data/homing/20260625_175916/aruco_marker_poses.csv Normal file
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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,unknown,,3,505.79,-100.06,-8.17,0.00654,-0.01478,0.99987,,,,,,23.71
46,Board,A0,2,537.9,185.52,-27.5,0.0061,0.00117,0.99998,537.44,185.2,-27.2,0.638,-0.305,23.83
47,Board,A0,3,343.34,-286.18,-27.52,-0.00826,0.02432,0.99967,343.18,-286.05,-27.49,0.21,-0.034,24.1
50,Board,A0,3,574.64,211.77,-27.34,0.00242,0.0109,0.99994,574.23,211.48,-27.15,0.539,-0.186,24.07
51,Board,A0,3,166.89,-171.06,-27.49,-0.04142,0.00081,0.99914,167.18,-170.93,-27.76,0.417,0.272,24.2
53,Board,A0,3,487.16,212.93,-27.58,0.06677,0.02171,0.99753,487.08,212.19,-27.28,0.798,-0.296,23.92
54,Board,A0,3,341.31,-330.18,-27.55,-0.01014,0.01262,0.99987,341.05,-330.09,-27.5,0.275,-0.049,24.21
55,Arm1,A0,3,282.71,-261.9,-26.63,-0.03413,0.00638,0.9994,,,,,,24.37
56,Arm1,A0,2,500.02,169.42,-27.88,-0.01336,0.00216,0.99991,,,,,,23.7
58,Board,A0,3,48.69,-216.76,-27.87,-0.0193,0.00188,0.99981,49.3,-216.52,-27.93,0.658,0.059,24.44
60,Board,A0,2,435.69,286.11,-29.34,-0.04419,0.06927,0.99662,435.46,283.95,-27.36,2.937,-1.981,24.83
62,Board,A0,3,404.22,-174.75,-27.14,0.00893,-0.00881,0.99992,404.07,-174.84,-27.4,0.313,0.259,23.96
64,Board,A0,2,-22.33,-187.15,-26.56,0.02977,0.00062,0.99956,-21.95,-186.37,-28.04,1.719,1.484,23.66
66,Board,A0,2,207.97,-362.78,-28.65,-0.08,0.0928,0.99247,208.41,-362.24,-27.7,1.18,-0.951,25.14
67,Board,A0,2,524.61,268.02,-28.51,-0.0163,-0.00123,0.99987,524.1,266.85,-27.22,1.818,-1.29,23.6
68,Board,A0,3,575.05,170.15,-27.14,0.01722,0.03205,0.99934,574.4,170.26,-27.15,0.663,0.006,24.1
69,Board,A0,2,6.91,-280.99,-27.23,-0.00089,0.03112,0.99952,6.58,-279.46,-28,1.744,0.77,24.07
70,Board,A0,2,603.56,300.57,-28.34,-0.06715,0.04327,0.9968,603.03,299.84,-27.11,1.527,-1.233,23.99
73,Board,A0,2,222.01,337.1,-29.9,-0.0437,0.11256,0.99268,223.01,334.05,-27.67,3.914,-2.235,25.6
75,Board,A0,2,-27.07,199.16,-28.78,-0.06027,0.14192,0.98804,-24.94,196.46,-28.04,3.523,-0.736,26.71
76,Board,A0,2,686.17,164.68,-26.47,-0.08323,0.00998,0.99648,685.86,166,-26.98,1.45,0.514,23.85
77,Arm1,A0,2,17.53,194.86,-28.25,-0.02333,0.14876,0.9886,,,,,,26.07
79,Board,A0,2,311.53,-157.96,-26.95,0.02919,-0.01163,0.99951,311.73,-158.5,-27.54,0.827,0.59,24.03
82,Board,A0,2,219.4,300.84,-30.04,0.00365,0.102,0.99478,220.31,298.19,-27.68,3.663,-2.363,25.25
85,Board,A0,3,504.05,-313.36,-27.37,-0.00147,-0.03538,0.99937,503.43,-312.87,-27.25,0.799,-0.124,24.1
88,Board,A0,2,767.2,313.41,-25.61,0.05089,-0.00066,0.9987,767.09,314.94,-26.86,1.978,1.252,23.68
90,Board,A0,2,644.9,315.86,-27.76,-0.00476,-0.03483,0.99938,644.39,315.79,-27.04,0.882,-0.718,23.64
91,Board,A0,2,725.06,326.79,-26.9,-0.04318,-0.00677,0.99904,724.61,327.11,-26.92,0.553,0.023,23.76
92,Board,A0,2,644.97,-186.59,-26.03,0.03072,-0.01393,0.99943,644.42,-185.49,-27.04,1.592,1.007,24.18
94,Board,A0,2,875.22,168.95,-22.69,0.07264,0.05485,0.99585,876.38,172.13,-26.7,5.244,4.006,24.44
95,Board,A0,3,184.79,-273.16,-27.83,-0.00258,0.02727,0.99962,185.04,-272.99,-27.73,0.315,-0.097,24.35
96,Board,A0,3,369.18,-185.71,-27.51,0.02262,0.01808,0.99958,369.1,-186.1,-27.46,0.4,-0.049,24.16
97,Board,A0,2,303.36,-359.54,-26.35,-0.00502,0.02288,0.99973,303.02,-359.03,-27.55,1.344,1.197,24.46
98,Board,A0,2,577.15,315.74,-29.24,-0.02274,0.04433,0.99876,576.48,314.67,-27.15,2.445,-2.094,24.33
100,Board,A0,2,803.8,169.01,-24.93,0.01883,-0.01657,0.99969,803.92,171.12,-26.81,2.829,1.882,23.24
103,Board,A0,3,104.64,-186.37,-27.12,-0.00058,0.0069,0.99998,105.03,-186.33,-27.85,0.825,0.726,24.45
104,Board,A0,2,827.17,235.41,-24.77,0.08284,0.04199,0.99568,827.64,237.83,-26.77,3.174,1.996,24.77
105,Board,A0,3,524.5,-266.88,-27.45,-0.00083,0.01085,0.99994,523.86,-266.44,-27.22,0.811,-0.234,24.19
118,unknown,,3,323.07,-174.22,47.26,0.01395,-0.99423,0.10635,,,,,,24.41
122,Ellbow,,3,360.07,-173.45,46.18,0.01114,-0.99429,0.10615,,,,,,24.51
143,Arm2,,2,339.81,-138.06,229.48,-0.73183,-0.67663,0.08126,,,,,,24.18
144,Arm2,,3,362.95,-156.86,158.05,-0.03961,-0.99309,0.11048,,,,,,24.37
147,FingerA,,3,382.82,-143.67,226.6,0.42827,-0.9012,0.06646,,,,,,24.01
148,Arm2,,3,366.84,-142.43,264.66,-0.04437,-0.99493,0.09027,,,,,,24.39
178,FingerB,,2,287.31,-120.45,315.29,-0.66387,-0.73035,-0.1608,,,,,,22.88
179,FingerB,,2,329.61,-140.32,313.07,-0.6954,-0.15177,0.70241,,,,,,26.39
198,Arm1,,2,268.82,-53.79,84.52,0.01757,0.02587,0.99951,,,,,,24.56
200,unknown,,2,199.61,-28.62,110.03,-0.06794,-0.01026,0.99764,,,,,,23.25
204,unknown,,2,198.89,116.09,120.31,0.05577,0.03761,0.99774,,,,,,24.15
208,Board,rail,3,626.32,-98.56,-6.78,0.00383,-0.01334,0.9999,631.01,-98.43,-7.71,4.781,0.93,23.72
210,Board,rail,2,129.76,-7.26,-6.27,0.028,0.01002,0.99956,122.63,-13.98,-0.72,11.263,-5.553,23.35
214,unknown,,3,532.15,-7.88,-7.33,-0.02081,0.05531,0.99825,,,,,,24.05
217,Board,rail,2,730.24,-8.43,-5.0,-0.01833,-0.01881,0.99966,732.39,-23.88,7.39,19.917,-12.387,23.61
229,Arm1,,3,271.15,-142.19,79.27,0.01827,-0.03009,0.99938,,,,,,24.04
243,Arm1,,3,270.52,-175.76,42.77,0.0038,-0.99933,-0.03654,,,,,,24.16
camera_id,x_mm,y_mm,z_mm,dir_x,dir_y,dir_z
cam0,335.07,-885.3,469.64,-0.06533,0.89189,-0.44751
cam1,297.15,-462.72,780.65,0.09465,0.43305,-0.89639
cam2,714.94,-666.29,727.22,-0.42921,0.59338,-0.68094
1 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
2 0 unknown 3 505.79 -100.06 -8.17 0.00654 -0.01478 0.99987 23.71
3 46 Board A0 2 537.9 185.52 -27.5 0.0061 0.00117 0.99998 537.44 185.2 -27.2 0.638 -0.305 23.83
4 47 Board A0 3 343.34 -286.18 -27.52 -0.00826 0.02432 0.99967 343.18 -286.05 -27.49 0.21 -0.034 24.1
5 50 Board A0 3 574.64 211.77 -27.34 0.00242 0.0109 0.99994 574.23 211.48 -27.15 0.539 -0.186 24.07
6 51 Board A0 3 166.89 -171.06 -27.49 -0.04142 0.00081 0.99914 167.18 -170.93 -27.76 0.417 0.272 24.2
7 53 Board A0 3 487.16 212.93 -27.58 0.06677 0.02171 0.99753 487.08 212.19 -27.28 0.798 -0.296 23.92
8 54 Board A0 3 341.31 -330.18 -27.55 -0.01014 0.01262 0.99987 341.05 -330.09 -27.5 0.275 -0.049 24.21
9 55 Arm1 A0 3 282.71 -261.9 -26.63 -0.03413 0.00638 0.9994 24.37
10 56 Arm1 A0 2 500.02 169.42 -27.88 -0.01336 0.00216 0.99991 23.7
11 58 Board A0 3 48.69 -216.76 -27.87 -0.0193 0.00188 0.99981 49.3 -216.52 -27.93 0.658 0.059 24.44
12 60 Board A0 2 435.69 286.11 -29.34 -0.04419 0.06927 0.99662 435.46 283.95 -27.36 2.937 -1.981 24.83
13 62 Board A0 3 404.22 -174.75 -27.14 0.00893 -0.00881 0.99992 404.07 -174.84 -27.4 0.313 0.259 23.96
14 64 Board A0 2 -22.33 -187.15 -26.56 0.02977 0.00062 0.99956 -21.95 -186.37 -28.04 1.719 1.484 23.66
15 66 Board A0 2 207.97 -362.78 -28.65 -0.08 0.0928 0.99247 208.41 -362.24 -27.7 1.18 -0.951 25.14
16 67 Board A0 2 524.61 268.02 -28.51 -0.0163 -0.00123 0.99987 524.1 266.85 -27.22 1.818 -1.29 23.6
17 68 Board A0 3 575.05 170.15 -27.14 0.01722 0.03205 0.99934 574.4 170.26 -27.15 0.663 0.006 24.1
18 69 Board A0 2 6.91 -280.99 -27.23 -0.00089 0.03112 0.99952 6.58 -279.46 -28 1.744 0.77 24.07
19 70 Board A0 2 603.56 300.57 -28.34 -0.06715 0.04327 0.9968 603.03 299.84 -27.11 1.527 -1.233 23.99
20 73 Board A0 2 222.01 337.1 -29.9 -0.0437 0.11256 0.99268 223.01 334.05 -27.67 3.914 -2.235 25.6
21 75 Board A0 2 -27.07 199.16 -28.78 -0.06027 0.14192 0.98804 -24.94 196.46 -28.04 3.523 -0.736 26.71
22 76 Board A0 2 686.17 164.68 -26.47 -0.08323 0.00998 0.99648 685.86 166 -26.98 1.45 0.514 23.85
23 77 Arm1 A0 2 17.53 194.86 -28.25 -0.02333 0.14876 0.9886 26.07
24 79 Board A0 2 311.53 -157.96 -26.95 0.02919 -0.01163 0.99951 311.73 -158.5 -27.54 0.827 0.59 24.03
25 82 Board A0 2 219.4 300.84 -30.04 0.00365 0.102 0.99478 220.31 298.19 -27.68 3.663 -2.363 25.25
26 85 Board A0 3 504.05 -313.36 -27.37 -0.00147 -0.03538 0.99937 503.43 -312.87 -27.25 0.799 -0.124 24.1
27 88 Board A0 2 767.2 313.41 -25.61 0.05089 -0.00066 0.9987 767.09 314.94 -26.86 1.978 1.252 23.68
28 90 Board A0 2 644.9 315.86 -27.76 -0.00476 -0.03483 0.99938 644.39 315.79 -27.04 0.882 -0.718 23.64
29 91 Board A0 2 725.06 326.79 -26.9 -0.04318 -0.00677 0.99904 724.61 327.11 -26.92 0.553 0.023 23.76
30 92 Board A0 2 644.97 -186.59 -26.03 0.03072 -0.01393 0.99943 644.42 -185.49 -27.04 1.592 1.007 24.18
31 94 Board A0 2 875.22 168.95 -22.69 0.07264 0.05485 0.99585 876.38 172.13 -26.7 5.244 4.006 24.44
32 95 Board A0 3 184.79 -273.16 -27.83 -0.00258 0.02727 0.99962 185.04 -272.99 -27.73 0.315 -0.097 24.35
33 96 Board A0 3 369.18 -185.71 -27.51 0.02262 0.01808 0.99958 369.1 -186.1 -27.46 0.4 -0.049 24.16
34 97 Board A0 2 303.36 -359.54 -26.35 -0.00502 0.02288 0.99973 303.02 -359.03 -27.55 1.344 1.197 24.46
35 98 Board A0 2 577.15 315.74 -29.24 -0.02274 0.04433 0.99876 576.48 314.67 -27.15 2.445 -2.094 24.33
36 100 Board A0 2 803.8 169.01 -24.93 0.01883 -0.01657 0.99969 803.92 171.12 -26.81 2.829 1.882 23.24
37 103 Board A0 3 104.64 -186.37 -27.12 -0.00058 0.0069 0.99998 105.03 -186.33 -27.85 0.825 0.726 24.45
38 104 Board A0 2 827.17 235.41 -24.77 0.08284 0.04199 0.99568 827.64 237.83 -26.77 3.174 1.996 24.77
39 105 Board A0 3 524.5 -266.88 -27.45 -0.00083 0.01085 0.99994 523.86 -266.44 -27.22 0.811 -0.234 24.19
40 118 unknown 3 323.07 -174.22 47.26 0.01395 -0.99423 0.10635 24.41
41 122 Ellbow 3 360.07 -173.45 46.18 0.01114 -0.99429 0.10615 24.51
42 143 Arm2 2 339.81 -138.06 229.48 -0.73183 -0.67663 0.08126 24.18
43 144 Arm2 3 362.95 -156.86 158.05 -0.03961 -0.99309 0.11048 24.37
44 147 FingerA 3 382.82 -143.67 226.6 0.42827 -0.9012 0.06646 24.01
45 148 Arm2 3 366.84 -142.43 264.66 -0.04437 -0.99493 0.09027 24.39
46 178 FingerB 2 287.31 -120.45 315.29 -0.66387 -0.73035 -0.1608 22.88
47 179 FingerB 2 329.61 -140.32 313.07 -0.6954 -0.15177 0.70241 26.39
48 198 Arm1 2 268.82 -53.79 84.52 0.01757 0.02587 0.99951 24.56
49 200 unknown 2 199.61 -28.62 110.03 -0.06794 -0.01026 0.99764 23.25
50 204 unknown 2 198.89 116.09 120.31 0.05577 0.03761 0.99774 24.15
51 208 Board rail 3 626.32 -98.56 -6.78 0.00383 -0.01334 0.9999 631.01 -98.43 -7.71 4.781 0.93 23.72
52 210 Board rail 2 129.76 -7.26 -6.27 0.028 0.01002 0.99956 122.63 -13.98 -0.72 11.263 -5.553 23.35
53 214 unknown 3 532.15 -7.88 -7.33 -0.02081 0.05531 0.99825 24.05
54 217 Board rail 2 730.24 -8.43 -5.0 -0.01833 -0.01881 0.99966 732.39 -23.88 7.39 19.917 -12.387 23.61
55 229 Arm1 3 271.15 -142.19 79.27 0.01827 -0.03009 0.99938 24.04
56 243 Arm1 3 270.52 -175.76 42.77 0.0038 -0.99933 -0.03654 24.16
57 camera_id x_mm y_mm z_mm dir_x dir_y dir_z
58 cam0 335.07 -885.3 469.64 -0.06533 0.89189 -0.44751
59 cam1 297.15 -462.72 780.65 0.09465 0.43305 -0.89639
60 cam2 714.94 -666.29 727.22 -0.42921 0.59338 -0.68094

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{
"schema_version": "1.0",
"created_utc": "2026-06-25T17:59:21Z",
"source": {
"detection_json": "/app/data/homing/20260625_175916/cam0_aruco_detection.json",
"robot_json": "/app/scripts/robot_1781069752019.json"
},
"camera": {
"camera_id": "cam0",
"camera_matrix": [
[
1424.7584228515625,
0.0,
635.95947265625
],
[
0.0,
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],
[
0.0,
0.0,
1.0
]
],
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]
},
"estimation": {
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"description": "Rigid init from per-marker pose estimates, followed by LM on normalized marker-center reprojection residuals.",
"marker_size_m": 0.025,
"num_used_markers": 20,
"used_marker_ids": [
97,
66,
85,
54,
105,
69,
47,
95,
58,
64,
103,
96,
62,
51,
79,
208,
210,
68,
50,
53
],
"history": {
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1,
2,
3
],
"rms": [
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"lambda": [
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0.000125
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},
"residual_rms_px": 3.4895581122703203,
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"sigma2_normalized": 3.433175856049273e-06
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"camera_pose": {
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[
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}
},
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{
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},
{
"marker_ids": [
77,
198
],
"link": "Arm1",
"tier": "primary",
"skipped": false,
"angle_deg": 14.349880680055369,
"baseline_model_mm": 356.9731122927888,
"baseline_obs_mm": 273.03257450221435,
"weight": 97465.28787736819
},
{
"marker_ids": [
77,
229
],
"link": "Arm1",
"tier": "primary",
"skipped": false,
"angle_deg": 9.66556769141446,
"baseline_model_mm": 445.86971516352173,
"baseline_obs_mm": 353.78452354827397,
"weight": 157741.80474373116
},
{
"marker_ids": [
77,
243
],
"link": "Arm1",
"tier": "primary",
"skipped": false,
"angle_deg": 7.573295647776105,
"baseline_model_mm": 477.27969043318825,
"baseline_obs_mm": 377.3635068156209,
"weight": 180107.93771374188
},
{
"marker_ids": [
198,
229
],
"link": "Arm1",
"tier": "primary",
"skipped": false,
"angle_deg": -3.397605318552869,
"baseline_model_mm": 90.00000000000003,
"baseline_obs_mm": 88.54992394070814,
"weight": 7969.493154663735
},
{
"marker_ids": [
198,
243
],
"link": "Arm1",
"tier": "primary",
"skipped": false,
"angle_deg": -3.2531512518968957,
"baseline_model_mm": 129.8075498574717,
"baseline_obs_mm": 128.9115321451203,
"weight": 16733.690136130772
},
{
"marker_ids": [
229,
243
],
"link": "Arm1",
"tier": "primary",
"skipped": false,
"angle_deg": -2.3933465309361535,
"baseline_model_mm": 49.49747468305833,
"baseline_obs_mm": 49.589805881590635,
"weight": 2454.5701611618097
}
],
"accumulated_state": {
"x": 44.640580804136256,
"y": 7.073578785211089
}
}

65
data/homing/20260625_175916/state_Arm2.json Normal file
View File

@@ -0,0 +1,65 @@
{
"status": "ok",
"link": "Arm2",
"joint": "a",
"method": "primary",
"joint_origin_world_mm": [
244.64058080413622,
-139.78180740318305,
84.28236561327859
],
"joint_axis_world": [
0.0,
0.13416044351804374,
0.9909596234938344
],
"mean_angle_deg": 92.49229573636204,
"circular_variance": 0.0005036790852294137,
"circular_std_deg": 1.8187344232244496,
"num_pairs_used": 2,
"num_markers_matched": 3,
"per_pair": [
{
"marker_ids": [
143,
144
],
"link": "Arm2",
"tier": "primary",
"skipped": false,
"angle_deg": 90.53857082520275,
"baseline_model_mm": 26.684454275851333,
"baseline_obs_mm": 24.841154956793282,
"weight": 662.8726636038881
},
{
"marker_ids": [
143,
148
],
"link": "Arm2",
"tier": "primary",
"skipped": false,
"angle_deg": 94.18507945848495,
"baseline_model_mm": 26.836171485515596,
"baseline_obs_mm": 28.506933940749555,
"weight": 765.0169677602199
},
{
"marker_ids": [
144,
148
],
"link": "Arm2",
"tier": "primary",
"skipped": true,
"reason": "bl_model=0.4 bl_obs=3.9 < 15.0"
}
],
"accumulated_state": {
"x": 44.640580804136256,
"y": 7.073578785211089,
"z": 90.63649643342701,
"a": 92.49229573636204
}
}

41
data/homing/20260625_175916/state_Ellbow.json Normal file
View File

@@ -0,0 +1,41 @@
{
"status": "ok",
"link": "Ellbow",
"joint": "z",
"method": "fallback_1_child_axis",
"joint_origin_world_mm": [
154.64058080413625,
-139.78180740318305,
84.28236561327859
],
"joint_axis_world": [
-1.0,
0.0,
0.0
],
"mean_angle_deg": 90.63649643342701,
"circular_variance": 0.0,
"circular_std_deg": 0.0,
"num_pairs_used": 1,
"num_markers_matched": 1,
"per_pair": [
{
"marker_ids": [
144,
148
],
"link": "Arm2",
"tier": "fallback_1_child_axis",
"skipped": false,
"angle_deg": 90.63649643342701,
"baseline_model_mm": 107.0,
"baseline_obs_mm": 107.57847026231472,
"weight": 11510.896318067675
}
],
"accumulated_state": {
"x": 44.640580804136256,
"y": 7.073578785211089,
"z": 90.63649643342701
}
}

50
doc/Homing_5_Pose_MultiPoint_Weighted.md
View File

@@ -5,12 +5,12 @@
> Messung beiträgt und *wie stark* sie zählt.
>
> **Status (2026-06-25):** **Qualitäts-Gewichtung** (Doc-Punkt 3 / Schritte 1+2)
> umgesetzt. **Mehrpunkt-Eckresiduen** (Doc-Punkt 1 / Schritte 3+4) umgesetzt
> als Opt-in-Modus `marker_observation="corner_points"` — 12 Eck-Residuen für
> Roboter-Links, 1 Center-Residuum für die (spin-unkalibrierten) Board/Rail-
> Marker auf dem Root-Link. Endgültiges Tuning/Validierung gegen Simulation
> steht aus (siehe Notiz unten). **Einzelkamera-Einbindung** (Doc-Punkt 2 /
> Schritte 5+6) weiterhin **offen** — siehe Status-Spalte unten.
> umgesetzt. **Mehrpunkt-Eckresiduen** (Doc-Punkt 1 / Schritte 3+4) als
> Opt-in-Modus `corner_points` implementiert, aber nach gescheitertem
> Live-Test wieder **DEAKTIVIERT** — robot.json steht auf `corner_pose`
> (bewährter Zustand). Der Code bleibt inaktiv im Repo. Ursache + Vorbedingungen
> für eine erneute Aktivierung: Notiz unten. **Einzelkamera-Einbindung**
> (Doc-Punkt 2 / Schritte 5+6) weiterhin **offen**.
---
@@ -232,7 +232,7 @@ umsetzbar und (wo möglich) einzeln testbar, bevor der nächste beginnt.
| 1 | ✅ erledigt (2026-06-17) | **(Doc-Punkt 3)** `quality`/`confidence` aus `{cam}_aruco_detection.json` bis nach `aruco_marker_poses.json` durchreichen (3b liest es, schreibt ein neues `weight`-Feld pro Marker) | Diff der Ausgabedatei: nur das neue Feld ist zusätzlich da, alles andere (Position, Normale, …) identisch zu vorher — reiner Additivitätstest | **Nein.** Rein additives Feld, kein Pflichtfeld, alte Leser ignorieren es |
| 2 | ✅ erledigt (2026-06-17) | **(Doc-Punkt 3)** `residual_vector()` nutzt das neue Gewicht, hinter einem Schalter (`pose_estimation.use_marker_weight`, Default `false`) | A/B-Vergleich auf den appRobotRendering-Simulationsszenen (mit/ohne Schalter) gegen bekannte Grundwahrheit — genau der Test, der laut Nutzer beim ersten Versuch wenig brachte, jetzt wiederholbar | **Nein bei Default aus.** Mit `true`: Ergebnisse ändern sich gewollt — muss vor Produktiv-Default separat validiert werden |
| 3 | ✅ erledigt (2026-06-25) | **(Doc-Punkt 1)** `robot_fk.py`: neue Methode liefert die 4 lokalen Eckpunkte eines Markers im Weltsystem (Baustein, noch ohne Anbindung) | Isoliert testbar, ganz ohne `5_pose_estimation.py`: gegen die wahren Eckpositionen aus `render_*.json` (Simulation liefert das schon) | **Nein.** Neue, bisher von niemandem aufgerufene Methode |
| 4 | 🟡 Code erledigt (2026-06-25), Tuning offen | **(Doc-Punkt 1)** Neuer `marker_observation`-Modus (z. B. `"corner_points"`) nutzt die 12 Eck-Residuen statt 6 Center/Normal-Residuen | Direkter Vorher/Nachher-Vergleich gegen dieselbe Validierungstabelle wie in `Homing_5_Pose.md` (10 Simulationsposen, bekannte GT) | **Nein als Opt-in** (Default bleibt `"corner_pose"`). Tuning-Punkt: `huber_delta_mm` ist auf die heutige Residuumsgröße kalibriert — mit 12 statt 6 Werten/Marker verschiebt sich die RMS-Größenordnung, müsste neu eingeordnet werden |
| 4 | 🔴 Code da, aber DEAKTIVIERT (live gescheitert 2026-06-25 → robot.json zurück auf `corner_pose`) | **(Doc-Punkt 1)** Neuer `marker_observation`-Modus (z. B. `"corner_points"`) nutzt die 12 Eck-Residuen statt 6 Center/Normal-Residuen | Direkter Vorher/Nachher-Vergleich gegen dieselbe Validierungstabelle wie in `Homing_5_Pose.md` (10 Simulationsposen, bekannte GT) | **Nein als Opt-in** (Default bleibt `"corner_pose"`). Tuning-Punkt: `huber_delta_mm` ist auf die heutige Residuumsgröße kalibriert — mit 12 statt 6 Werten/Marker verschiebt sich die RMS-Größenordnung, müsste neu eingeordnet werden |
| 5 | ⬜ **offen** (Vorarbeit/Guards ✅) | **(Doc-Punkt 2)** 3b nimmt 1-Kamera-Beobachtungen mit auf (rohe 2D-Ecken + Kamera-Referenz), statt sie zu verwerfen | Output-Diff: nur neue Einträge für vorher fehlende Marker, bestehende ≥2-Kamera-Einträge unverändert | **Ja, konkret** — siehe Konsumenten-Recherche direkt unter der Tabelle. Mehrere Stellen brauchen einen Guard, **bevor** dieser Schritt scharf geschaltet wird |
| 6 | ⬜ **offen** | **(Doc-Punkt 2)** `residual_vector()` um Reprojektions-Residuen erweitert; `load_observations()`/`estimate_pose()` lesen zusätzlich Kamerakalibrierung | Zuerst an Simulationsszenen, bei denen gut beobachtete Marker künstlich auf „nur 1 Kamera" reduziert werden (GT bekannt) — saubere Kontrolle, ob das Residuum tatsächlich hilft, bevor reale Finger-Marker überhaupt existieren | **Nein strukturell** (additiver Residuumstyp), aber Regressionsrisiko durch falsche mm/px-Gewichtung — vor Produktiv-Default gegen die bestehende Validierungstabelle gegenprüfen (wie Schritt 4) |
| 7 | ⬜ **offen** | Zusammenführen: ein gemeinsames Gewichtsschema (Quality × Kamera-Anzahl × Residuumstyp) statt drei separater Schalter | End-to-End gegen Simulationsbenchmark **und** die drei realen Fixtures aus `Homing_5_Pose.md` | **Nein**, wenn alle Vorstufen additive Defaults hatten |
@@ -293,13 +293,35 @@ Alle anderen Konsumenten (`homing.js`, `editRobot.js` → `assignByZRange`/`alig
ziehen auch `corner_pose` leicht. Auf bereinigten Markern konvergiert
`corner_points` ≈ `corner_pose`. → Marker-Zuordnung korrigieren (separate
Kalibrier-Aufgabe).
- **Scharfgeschaltet (2026-06-25, gescopt):** robot.json
`marker_observation: "corner_points"` mit
`corner_point_links: ["Hand","Palm","FingerA","FingerB"]`. D.h. nur Hand/Finger
nutzen die 4 Ecken; Arme behalten Center+Normale, Board nur Center. Auf der
Arm-Capture (ohne Finger-Marker) **byte-identisch** zu `corner_pose` → keine
Regression im bestehenden Pfad. Die Arme können in die Liste, sobald die
A0→Arm1-Fehlzuordnung behoben ist.
- **DEAKTIVIERT (2026-06-25) — Aktivierung am echten Roboter gescheitert,
zurückgedreht.** robot.json steht wieder auf `marker_observation:
"corner_pose"` (der bewährte Zustand). Der `corner_points`-Code bleibt im
Repo, ist aber **inaktiv** (opt-in).
**Was probiert wurde:** `corner_points` mit `corner_point_links:
["Hand","Palm","FingerA","FingerB"]` scharfgeschaltet (nur Hand/Finger über
Ecken, Arme/Board unverändert). Am echten Lauf (data/homing/20260625_175916)
kippte die Hand (`b` −52° → +62°) und `x` wanderte (160 → 110 mm).
**Belegte Ursache (Gegenprobe an denselben Daten):**
- `corner_pose` → gutes Ergebnis (`b`≈−52, `x`≈160); `corner_points` → das
schlechte. Also eindeutig der Modus.
- Die **Eck-Konvention ist NICHT der Fehler**: 2 der 3 Finger-Marker passen am
guten Pose exakt (FingerB #178/#179, ~2–3 mm, korrekte Eck-Paarung fwd+r0).
- **Eigentliche Ursache: ein einzelner schlechter Marker.** FingerA **#147**
liegt **132 mm neben dem Modell** (Position/Zuordnung in robot.json noch
provisorisch, vgl. Commits „Finger1 Marker"/„zweiter Finger – verdreht").
Im Eck-Modus liefert ein Marker **12 statt 3 Residuen** → ein einzelner
Ausreißer hat ~4× Zugkraft und reißt `global_ba` ins falsche Minimum.
`corner_pose` (3 Residuen) dämpft ihn per Huber weg.
**Damit `corner_points` je produktiv taugt, fehlen ZWEI Dinge:**
1. **Daten:** FingerA #147 sauber einmessen / Zuordnung prüfen.
2. **Code-Robustheit:** Ausreißer-Schutz im Eck-Modus (grob daneben liegende
Marker pro Marker auf Center zurückfallen lassen oder verwerfen), sonst
kippt jede reale Aufnahme mit *einem* schlechten Marker. Erst danach –
gegen GT (Simulation oder Finger-Capture bekannter Pose), **nicht** live –
erneut testen. CLI zum Vergleichen: `--marker-observation corner_points`.
- **Offen (Schritt 4 Tuning):** `huber_delta_mm` ist auf 6 Residuen/Marker
kalibriert; mit 12 verschiebt sich die RMS-Größenordnung. Sauberes A/B + Tuning
der Hand/Finger-Ecken gegen appRobotRendering-Simulations-GT steht aus (hier

3
scripts/robot_1781069752019.json
View File

@@ -281,8 +281,7 @@
},
"pose_estimation": {
"method": "hybrid",
"marker_observation": "corner_points",
"corner_point_links": ["Hand", "Palm", "FingerA", "FingerB"],
"marker_observation": "corner_pose",
"use_normals": true,
"normal_weight": 100,
"robust_loss": "huber",