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chk
2026-06-25 20:36:09 +02:00
parent fab7032d56
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