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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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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