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2 Commits
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cce53cda54
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275ab083fa |
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{
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"coordinateSystem": {
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"handedness": "right",
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"x": "right",
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"y": "backward",
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"z": "up"
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},
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"units": {
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"length": "mm",
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"rotation": "degree"
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},
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"vision_config": {
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"MarkerType": "DICT_4X4_250",
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"MarkerSize": 0.025
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},
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"renderingInfo": {
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"width": 1280,
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"height": 720,
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"cameraPosition__1": [-10, -800, 500],
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"cameraPosition__2": [-500, 300, 1200],
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"cameraPosition__3": [-200, -900, 200],
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"cameraPosition__4": [1200, 200, 300],
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"cameraPosition_a":[-300, -800,500],
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"cameraPosition":[300, -500,1450],
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"cameraPosition_c":[600, -500,600],
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"cameraTarget": [210, -200, 180],
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"cameraUpVector": [0, 0, 1],
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"lightPosition": [-500, -500, 500],
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"lightTarget": [0, 0, 0],
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"lightUpVector": [0, 0, 1],
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"metric": "mm",
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"showSkeleton": true,
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"showMarkers": true,
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"backgroundColor": [0.70, 0.85, 1.0],
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"backgroundStrength": 0.20,
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"sunEnergy": 0.35,
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"areaEnergy": 120,
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"exposure": -1.5,
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"lensDirt": true,
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"lensDirtStrength": 0.08,
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"dofEnabled": true,
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"dofFStop": 11,
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"arucoDust": false,
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"arucoDustStrength": 0.00005,
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"localizedBlur": false,
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"localizedBlurStrength": 0.15,
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"vignette": true,
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"vignetteStrength": 0.08,
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"sensorNoise": true,
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"sensorNoiseStrength": 0.01,
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"lensDistortion": true,
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"lensDistortionStrength": 0.002,
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"materials": {
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"wood": {
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"baseColor": [0.72, 0.52, 0.33],
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"roughness": 0.85,
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"metallic": 0.0
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},
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"plaWhite": {
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"baseColor": [0.95, 0.95, 0.95],
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"roughness": 0.45,
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"metallic": 0.0
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},
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"steel": {
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"baseColor": [0.72, 0.72, 0.75],
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"roughness": 0.25,
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"metallic": 1.0
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},
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"powderCoatBlue": {
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"baseColor": [0.15, 0.25, 0.7],
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"roughness": 0.55,
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"metallic": 0.0
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},
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"defaultPlastic": {
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"baseColor": [0.95, 0.95, 0.95],
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"roughness": 0.4,
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"metallic": 0.0
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},
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"skeletonRed": {
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"baseColor": [0.85, 0.20, 0.20],
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"roughness": 0.35,
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"metallic": 0.0
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},
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"markerBlack": {
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"baseColor": [0.04, 0.04, 0.04],
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"roughness": 0.80,
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"metallic": 0.0
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}
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},
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"skeletonDefaults": {
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"radius": 4,
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"color": [0.85, 0.20, 0.20]
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},
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"markerDefaults": {
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"size": 25,
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"thickness": 1,
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"color": [0.04, 0.04, 0.04]
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}
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},
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"defaultPosition__": {
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"x": 10,
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"y": 4,
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"z": 20,
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"a": 10,
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"b": 2,
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"c": 9,
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"e": 1
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},
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"defaultPosition": {
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"x": 180,
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"y": 86,
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"z": -120,
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"a": -60,
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"b": 22,
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"c": 91,
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"e": 10
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},
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"recognized": {
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"x": null,
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"y": null,
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"z": null,
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"a": null,
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"b": null,
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"c": null,
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"e": null
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},
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"constraint_rules": {
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"rigid_distance": {
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"enabled": true,
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"mode": "mst",
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"weight": 1.0
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},
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"joint_axis_projection": {
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"enabled": true,
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"max_pairs": 2,
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"weight": 0.35
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},
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"chain_axis_projection": {
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"enabled": false,
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"max_depth": 3,
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"max_pairs": 2,
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"weight": 0.15
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},
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"axis_alignment_threshold": 0.95
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},
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"observation_weighting": {
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"enabled": true,
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"distance_weight": true,
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"marker_size_weight": true,
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"view_angle_weight": true
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},
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"multiview_calculation": {
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"combine_mode": "mean",
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"size_ref_px": 50.0,
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"border_ref_px": 120.0,
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"center_ref_norm": 0.01,
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"sharpness_ref": 2500.0,
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"homography_ref": 0.18,
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"size_factor": 0.3,
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"aspect_factor": 0.3,
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"border_factor": 0.01,
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"center_factor": 0.01,
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"sharpness_factor": 0.5,
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"homography_factor": 0.2,
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"normal_visibility_factor": 0.01,
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"spin_factor": 0.3,
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"weight_floor": 0.3
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},
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"robot_test_poses": {
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"sim04": {"x": 70, "y": 50,"z": -70,"a": 120,"b": 50,"c": 30,"e": 20},
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"sim05": {"x": 180,"y": 86,"z": -120,"a": -60,"b": 22,"c": 91,"e": 10},
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"sim06": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
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"sim07": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
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"sim08": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
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"sim09": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
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"sim09a": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
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"sim09b": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
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"sim010": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
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"sim011": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
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"sim012": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6}
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},
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"movements": {
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"x": null,
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"y": null,
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"z": null,
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"a": null,
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"b": null,
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"c": null,
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"e": null
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},
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"state_pose_params":{
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"numbers_of_Elements_to_consider_start": 3,
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"numbers_of_Elements_to_consider_final": 4,
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"solver_in_between_geometrical": false,
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"solver_after_geometrical": false,
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"geometric_passes_per_stage": 2,
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"revolute_search_coarse_deg": 5.0,
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"revolute_search_fine_deg": 1.0,
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"use_marker_normals_flip_tiebreak": true,
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"normal_flip_weight": 0.05
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},
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"links": {
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"Board": {
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"parent": null,
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"size": [1000, 200, 25],
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"mountPosition": [0, 0, 0],
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"mountRotation": [0, 0, 0],
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"skeleton": {
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"to": [1000, 0, 16],
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"radius": 4,
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"color": [0.85, 0.20, 0.20]
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},
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"markers":[
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{"id":210,"position":[20, -20, 0.3], "normal":[0,0,1]},
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{"id":211,"position":[250, -10, 0.3], "normal":[0,0,1]},
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{"id":215,"position":[250, -90, 0.3], "normal":[0,0,1]},
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{"id":217,"position":[650, -90, 0.3], "normal":[0,0,1]},
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{"id": 46, "position": [536.71, 185.44, -27.3], "normal": [0, 0, 1], "spin": 90, "info": "is placed on a white paper, A0_60Arucos_25mm_Seet223.pdf, with the following marker placements:"},
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{"id": 47, "position": [344.23, -286.54, -27.3], "normal": [0, 0, 1], "spin": 90},
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|
||||||
{"id": 103, "position": [105.71, -187.71, -27.3], "normal": [0, 0, 1], "spin": 90},
|
|
||||||
{"id": 104, "position": [826.71, 239.16, -27.3], "normal": [0, 0, 1], "spin": 90},
|
|
||||||
{"id": 105, "position": [524.84, -266.25, -27.3], "normal": [0, 0, 1], "spin": 90}
|
|
||||||
],
|
|
||||||
"model": [
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/Board.stl",
|
|
||||||
"originOfModel": [0, 0, 0],
|
|
||||||
"rotationOfModelDegree": [0, 0, -90],
|
|
||||||
"material": "wood"
|
|
||||||
},
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/BoardRail.stl",
|
|
||||||
"originOfModel": [0, 0, 0],
|
|
||||||
"rotationOfModelDegree": [0, 0, -90],
|
|
||||||
"material": "steel"
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"Base": {
|
|
||||||
"parent": "Board",
|
|
||||||
"size": [150, 200, 150],
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Slider",
|
|
||||||
"type": "linear",
|
|
||||||
"axis": [1, 0, 0],
|
|
||||||
"origin": [0, 0, 16],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "x"
|
|
||||||
},
|
|
||||||
"skeleton": {
|
|
||||||
"from": [0, 108, 45],
|
|
||||||
"to": [110, 108, 45],
|
|
||||||
"radius": 4,
|
|
||||||
"color": [0.20, 0.80, 0.20]
|
|
||||||
},
|
|
||||||
"markers": [
|
|
||||||
],
|
|
||||||
"model": [
|
|
||||||
{
|
|
||||||
"stlFile": "surfaces/Base.stl",
|
|
||||||
"originOfModel": [-30, 0, -35],
|
|
||||||
"rotationOfModelDegree": [0, 0, 0],
|
|
||||||
"material": "plaWhite"
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"Arm1": {
|
|
||||||
"parent": "Base",
|
|
||||||
"size": [70, 250, 70],
|
|
||||||
"mountPosition": [0, 0, 0],
|
|
||||||
"mountRotation": [0, 0, 0],
|
|
||||||
"jointToParent": {
|
|
||||||
"name": "Joint1",
|
|
||||||
"type": "revolute",
|
|
||||||
"axis": [-1, 0, 0],
|
|
||||||
"origin": [110, 108, 45],
|
|
||||||
"rotation": [0, 0, 0],
|
|
||||||
"variable": "y"
|
|
||||||
},
|
|
||||||
"skeleton": {
|
|
||||||
"from": [0, 0, 0],
|
|
||||||
"to": [0, -250, 0],
|
|
||||||
"radius": 4,
|
|
||||||
"color": [0.20, 0.20, 0.90]
|
|
||||||
},
|
|
||||||
"markers": [
|
|
||||||
{
|
|
||||||
"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 +8,349 @@
|
|||||||
|
|
||||||
## Was ist Homing?
|
## 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
|
Die Kameras schauen auf das Board + die ArUco-Marker am Roboter und berechnen
|
||||||
daraus die vollständige Pose aller Gelenke — ohne mechanische Endschalter.
|
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).
|
Kalibrierung hingegen läuft nur nach mechanischen Änderungen (≈ einmalig).
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## Voraussetzungen (Kalibrierung muss abgeschlossen sein)
|
## Kinematik-Kette (aus `robot.json → links`)
|
||||||
|
|
||||||
| Was | Wo gespeichert | Status |
|
```
|
||||||
|-----|----------------|--------|
|
Board (ROOT, fest) ← Referenz aller Kameras
|
||||||
| Kamera-Intrinsik (NPZ) | `data/calibration/camX_calibration.npz` | ✅ |
|
│
|
||||||
| Board-Marker-Positionen | `robot.json → links.Board.markers[]` | ✅ |
|
├── Base linear x axis=[1,0,0] ← Slider-Position
|
||||||
| X-Achsen-Richtung | `robot.json → links.*.position` (rotiert) | ✅ |
|
├── Arm1 revolute y axis=[-1,0,0] ← Schultergelenk
|
||||||
| **Arm1-Gelenkursprung Y/Z** | `robot.json → links.Arm1.jointToParent.origin[1,2]` | 🔶 in Arbeit |
|
├── Ellbow revolute z axis=[-1,0,0] ← Ellbogen
|
||||||
| Arm-Marker-Zuordnung | `robot.json → links.Arm1/Ellbow/Arm2/Hand.markers[]` | ❌ offen |
|
├── 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
|
**Resultat-State:** `{ x_mm, y_deg, z_deg, a_deg, b_deg, c_deg, e_mm }`
|
||||||
> der Y-Achsen-Kalibrierung), ist die gesamte Kinematikkette in `robot.json` geometrisch
|
|
||||||
> definiert. Dann kann Homing starten.
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## Kinematik-Kette (aus `robot.json`)
|
## Voraussetzungen (Kalibrierung)
|
||||||
|
|
||||||
```
|
| Was | Mechanismus | Status |
|
||||||
Board (ROOT, fest)
|
|-----|-------------|--------|
|
||||||
│
|
| Kamera-Intrinsik (NPZ) | `calibration.html` → Tab Camera NPZ | ✅ fertig |
|
||||||
├── Base linear variable=x axis=[1,0,0] origin=[0,0,16]
|
| Board-Marker-Positionen | `calibration.html` → Tab Board | ✅ fertig |
|
||||||
│ → Slider-Position entlang Board-X
|
| 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** |
|
||||||
├── Arm1 revolute variable=y axis=[-1,0,0] origin=[110, 108*, 45*]
|
| Arm-Marker in robot.json | Manuell eintragen (links.Arm1/Ellbow/Arm2/Hand.markers) | 🔶 Nutzer trägt ein |
|
||||||
│ → 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)
|
|
||||||
```
|
|
||||||
|
|
||||||
**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
|
### Aktuell: lokale Datei
|
||||||
|
```
|
||||||
**Was:** Alle Kameras gleichzeitig ein Foto.
|
ROBOT_JSON = process.env.ROBOT_JSON || 'scripts/robot_1781069752019.json'
|
||||||
|
|
||||||
**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/
|
|
||||||
```
|
```
|
||||||
|
|
||||||
**Output-Dateien:**
|
### Geplant: vom Driver per API
|
||||||
- `cam0_aruco_detection.json` — Marker-IDs + Pixel-Ecken + Kamera-Pose-Kandidaten
|
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
|
```
|
||||||
|
GET ROBOT_URL/api/robot/config → robot.json Inhalt
|
||||||
**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/
|
|
||||||
```
|
```
|
||||||
|
|
||||||
**Output-Dateien:**
|
**Implementierung (Backend `server.js`):**
|
||||||
- `cam0_camera_pose.json` — 4×4 Transformationsmatrix Kamera→Welt
|
```javascript
|
||||||
|
async function loadRobotConfig() {
|
||||||
**Analysis & Reasoning:** Reprojektions-Fehler pro Kamera (sollte < 3 px)
|
if (ROBOT_URL) {
|
||||||
|
// Vom Driver holen
|
||||||
**Fehlerfälle:**
|
const res = await fetch(new URL('/api/robot/config', ROBOT_URL));
|
||||||
- Zu wenig Board-Marker sichtbar (< 3) → Kamera-Pose nicht berechenbar
|
return res.json();
|
||||||
- Hoher Reprojektions-Fehler → Kalibrierung möglicherweise veraltet
|
}
|
||||||
|
// Fallback: lokale Datei
|
||||||
---
|
return JSON.parse(await fs.readFile(ROBOT_JSON, 'utf8'));
|
||||||
|
|
||||||
### 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, ... }
|
|
||||||
}
|
}
|
||||||
```
|
```
|
||||||
|
|
||||||
**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:**
|
**Priorität:** Kann nach dem restlichen Homing implementiert werden.
|
||||||
- `circular_std_deg` > 5° → Marker-Konfiguration fragwürdig, Messung wiederholen
|
Solange ROBOT_URL nicht konfiguriert, läuft alles mit der lokalen Datei.
|
||||||
- `num_pairs` < 2 → Arm-Marker nicht genug sichtbar
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
### Schritt 5 (optional) — Kamera-Z verfeinern
|
## X-Position (Slider) – Bestimmung
|
||||||
|
|
||||||
**Was:** Kamera-Höhe (Z) ist aus Board-Markern schlecht bestimmt (Board ist flach).
|
Die Slider-Position `x` wird **nicht** manuell eingegeben, sondern aus den
|
||||||
Wenn Ellbow-Winkel bekannt → FK-Vorhersage als Z-Referenz nutzen.
|
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
|
Alternativ: Schwerpunkt der Board-nahen A0-Marker projiziert auf die X-Achse
|
||||||
python 5_camera_z_refine.py \
|
(robust, braucht keine Arm-Marker).
|
||||||
--angle state_ellbow.json \
|
|
||||||
--robot robot.json \
|
**In `4b_revolute_angle.py`:** `--x-mm` wird aus `aruco_marker_poses.json`
|
||||||
--aruco aruco_marker_poses.json \
|
berechnet und als erstes Argument übergeben. Alle weiteren 4b-Aufrufe
|
||||||
-pose cam0_camera_pose.json \
|
nutzen `--from-state` des vorherigen Schritts.
|
||||||
-pose cam1_camera_pose.json \
|
|
||||||
--outDir data/homing/TIMESTAMP/
|
---
|
||||||
|
|
||||||
|
## 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`
|
**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.
|
||||||
**Wann nötig:** Wenn Residuen in Schritt 4 systematisch in Z-Richtung driften.
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
### Schritt 6 — Ergebnis senden
|
## Implementierungsplan: Homing-UI
|
||||||
|
|
||||||
**Was:** Vollständigen Joint-State an Roboter-Controller übermitteln.
|
### ⚠ Wichtig: Schritte 1–3b existieren bereits
|
||||||
|
|
||||||
**UI-Aktion:** Button `[An Roboter senden]`
|
Die Kette **Foto → 1_detect → 2_camera → 3b_poses** ist bereits vollständig
|
||||||
|
implementiert und produktiv in `POST /api/board/run` (`server/server.js`,
|
||||||
|
ca. Zeile 520–606). Sie erzeugt `<runDir>/aruco_marker_poses.json`.
|
||||||
|
|
||||||
**Body:** `{ x, y, z, a, b, c, e }`
|
**Die echten, funktionierenden Aufrufe (NICHT neu erfinden):**
|
||||||
→ `POST ROBOT_URL/api/state` (oder Motion-Controller-Protokoll)
|
|
||||||
|
|
||||||
**Result – Raw JSON:**
|
```javascript
|
||||||
```json
|
// Pro Kamera geloopt (jede Kamera hat eigene NPZ):
|
||||||
{
|
runScript([SCRIPT_1, '-i', imgPath, '-npz', npzPath, '-robot', ROBOT_JSON,
|
||||||
"status": "ok",
|
'-cameraId', camId, '-outDir', runDir, '--saveDebugImage']);
|
||||||
"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 },
|
runScript([SCRIPT_2, '-i', detJson, '-robot', ROBOT_JSON, '-outDir', runDir]);
|
||||||
"confidence": { "y_std_deg": 0.8, "z_std_deg": 1.2 }
|
|
||||||
|
// Einmal, nach allen Kameras (braucht ≥2 _camera_pose.json):
|
||||||
|
runScript([SCRIPT_3B, '--evalDir', runDir, '--robot', ROBOT_JSON]);
|
||||||
|
// → schreibt <runDir>/aruco_marker_poses.json
|
||||||
|
```
|
||||||
|
|
||||||
|
**Empfehlung:** Die Snapshot+1+2+3b-Logik aus `/api/board/run` in eine
|
||||||
|
gemeinsame Funktion `runBoardPipeline(runDir, send)` auslagern. Homing ruft
|
||||||
|
sie auf und hängt nur den 4b-Teil an. So gibt es keine Duplikate und keine
|
||||||
|
abweichenden Argumente.
|
||||||
|
|
||||||
|
---
|
||||||
|
|
||||||
|
### Phase 1 — Backend-Route `POST /api/homing/run`
|
||||||
|
|
||||||
|
**Datei:** `server/server.js` (neue Route) + `server/homingOrchestrator.js` (neue Datei)
|
||||||
|
|
||||||
|
**Ablauf als SSE-Stream:**
|
||||||
|
|
||||||
|
```javascript
|
||||||
|
// server/homingOrchestrator.js
|
||||||
|
export async function runHoming({ robotJsonPath, send }) {
|
||||||
|
|
||||||
|
// 1–3b: bestehende Board-Pipeline wiederverwenden
|
||||||
|
// (Foto + 1_detect + 2_camera + 3b_poses, pro Kamera geloopt)
|
||||||
|
send({ type: 'step', step: 1, text: 'Snapshot + Marker-Triangulation …' });
|
||||||
|
const runDir = await runBoardPipeline(robotJsonPath, send); // aus server.js ausgelagert
|
||||||
|
const arucoJson = path.join(runDir, 'aruco_marker_poses.json');
|
||||||
|
|
||||||
|
// 4. X-Position aus triangulierten Markern bestimmen
|
||||||
|
const xMm = estimateXFromMarkers(arucoJson); // siehe Abschnitt „X-Position"
|
||||||
|
|
||||||
|
// 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 ${link} …` });
|
||||||
|
const args = [SCRIPT_4B,
|
||||||
|
'--robot', robotJsonPath, '--aruco', arucoJson,
|
||||||
|
'--link', link,
|
||||||
|
'--output', path.join(runDir, `state_${link}.json`),
|
||||||
|
];
|
||||||
|
if (fromState) args.push('--from-state', fromState);
|
||||||
|
else args.push('--x-mm', String(xMm));
|
||||||
|
const exit = await runScript(args, send);
|
||||||
|
if (exit !== 0) { send({ type: 'error', text: `4b ${link} Exit ${exit}` }); return; }
|
||||||
|
fromState = path.join(runDir, `state_${link}.json`);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Ergebnis: letztes state_*.json enthält den vollständigen accumulated_state
|
||||||
|
const finalState = JSON.parse(fs.readFileSync(fromState, 'utf8'));
|
||||||
|
send({ type: 'done', state: finalState.accumulated_state, runDir });
|
||||||
}
|
}
|
||||||
```
|
```
|
||||||
|
|
||||||
**Result – Tree View:** Gelenk-Werte als lesbare Tabelle
|
> **Hinweis:** `runScript()` gibt den Exit-Code zurück (nicht den Pfad).
|
||||||
|
> Der State-Pfad wird separat gemerkt (`fromState`).
|
||||||
|
|
||||||
---
|
**Route:**
|
||||||
|
```javascript
|
||||||
|
app.post('/api/homing/run', async (req, res) => {
|
||||||
|
res.setHeader('Content-Type', 'text/event-stream');
|
||||||
|
const send = (data) => res.write(`data: ${JSON.stringify(data)}\n\n`);
|
||||||
|
try {
|
||||||
|
await runHoming({ robotJsonPath: ROBOT_JSON, send });
|
||||||
|
} catch (err) {
|
||||||
|
send({ type: 'error', text: String(err) });
|
||||||
|
}
|
||||||
|
res.end();
|
||||||
|
});
|
||||||
|
|
||||||
## UI-Seitenstruktur (analog index.html)
|
app.post('/api/homing/send-state', async (req, res) => {
|
||||||
|
// Sendet { x, y, z, a, b, c, e } an ROBOT_URL/api/state
|
||||||
```
|
});
|
||||||
┌─────────────────────────────────────────┐
|
|
||||||
│ 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 │
|
|
||||||
└─────────────────────────────────────────┘
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## 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
|
│ AKTIONEN │
|
||||||
- Mit `4b_revolute_angle.py` lässt sich pro Link prüfen, welche Marker
|
│ [📷 Foto & Homing berechnen] │
|
||||||
"zu diesem Link gehören" (paarweise Baseline-Methode)
|
│ [✅ 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):
|
// SSE-Stream vom Backend empfangen
|
||||||
- Berechneter Wert: Y ≈ 115.6 mm, Z ≈ 50.3 mm
|
async function runHoming() {
|
||||||
- Aktueller Wert in robot.json: origin = [110, 108, 45]
|
const response = await fetch('/api/homing/run', { method: 'POST' });
|
||||||
- **Aktion:** Button „Joint-Origin Y/Z übernehmen" klicken → schreibt in robot.json
|
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
|
// Ergebnis an Roboter senden
|
||||||
|
async function sendToRobot(state) {
|
||||||
Die Slider-Position `x` ist für `4b_revolute_angle.py --x-mm` nötig.
|
await fetch('/api/homing/send-state', {
|
||||||
Optionen:
|
method: 'POST',
|
||||||
1. Mechanischer Anschlag / Encoder → immer bekannt
|
body: JSON.stringify({ state }),
|
||||||
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
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## 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
|
[Jetzt] Arm-Marker eintragen (Nutzer)
|
||||||
│
|
→ Arm1 Joint-Origin Button klicken (bereits ausführbar)
|
||||||
▼
|
|
||||||
[1] detect_aruco → cam*_aruco_detection.json
|
[0] Refactor: Snapshot+1+2+3b aus /api/board/run
|
||||||
│
|
in runBoardPipeline(runDir, send) auslagern
|
||||||
▼
|
→ wird von Board-Run UND Homing genutzt
|
||||||
[2] estimate_camera → cam*_camera_pose.json
|
|
||||||
│ (aus Board-Markern)
|
[1] POST /api/homing/run + homingOrchestrator.js
|
||||||
▼
|
→ runBoardPipeline() + 4b-Schleife als SSE
|
||||||
[3b] corner_marker_poses → aruco_marker_poses.json
|
→ SCRIPT_4B-Konstante in server.js ergänzen
|
||||||
│ (alle Marker trianguliert)
|
→ Minimale UI: nur Log + Raw JSON
|
||||||
├──────────────────────────────────────┐
|
|
||||||
▼ ▼
|
[2] public/homing.html
|
||||||
[4b] revolute Arm1 [4] state_v6 (alternativ)
|
→ Vollständige UI mit allen Sektionen
|
||||||
│
|
→ Link von index.html
|
||||||
[4b] revolute Ellbow ──► [5] camera_z_refine (optional, nutzt Ellbow)
|
|
||||||
│
|
[3] POST /api/homing/send-state
|
||||||
[4b] revolute Arm2
|
→ ROBOT_URL/api/state aufrufen (analog zu robotActions.js)
|
||||||
│
|
|
||||||
[4b] revolute Hand
|
[4] robot.json via Driver-API (wenn ROBOT_URL verfügbar)
|
||||||
│
|
→ Nur wenn Driver den Endpunkt implementiert
|
||||||
▼
|
|
||||||
State-JSON {x, y, z, a, b, c, e}
|
|
||||||
│
|
|
||||||
▼
|
|
||||||
→ Roboter-Controller
|
|
||||||
```
|
```
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## Status-Tabelle
|
## Status-Tabelle
|
||||||
|
|
||||||
| Schritt | Script | Status | Blockiert durch |
|
| Schritt | Was | Status |
|
||||||
|---------|--------|--------|-----------------|
|
|---------|-----|--------|
|
||||||
| 1 Snapshot | Webcam-API | ✅ vorhanden | — |
|
| Scripts 1, 2, 3b, 4b | Homing-Scripts | ✅ vorhanden |
|
||||||
| 2 Marker erkennen | `1_detect_aruco.py` | ✅ vorhanden | — |
|
| Kalibrierung | Kamera, Board, X-Achse | ✅ fertig |
|
||||||
| 3 Kamera-Pose | `2_estimate_camera.py` | ✅ vorhanden | — |
|
| Arm1 Joint-Origin | Button in calibration_arm.html | ✅ **ausführbar** |
|
||||||
| 3b Triangulation | `3b_corner_marker_poses.py` | ✅ vorhanden | — |
|
| Arm-Marker | robot.json links.Arm1/… .markers | 🔶 Nutzer trägt ein |
|
||||||
| 4 State-Schätzung | `4_robotState_estimation_v6.py` | ✅ vorhanden | Arm-Marker fehlen |
|
| `/api/homing/run` | Backend-Orchestrierung | ❌ zu implementieren |
|
||||||
| 4b Sequenziell | `4b_revolute_angle.py` | ✅ vorhanden | Arm-Marker fehlen |
|
| `homing.html` | Frontend-UI | ❌ zu implementieren |
|
||||||
| 5 Z-Verfeinern | `5_camera_z_refine.py` | ✅ vorhanden | Ellbow-Marker fehlen |
|
| `/api/homing/send-state` | State an Roboter | ❌ zu implementieren |
|
||||||
| **Arm1-Origin** | calibration_arm.html | 🔶 bereit | Joint-Origin Y/Z übernehmen |
|
| robot.json via API | Driver-Integration | ⏳ nach allem anderen |
|
||||||
| **Arm-Marker** | robot.json | ❌ fehlen | manuelle Zuordnung |
|
|
||||||
| **Homing-UI** | homing.html | ❌ fehlt | erst nach Markern sinnvoll |
|
|
||||||
|
|||||||
Reference in New Issue
Block a user