Claude: über nacht arbeiten. Pipeline verbessern

data/robot/robot.json

@@ -14,8 +14,8 @@
     "MarkerSize": 0.025
   },
   "renderingInfo": {
-    "width": 4896,
-    "height": 3264,
+    "width": 1440,
+    "height": 1080,
     "cameraPosition__1": [
       -10,
       -800,
@@ -42,9 +42,9 @@
       500
     ],
     "cameraPosition": [
-      1200,
-      -900,
-      400
+      -200,
+      200,
+      1400
     ],
     "cameraPosition_c": [
       600,
@@ -52,9 +52,9 @@
       600
     ],
     "cameraTarget": [
-      210,
-      -100,
-      50
+      200,
+      -200,
+      180
     ],
     "cameraUpVector": [
       0,
@@ -91,7 +91,7 @@
     "lensDirt": true,
     "lensDirtStrength": 0.08,
     "dofEnabled": true,
-    "dofFStop": 5.6,
+    "dofFStop": 11.0,
     "arucoDust": false,
     "arucoDustStrength": 5e-05,
     "localizedBlur": false,
@@ -204,13 +204,13 @@
     "e": 1
   },
   "defaultPosition": {
-    "x": 60,
-    "y": -2,
-    "z": 95,
-    "a": 200,
-    "b": 60,
-    "c": 9,
-    "e": 8
+    "x": 120,
+    "y": 60,
+    "z": -110,
+    "a": 20,
+    "b": 30,
+    "c": 180,
+    "e": 4
   },
   "recognized": {
     "x": null,
@@ -263,6 +263,22 @@
     "spin_factor": 0.3,
     "weight_floor": 0.3
   },
+  "pose_estimation": {
+    "method": "hybrid",
+    "marker_observation": "corner_pose",
+    "use_normals": true,
+    "normal_weight": 100.0,
+    "robust_loss": "huber",
+    "huber_delta_mm": 8.0,
+    "max_iterations": 200,
+    "min_cameras_per_marker": 2,
+    "finger_block_joints": [
+      "b",
+      "c",
+      "e"
+    ],
+    "per_link_method": {}
+  },
   "robot_test_poses": {
     "4": {
       "x": 70,