diff --git a/data/evaluations/Scene8/aruco_positions_initial.json b/data/evaluations/Scene8/aruco_positions_initial.json
new file mode 100644
index 0000000..750a7db
--- /dev/null
+++ b/data/evaluations/Scene8/aruco_positions_initial.json
@@ -0,0 +1,1076 @@
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\ No newline at end of file
diff --git a/data/evaluations/Scene8/aruco_positions_optimized.json b/data/evaluations/Scene8/aruco_positions_optimized.json
new file mode 100644
index 0000000..fc1c307
--- /dev/null
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diff --git a/data/evaluations/Scene8/render_a_aruco_detection.json b/data/evaluations/Scene8/render_a_aruco_detection.json
new file mode 100644
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diff --git a/data/evaluations/Scene8/render_a_camera_pose_v8.json b/data/evaluations/Scene8/render_a_camera_pose_v8.json
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index 0000000..a726cce
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diff --git a/data/evaluations/Scene8/render_b_aruco_detection.json b/data/evaluations/Scene8/render_b_aruco_detection.json
new file mode 100644
index 0000000..f12fa4e
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diff --git a/data/evaluations/Scene8/render_b_camera_pose.json b/data/evaluations/Scene8/render_b_camera_pose.json
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diff --git a/data/evaluations/Scene8/render_b_camera_pose_v8.json b/data/evaluations/Scene8/render_b_camera_pose_v8.json
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diff --git a/data/evaluations/Scene8/render_c_aruco_detection.json b/data/evaluations/Scene8/render_c_aruco_detection.json
new file mode 100644
index 0000000..9228851
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diff --git a/data/evaluations/Scene8/render_c_camera_pose.json b/data/evaluations/Scene8/render_c_camera_pose.json
new file mode 100644
index 0000000..0935308
--- /dev/null
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diff --git a/data/evaluations/Scene8/render_c_camera_pose_v8.json b/data/evaluations/Scene8/render_c_camera_pose_v8.json
new file mode 100644
index 0000000..ef51c2a
--- /dev/null
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diff --git a/data/evaluations/Scene8/render_d_aruco_detection.json b/data/evaluations/Scene8/render_d_aruco_detection.json
new file mode 100644
index 0000000..f5aa36a
--- /dev/null
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diff --git a/data/evaluations/Scene8/render_d_camera_pose.json b/data/evaluations/Scene8/render_d_camera_pose.json
new file mode 100644
index 0000000..f65273e
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\ No newline at end of file
diff --git a/data/evaluations/Scene8/render_d_camera_pose_v8.json b/data/evaluations/Scene8/render_d_camera_pose_v8.json
new file mode 100644
index 0000000..58ef264
--- /dev/null
+++ b/data/evaluations/Scene8/render_d_camera_pose_v8.json
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\ No newline at end of file
diff --git a/data/evaluations/Scene8/render_e_aruco_detection.json b/data/evaluations/Scene8/render_e_aruco_detection.json
new file mode 100644
index 0000000..28750af
--- /dev/null
+++ b/data/evaluations/Scene8/render_e_aruco_detection.json
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index 0000000..f62d7f8
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diff --git a/data/evaluations/Scene8/render_f_aruco_detection.json b/data/evaluations/Scene8/render_f_aruco_detection.json
new file mode 100644
index 0000000..0ac8db4
--- /dev/null
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diff --git a/data/evaluations/Scene8/render_g_aruco_detection.json b/data/evaluations/Scene8/render_g_aruco_detection.json
new file mode 100644
index 0000000..911207a
--- /dev/null
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diff --git a/data/evaluations/Scene8/robot_state.json b/data/evaluations/Scene8/robot_state.json
new file mode 100644
index 0000000..36fce90
--- /dev/null
+++ b/data/evaluations/Scene8/robot_state.json
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\ No newline at end of file
diff --git a/data/evaluations/Scene8/v8/aruco_positions_initial.json b/data/evaluations/Scene8/v8/aruco_positions_initial.json
new file mode 100644
index 0000000..4a9677b
--- /dev/null
+++ b/data/evaluations/Scene8/v8/aruco_positions_initial.json
@@ -0,0 +1,1076 @@
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diff --git a/data/evaluations/Scene8/v8/aruco_positions_optimized.json b/data/evaluations/Scene8/v8/aruco_positions_optimized.json
new file mode 100644
index 0000000..fbe0613
--- /dev/null
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\ No newline at end of file
diff --git a/data/evaluations/Scene8/v8/robot_state_v8.json b/data/evaluations/Scene8/v8/robot_state_v8.json
new file mode 100644
index 0000000..a8fa033
--- /dev/null
+++ b/data/evaluations/Scene8/v8/robot_state_v8.json
@@ -0,0 +1,5426 @@
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\ No newline at end of file
diff --git a/data/evaluations/Scene8/v8_ellbow_angle.json b/data/evaluations/Scene8/v8_ellbow_angle.json
new file mode 100644
index 0000000..b449be2
--- /dev/null
+++ b/data/evaluations/Scene8/v8_ellbow_angle.json
@@ -0,0 +1,88 @@
+{
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\ No newline at end of file
diff --git a/data/evaluations/Scene8/v8_z_correction.json b/data/evaluations/Scene8/v8_z_correction.json
new file mode 100644
index 0000000..90e2720
--- /dev/null
+++ b/data/evaluations/Scene8/v8_z_correction.json
@@ -0,0 +1,22 @@
+{
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+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_b_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_c_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_d_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_e_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_f_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene8\\render_g_camera_pose_v8.json"
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+}
\ No newline at end of file
diff --git a/data/evaluations/Scene9/aruco_positions_initial.json b/data/evaluations/Scene9/aruco_positions_initial.json
index b8726c2..bb0ed2d 100644
--- a/data/evaluations/Scene9/aruco_positions_initial.json
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@@ -1,11 +1,11 @@
{
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diff --git a/data/evaluations/Scene9/aruco_positions_optimized.json b/data/evaluations/Scene9/aruco_positions_optimized.json
index 2fa9116..e64860a 100644
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diff --git a/data/evaluations/Scene9/render_a_aruco_detection.json b/data/evaluations/Scene9/render_a_aruco_detection.json
index 658d9e3..5202095 100644
--- a/data/evaluations/Scene9/render_a_aruco_detection.json
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diff --git a/data/evaluations/Scene9/render_a_camera_pose.json b/data/evaluations/Scene9/render_a_camera_pose.json
index b5ba08b..5a05061 100644
--- a/data/evaluations/Scene9/render_a_camera_pose.json
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diff --git a/data/evaluations/Scene9/render_a_camera_pose_v8.json b/data/evaluations/Scene9/render_a_camera_pose_v8.json
new file mode 100644
index 0000000..0f7be8d
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\ No newline at end of file
diff --git a/data/evaluations/Scene9/render_b_aruco_detection.json b/data/evaluations/Scene9/render_b_aruco_detection.json
index 757199e..da1d0aa 100644
--- a/data/evaluations/Scene9/render_b_aruco_detection.json
+++ b/data/evaluations/Scene9/render_b_aruco_detection.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T16:29:09Z",
+ "created_utc": "2026-06-01T17:39:22Z",
"vision_config": {
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"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
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+ "observation_id": "c78e63e3-caad-4650-97c4-6d953036f7ab",
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{
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+ "observation_id": "1bbceeb3-7583-4585-a24f-0bdc472825ff",
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{
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+ "observation_id": "ccaf4f90-f7bc-42df-86b1-6c1fa3deb7b7",
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+ "observation_id": "44ddd894-bd0d-4b7a-92e4-860d5d3deee9",
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{
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+ "observation_id": "e7834e37-252d-441c-b9c0-9f8cb72c7ff2",
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{
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+ "observation_id": "8c74ab86-3679-4555-bb0b-44c6cb87461b",
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+ "observation_id": "e4542236-25af-4e65-be63-85e78ee7acd9",
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+ "observation_id": "a1f6675f-9f20-41ab-ae0e-c59d83bd42af",
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{
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+ "observation_id": "84a1bfed-885f-4b52-859f-3f8d5e86bcb1",
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+ "observation_id": "b0ae235c-38bf-4950-8cc1-dd40370935c1",
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{
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+ "observation_id": "03a035ff-f9a8-4ebf-b2aa-d284dd5cace6",
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+ "observation_id": "b30718cb-749b-47ca-8d8a-bff1e0a74848",
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+ "observation_id": "35ab7717-b6a7-427a-9786-a201208573a9",
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+ "observation_id": "5ee65273-d7d2-4b06-be24-fa05dd7e6c79",
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@@ -1018,7 +1018,7 @@
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+ "observation_id": "771ab1ef-09b2-4c1f-b8b6-81ebb9ddf83c",
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+ "observation_id": "fe84711c-552f-471a-ba9e-61e529b48828",
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@@ -1234,7 +1234,7 @@
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@@ -1288,7 +1288,7 @@
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+ "observation_id": "9478d653-33c8-4c62-8e5d-fdaae66be786",
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@@ -1396,7 +1396,7 @@
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\ No newline at end of file
diff --git a/data/evaluations/Scene9/render_c_aruco_detection.json b/data/evaluations/Scene9/render_c_aruco_detection.json
index 4592fa7..3bfe0f3 100644
--- a/data/evaluations/Scene9/render_c_aruco_detection.json
+++ b/data/evaluations/Scene9/render_c_aruco_detection.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T16:29:09Z",
+ "created_utc": "2026-06-01T17:39:23Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
"detections": [
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+ "observation_id": "6b702a27-d28d-4495-9f34-60a4caa12254",
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@@ -100,7 +100,7 @@
"confidence": 0.9487615650349993
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{
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+ "observation_id": "46cc4c8e-b8b9-46f7-afba-da4d24da9a33",
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@@ -154,7 +154,7 @@
"confidence": 0.9266602848500798
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@@ -316,7 +316,7 @@
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diff --git a/data/evaluations/Scene9/render_c_camera_pose.json b/data/evaluations/Scene9/render_c_camera_pose.json
index 5d75405..5b87474 100644
--- a/data/evaluations/Scene9/render_c_camera_pose.json
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@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T16:29:13Z",
+ "created_utc": "2026-06-01T17:39:27Z",
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"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_c_aruco_detection.json",
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diff --git a/data/evaluations/Scene9/render_c_camera_pose_v8.json b/data/evaluations/Scene9/render_c_camera_pose_v8.json
new file mode 100644
index 0000000..bc3dc67
--- /dev/null
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@@ -0,0 +1,259 @@
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\ No newline at end of file
diff --git a/data/evaluations/Scene9/render_d_aruco_detection.json b/data/evaluations/Scene9/render_d_aruco_detection.json
index 7952350..6afe2a2 100644
--- a/data/evaluations/Scene9/render_d_aruco_detection.json
+++ b/data/evaluations/Scene9/render_d_aruco_detection.json
@@ -1,6 +1,6 @@
{
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+ "created_utc": "2026-06-01T17:39:24Z",
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@@ -46,7 +46,7 @@
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@@ -100,7 +100,7 @@
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@@ -154,7 +154,7 @@
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@@ -370,7 +370,7 @@
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@@ -424,7 +424,7 @@
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@@ -478,7 +478,7 @@
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diff --git a/data/evaluations/Scene9/render_d_camera_pose.json b/data/evaluations/Scene9/render_d_camera_pose.json
index 1338c6d..dc1ff92 100644
--- a/data/evaluations/Scene9/render_d_camera_pose.json
+++ b/data/evaluations/Scene9/render_d_camera_pose.json
@@ -1,6 +1,6 @@
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diff --git a/data/evaluations/Scene9/render_d_camera_pose_v8.json b/data/evaluations/Scene9/render_d_camera_pose_v8.json
new file mode 100644
index 0000000..b088c94
--- /dev/null
+++ b/data/evaluations/Scene9/render_d_camera_pose_v8.json
@@ -0,0 +1,328 @@
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+ "qa": {
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+}
\ No newline at end of file
diff --git a/data/evaluations/Scene9/render_e_aruco_detection.json b/data/evaluations/Scene9/render_e_aruco_detection.json
index ba35ad6..c4931b7 100644
--- a/data/evaluations/Scene9/render_e_aruco_detection.json
+++ b/data/evaluations/Scene9/render_e_aruco_detection.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T16:29:11Z",
+ "created_utc": "2026-06-01T17:39:24Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
"detections": [
{
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+ "observation_id": "d4c2d49a-d5a2-41e8-ab16-c56d09039b0f",
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@@ -100,7 +100,7 @@
"confidence": 0.15369374989294518
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{
- "observation_id": "ab6de0a8-8ab2-4909-a9e8-5406c7bc778c",
+ "observation_id": "c13f1780-9fb6-4e71-a8c8-81f48f6e4a59",
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"marker_size_m": 0.025,
@@ -154,7 +154,7 @@
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{
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+ "observation_id": "c5c22347-c916-4b33-93b9-7dead9184c3b",
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{
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+ "observation_id": "83fbec59-ae42-4d8c-986b-206286e18707",
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@@ -262,7 +262,7 @@
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{
- "observation_id": "2b3a27c0-e1d0-4d3a-ac91-04667afec31b",
+ "observation_id": "a9d18886-3b74-49ae-a5b8-b52b1a0b7cb4",
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{
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+ "observation_id": "361f898d-4df7-4264-8afb-b3eb5d8f998d",
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{
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+ "observation_id": "cd26fca3-64f5-4bda-9136-1483b4055d11",
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{
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+ "observation_id": "c44ff6c1-bf51-454b-b472-b578a37dc7a1",
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{
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+ "observation_id": "99aa3687-533b-4c99-bc5b-4d581bb7830d",
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+ "observation_id": "cbaa94d0-b167-4732-a9fd-0e8f99f8ac12",
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{
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{
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+ "observation_id": "0d59062d-e9f7-436b-be31-a1f48562cb53",
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{
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+ "observation_id": "df48a7ee-fb72-4bb7-a880-7bafbd7e4745",
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@@ -748,7 +748,7 @@
"confidence": 0.24902550615732547
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{
- "observation_id": "cdc74eb7-deb9-4298-9b30-6a7f6a9e3096",
+ "observation_id": "7d333789-0ec1-4adc-a929-f76a5cf68cc7",
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@@ -802,7 +802,7 @@
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{
- "observation_id": "fdb98dea-5053-4907-85ac-a9f792e0c720",
+ "observation_id": "57ceb64f-09b9-4e22-8f46-6d01af4c0004",
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@@ -856,7 +856,7 @@
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{
- "observation_id": "eb030f5d-af77-4d75-9ccd-0f51f5983c5c",
+ "observation_id": "35e0c1de-8fed-4d9a-8c86-3b38d73803ca",
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@@ -910,7 +910,7 @@
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{
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+ "observation_id": "e78ef00a-beef-4848-a38b-c8f8663076cd",
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@@ -964,7 +964,7 @@
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{
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+ "observation_id": "29005bee-121b-49ae-b499-9d2701b1f2eb",
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@@ -1018,7 +1018,7 @@
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{
- "observation_id": "7a28aae1-78c8-4263-84a4-0594db7bbf21",
+ "observation_id": "3adbc624-a548-46ff-8107-f2f714b62b9f",
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@@ -1072,7 +1072,7 @@
"confidence": 0.2298583378390498
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{
- "observation_id": "445e0795-7d59-4374-ba67-6f24ea67e0a8",
+ "observation_id": "fcbc80bc-52f5-4293-8ea8-20c89b8e50cf",
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@@ -1126,7 +1126,7 @@
"confidence": 0.17248468175234963
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{
- "observation_id": "78cddb0e-1fc2-43c4-83ed-43b7b1fabb94",
+ "observation_id": "5b244d03-f503-4361-a3e2-cf2c1ff8ce83",
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@@ -1180,7 +1180,7 @@
"confidence": 0.12157403976480062
},
{
- "observation_id": "1333b472-3cbc-405e-89bb-f1771905329c",
+ "observation_id": "b257701e-d5cf-4c8c-833c-9a0a96bbc26d",
"type": "aruco",
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@@ -1234,7 +1234,7 @@
"confidence": 0.14922985097126407
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{
- "observation_id": "2f77ef69-b9aa-40dc-bbe9-8b11769adde1",
+ "observation_id": "e8b44df3-65fb-432e-9bfc-aa4ec85d9674",
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@@ -1288,7 +1288,7 @@
"confidence": 0.1374474660290558
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{
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+ "observation_id": "5cc4c46e-38e6-4d0c-8e5b-ad2c0298e003",
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@@ -1342,7 +1342,7 @@
"confidence": 0.11373255626245794
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{
- "observation_id": "856d7060-73b1-4639-9a3f-c9da8dfecf6b",
+ "observation_id": "73f51982-82b1-484a-99df-ba16cf7f2ae2",
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@@ -1396,7 +1396,7 @@
"confidence": 0.1208904643109979
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{
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+ "observation_id": "a1ea3edd-3a9f-4a5d-85eb-743202da150d",
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@@ -1450,7 +1450,7 @@
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{
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+ "observation_id": "7867756a-d0c9-4e96-aa6f-1885973ff5cd",
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@@ -1504,7 +1504,7 @@
"confidence": 0.13332463075982282
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{
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+ "observation_id": "0db37fb8-6ad5-4ced-96d7-7b8ff13f1019",
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@@ -1558,7 +1558,7 @@
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+ "observation_id": "848bb571-2e54-474f-89ae-704020f2aaa4",
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@@ -1612,7 +1612,7 @@
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{
- "observation_id": "77d902fa-dc60-43c9-bc72-378b20af87f6",
+ "observation_id": "74036fa3-4dc1-4374-9b33-fde262445c0e",
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diff --git a/data/evaluations/Scene9/render_e_camera_pose.json b/data/evaluations/Scene9/render_e_camera_pose.json
index 6ad768d..3ac91f5 100644
--- a/data/evaluations/Scene9/render_e_camera_pose.json
+++ b/data/evaluations/Scene9/render_e_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T16:29:15Z",
+ "created_utc": "2026-06-01T17:39:28Z",
"source": {
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\ No newline at end of file
diff --git a/data/evaluations/Scene9/render_f_aruco_detection.json b/data/evaluations/Scene9/render_f_aruco_detection.json
index 5eaf32b..d84aba0 100644
--- a/data/evaluations/Scene9/render_f_aruco_detection.json
+++ b/data/evaluations/Scene9/render_f_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T16:29:11Z",
+ "created_utc": "2026-06-01T17:39:25Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
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+ "observation_id": "b692e820-943c-443a-93c1-ab9cf072223b",
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{
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+ "observation_id": "c8cb0486-8380-42ef-a2ec-8bd83cf4ed68",
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+ "observation_id": "5f08a3e6-f8f1-427f-a9a0-599da1ef647c",
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+ "observation_id": "eb435cda-5ceb-41bc-8e8d-94405295608c",
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+ "observation_id": "fa8a4389-f47a-4464-839c-7fa213b4a673",
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+ "observation_id": "fadb8bf3-766f-465b-916a-626bbd838067",
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+ "observation_id": "18122e61-ee7f-4081-b50d-e723ea6f4497",
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+ "observation_id": "bc5f689c-f497-4532-80d1-dd04edbeaa2e",
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+ "observation_id": "025466dc-8c10-42eb-80e1-40f666094ab5",
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+ "observation_id": "ace2036b-21f1-409b-8d25-531f5a599d13",
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index 849c1f0..3ef7a4f 100644
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new file mode 100644
index 0000000..67ef43b
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\ No newline at end of file
diff --git a/data/evaluations/Scene9/render_g_aruco_detection.json b/data/evaluations/Scene9/render_g_aruco_detection.json
index 97e2710..93a328c 100644
--- a/data/evaluations/Scene9/render_g_aruco_detection.json
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@@ -1,6 +1,6 @@
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diff --git a/data/evaluations/Scene9/render_g_camera_pose.json b/data/evaluations/Scene9/render_g_camera_pose.json
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diff --git a/data/evaluations/Scene9/v8/aruco_positions_initial.json b/data/evaluations/Scene9/v8/aruco_positions_initial.json
new file mode 100644
index 0000000..d0384f6
--- /dev/null
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diff --git a/data/evaluations/Scene9/v8/aruco_positions_optimized.json b/data/evaluations/Scene9/v8/aruco_positions_optimized.json
new file mode 100644
index 0000000..0b49f91
--- /dev/null
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diff --git a/data/evaluations/Scene9/v8/robot_state_v8.json b/data/evaluations/Scene9/v8/robot_state_v8.json
new file mode 100644
index 0000000..c78d134
--- /dev/null
+++ b/data/evaluations/Scene9/v8/robot_state_v8.json
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+ -7.327679863713618e-11
+ ],
+ "error_norm_m": 1.1084875432195134e-10
+ },
+ {
+ "marker_id": 214,
+ "link": "Board",
+ "observed_position_m": [
+ 0.34999999993241016,
+ -0.009999999774234655,
+ 0.00030000038849146895
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+ "predicted_position_m": [
+ 0.3500000000143697,
+ -0.009999999904661295,
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+ "error_m": [
+ 8.195955025769308e-11,
+ -1.3042663997431259e-10,
+ -2.399532524717182e-10
+ ],
+ "error_norm_m": 2.851421394062765e-10
+ },
+ {
+ "marker_id": 217,
+ "link": "Board",
+ "observed_position_m": [
+ 0.650000000043315,
+ -0.08999999989818294,
+ 0.000300000219976508
+ ],
+ "predicted_position_m": [
+ 0.6500000000102497,
+ -0.08999999992011104,
+ 0.0003000001394360617
+ ],
+ "error_m": [
+ -3.306532825320119e-11,
+ -2.1928098226098314e-11,
+ -8.054044632827342e-11
+ ],
+ "error_norm_m": 8.97826314999892e-11
+ },
+ {
+ "marker_id": 229,
+ "link": "Arm1",
+ "observed_position_m": [
+ 0.16640168506027175,
+ -0.15182653993183387,
+ 0.16344669721760172
+ ],
+ "predicted_position_m": [
+ 0.1727023566593537,
+ -0.14342521047080634,
+ 0.03840877425268385
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+ "error_m": [
+ 0.006300671599081958,
+ 0.008401329461027535,
+ -0.12503792296491786
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+ "error_norm_m": 0.12547813745307562
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+ {
+ "marker_id": 243,
+ "link": "Arm1",
+ "observed_position_m": [
+ 0.1684798904699227,
+ -0.17155983163860805,
+ 0.11809996732683645
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+ "predicted_position_m": [
+ 0.1727023566569569,
+ -0.16957863897125047,
+ -0.003615006844117849
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+ "error_m": [
+ 0.004222466187034202,
+ 0.0019811926673575786,
+ -0.1217149741709543
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+ "error_norm_m": 0.12180430732335336
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+ {
+ "marker_id": 244,
+ "link": "Ellbow",
+ "observed_position_m": [
+ 0.25553896045148,
+ -0.02006453590532172,
+ 0.06102532438145439
+ ],
+ "predicted_position_m": [
+ 0.2977023566586652,
+ -0.135490034179065,
+ 0.004320169450937953
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+ "error_m": [
+ 0.04216339620718518,
+ -0.11542549827374328,
+ -0.056705154930516435
+ ],
+ "error_norm_m": 0.13533762310296374
+ },
+ {
+ "marker_id": 245,
+ "link": "Ellbow",
+ "observed_position_m": [
+ 0.2406129407047614,
+ -0.06726361904699338,
+ 0.060863852611482507
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+ "predicted_position_m": [
+ 0.26270235665676245,
+ -0.16919495731357542,
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+ "error_m": [
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+ -0.10193133826658204,
+ -0.06597650651074931
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+ "error_norm_m": 0.12341328708562882
+ }
+ ]
+}
\ No newline at end of file
diff --git a/data/evaluations/Scene9/v8_ellbow_angle.json b/data/evaluations/Scene9/v8_ellbow_angle.json
new file mode 100644
index 0000000..e3a578e
--- /dev/null
+++ b/data/evaluations/Scene9/v8_ellbow_angle.json
@@ -0,0 +1,36 @@
+{
+ "status": "ok",
+ "link": "Ellbow",
+ "joint": "z",
+ "joint_origin_world_mm": [
+ 110.0,
+ -142.0,
+ 61.0
+ ],
+ "joint_axis_world": [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ "mean_angle_deg": 89.81322357423196,
+ "circular_variance": 0.0,
+ "circular_std_deg": 0.0,
+ "num_pairs_used": 1,
+ "num_markers_matched": 2,
+ "per_pair": [
+ {
+ "marker_ids": [
+ 244,
+ 245
+ ],
+ "skipped": false,
+ "angle_deg": 89.81322357423196,
+ "baseline_model_mm": 35.0,
+ "baseline_obs_mm": 47.200207318946944,
+ "weight": 1652.007256163143
+ }
+ ],
+ "accumulated_state": {
+ "z": 89.81322357423196
+ }
+}
\ No newline at end of file
diff --git a/data/evaluations/Scene9/v8_z_correction.json b/data/evaluations/Scene9/v8_z_correction.json
new file mode 100644
index 0000000..9b823b3
--- /dev/null
+++ b/data/evaluations/Scene9/v8_z_correction.json
@@ -0,0 +1,20 @@
+{
+ "schema_version": "1.0",
+ "created_utc": "2026-06-01T17:39:38Z",
+ "elbow_link": "Ellbow",
+ "z_correction_mm": 54.81633454946478,
+ "n_markers_used": 2,
+ "z_deltas_mm": [
+ 54.79644907884058,
+ 54.83622002008897
+ ],
+ "corrected_pose_files": [
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_a_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_b_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_c_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_d_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_e_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_f_camera_pose_v8.json",
+ "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_g_camera_pose_v8.json"
+ ]
+}
\ No newline at end of file
diff --git a/data/robot/robot.json b/data/robot/robot.json
index a3ff122..a6d5358 100644
--- a/data/robot/robot.json
+++ b/data/robot/robot.json
@@ -1,26 +1,89 @@
{
- "coordinateSystem": {"handedness": "right", "x": "right", "y": "backward", "z": "up"},
- "units": {"length": "mm", "rotation": "degree"},
- "vision_config": {"MarkerType": "DICT_4X4_250", "MarkerSize": 0.025},
+ "coordinateSystem": {
+ "handedness": "right",
+ "x": "right",
+ "y": "backward",
+ "z": "up"
+ },
+ "units": {
+ "length": "mm",
+ "rotation": "degree"
+ },
+ "vision_config": {
+ "MarkerType": "DICT_4X4_250",
+ "MarkerSize": 0.025
+ },
"renderingInfo": {
- "width": 4896,
- "height": 3264,
- "cameraPosition__1": [-10, -800, 500],
- "cameraPosition__2": [-500, 300, 1200],
- "cameraPosition__3": [-200, -900, 200],
- "cameraPosition__4": [1200, 200, 300],
- "cameraPosition_a": [-300, -800, 500],
- "cameraPosition": [-200, 200, 1400],
- "cameraPosition_c": [600, -500, 600],
- "cameraTarget": [200, -200, 180],
- "cameraUpVector": [0, 0, 1],
- "lightPosition": [-500, -500, 500],
- "lightTarget": [0, 0, 0],
- "lightUpVector": [0, 0, 1],
+ "width": 1280,
+ "height": 720,
+ "cameraPosition__1": [
+ -10,
+ -800,
+ 500
+ ],
+ "cameraPosition__2": [
+ -500,
+ 300,
+ 1200
+ ],
+ "cameraPosition__3": [
+ -200,
+ -900,
+ 200
+ ],
+ "cameraPosition__4": [
+ 1200,
+ 200,
+ 300
+ ],
+ "cameraPosition_a": [
+ -300,
+ -800,
+ 500
+ ],
+ "cameraPosition": [
+ 500,
+ -300,
+ 1400
+ ],
+ "cameraPosition_c": [
+ 600,
+ -500,
+ 600
+ ],
+ "cameraTarget": [
+ 200,
+ -200,
+ 180
+ ],
+ "cameraUpVector": [
+ 0,
+ 0,
+ 1
+ ],
+ "lightPosition": [
+ -500,
+ -500,
+ 500
+ ],
+ "lightTarget": [
+ 0,
+ 0,
+ 0
+ ],
+ "lightUpVector": [
+ 0,
+ 0,
+ 1
+ ],
"metric": "mm",
"showSkeleton": true,
"showMarkers": true,
- "backgroundColor": [0.7, 0.85, 1.0],
+ "backgroundColor": [
+ 0.7,
+ 0.85,
+ 1.0
+ ],
"backgroundStrength": 0.2,
"sunEnergy": 0.35,
"areaEnergy": 120,
@@ -28,7 +91,7 @@
"lensDirt": true,
"lensDirtStrength": 0.08,
"dofEnabled": true,
- "dofFStop": 5.6,
+ "dofFStop": 11.0,
"arucoDust": false,
"arucoDustStrength": 5e-05,
"localizedBlur": false,
@@ -40,25 +103,141 @@
"lensDistortion": true,
"lensDistortionStrength": 0.002,
"materials": {
- "wood": {"baseColor": [0.72, 0.52, 0.33], "roughness": 0.85, "metallic": 0.0},
- "plaWhite": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.45, "metallic": 0.0},
- "steel": {"baseColor": [0.72, 0.72, 0.75], "roughness": 0.25, "metallic": 1.0},
- "powderCoatBlue": {"baseColor": [0.15, 0.25, 0.7], "roughness": 0.55, "metallic": 0.0},
- "defaultPlastic": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.4, "metallic": 0.0},
- "skeletonRed": {"baseColor": [0.85, 0.2, 0.2], "roughness": 0.35, "metallic": 0.0},
- "markerBlack": {"baseColor": [0.04, 0.04, 0.04], "roughness": 0.8, "metallic": 0.0}
+ "wood": {
+ "baseColor": [
+ 0.72,
+ 0.52,
+ 0.33
+ ],
+ "roughness": 0.85,
+ "metallic": 0.0
+ },
+ "plaWhite": {
+ "baseColor": [
+ 0.95,
+ 0.95,
+ 0.95
+ ],
+ "roughness": 0.45,
+ "metallic": 0.0
+ },
+ "steel": {
+ "baseColor": [
+ 0.72,
+ 0.72,
+ 0.75
+ ],
+ "roughness": 0.25,
+ "metallic": 1.0
+ },
+ "powderCoatBlue": {
+ "baseColor": [
+ 0.15,
+ 0.25,
+ 0.7
+ ],
+ "roughness": 0.55,
+ "metallic": 0.0
+ },
+ "defaultPlastic": {
+ "baseColor": [
+ 0.95,
+ 0.95,
+ 0.95
+ ],
+ "roughness": 0.4,
+ "metallic": 0.0
+ },
+ "skeletonRed": {
+ "baseColor": [
+ 0.85,
+ 0.2,
+ 0.2
+ ],
+ "roughness": 0.35,
+ "metallic": 0.0
+ },
+ "markerBlack": {
+ "baseColor": [
+ 0.04,
+ 0.04,
+ 0.04
+ ],
+ "roughness": 0.8,
+ "metallic": 0.0
+ }
},
- "skeletonDefaults": {"radius": 4, "color": [0.85, 0.2, 0.2]},
- "markerDefaults": {"size": 25, "thickness": 1, "color": [0.04, 0.04, 0.04]},
- "defaultPosition": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3}
+ "skeletonDefaults": {
+ "radius": 4,
+ "color": [
+ 0.85,
+ 0.2,
+ 0.2
+ ]
+ },
+ "markerDefaults": {
+ "size": 25,
+ "thickness": 1,
+ "color": [
+ 0.04,
+ 0.04,
+ 0.04
+ ]
+ },
+ "defaultPosition": {
+ "x": 80,
+ "y": 20,
+ "z": 80,
+ "a": -120,
+ "b": 23,
+ "c": 9,
+ "e": 3
+ }
+ },
+ "defaultPosition__": {
+ "x": 10,
+ "y": 4,
+ "z": 20,
+ "a": 10,
+ "b": 2,
+ "c": 9,
+ "e": 1
+ },
+ "defaultPosition": {
+ "x": 30,
+ "y": -2,
+ "z": 95,
+ "a": 20,
+ "b": 23,
+ "c": 9,
+ "e": 9
+ },
+ "recognized": {
+ "x": null,
+ "y": null,
+ "z": null,
+ "a": null,
+ "b": null,
+ "c": null,
+ "e": null
},
- "defaultPosition__": {"x": 10, "y": 4, "z": 20, "a": 10, "b": 2, "c": 9, "e": 1},
- "defaultPosition": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
- "recognized": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null},
"constraint_rules": {
- "rigid_distance": {"enabled": true, "mode": "mst", "weight": 1.0},
- "joint_axis_projection": {"enabled": true, "max_pairs": 2, "weight": 0.35},
- "chain_axis_projection": {"enabled": false, "max_depth": 3, "max_pairs": 2, "weight": 0.15},
+ "rigid_distance": {
+ "enabled": true,
+ "mode": "mst",
+ "weight": 1.0
+ },
+ "joint_axis_projection": {
+ "enabled": true,
+ "max_pairs": 2,
+ "weight": 0.35
+ },
+ "chain_axis_projection": {
+ "enabled": false,
+ "max_depth": 3,
+ "max_pairs": 2,
+ "weight": 0.15
+ },
"axis_alignment_threshold": 0.95
},
"observation_weighting": {
@@ -85,19 +264,199 @@
"weight_floor": 0.3
},
"robot_test_poses": {
- "sim04": {"x": 70, "y": 50,"z": -70,"a": 120,"b": 50,"c": 30,"e": 20},
- "sim05": {"x": 180,"y": 86,"z": -120,"a": -60,"b": 22,"c": 91,"e": 10},
- "sim06": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
- "sim07": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
- "sim08": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
- "sim09": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
- "sim09a": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
- "sim09b": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
- "sim010": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
- "sim011": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
- "sim012": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6}
- },
- "movements": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null},
+ "4": {
+ "x": 70,
+ "y": 50,
+ "z": -70,
+ "a": 120,
+ "b": 50,
+ "c": 30,
+ "e": 20
+ },
+ "5": {
+ "x": 180,
+ "y": 86,
+ "z": -120,
+ "a": -60,
+ "b": 22,
+ "c": 91,
+ "e": 10
+ },
+ "6": {
+ "x": 80,
+ "y": 20,
+ "z": 80,
+ "a": -120,
+ "b": 23,
+ "c": 9,
+ "e": 3
+ },
+ "7": {
+ "x": 30,
+ "y": -2,
+ "z": 95,
+ "a": 20,
+ "b": 23,
+ "c": 9,
+ "e": 9
+ },
+ "8": {
+ "x": 50,
+ "y": -2,
+ "z": 95,
+ "a": 20,
+ "b": 60,
+ "c": 9,
+ "e": 3
+ },
+ "9": {
+ "x": 60,
+ "y": -2,
+ "z": 95,
+ "a": 200,
+ "b": 60,
+ "c": 9,
+ "e": 8
+ },
+ "9a": {
+ "x": 60,
+ "y": -2,
+ "z": 95,
+ "a": 200,
+ "b": 60,
+ "c": 9,
+ "e": 8,
+ "rendering": {
+ "width": 1440,
+ "height": 1080,
+ "dofFStop": 11
+ }
+ },
+ "9b": {
+ "x": 60,
+ "y": -2,
+ "z": 95,
+ "a": 200,
+ "b": 60,
+ "c": 9,
+ "e": 8,
+ "rendering": {
+ "width": 4896,
+ "height": 3264,
+ "dofFStop": 5.6
+ }
+ },
+ "10": {
+ "x": 120,
+ "y": 60,
+ "z": -110,
+ "a": 20,
+ "b": 30,
+ "c": 180,
+ "e": 4
+ },
+ "11": {
+ "x": 50,
+ "y": 4,
+ "z": 176,
+ "a": 20,
+ "b": 60,
+ "c": 9,
+ "e": 5
+ },
+ "12": {
+ "x": 50,
+ "y": 0,
+ "z": 178,
+ "a": 210,
+ "b": 80,
+ "c": 90,
+ "e": 6
+ }
+ },
+ "test_camera_positions": {
+ "a": [
+ -300,
+ -800,
+ 800
+ ],
+ "b": [
+ 300,
+ -900,
+ 1200
+ ],
+ "c": [
+ 300,
+ -900,
+ 400
+ ],
+ "d": [
+ 700,
+ -800,
+ 400
+ ],
+ "e": [
+ 1200,
+ -900,
+ 400
+ ],
+ "f": [
+ 500,
+ -300,
+ 1400
+ ],
+ "g": [
+ -200,
+ 200,
+ 1400
+ ]
+ },
+ "test_camera_targets": {
+ "a": [
+ 210,
+ -100,
+ 180
+ ],
+ "b": [
+ 310,
+ -80,
+ 180
+ ],
+ "c": [
+ 210,
+ -100,
+ 150
+ ],
+ "d": [
+ 210,
+ -100,
+ 150
+ ],
+ "e": [
+ 210,
+ -100,
+ 50
+ ],
+ "f": [
+ 200,
+ -200,
+ 180
+ ],
+ "g": [
+ 200,
+ -200,
+ 180
+ ]
+ },
+ "movements": {
+ "x": null,
+ "y": null,
+ "z": null,
+ "a": null,
+ "b": null,
+ "c": null,
+ "e": null
+ },
"state_pose_params": {
"numbers_of_Elements_to_consider_start": 3,
"numbers_of_Elements_to_consider_final": 5,
@@ -113,480 +472,1220 @@
"links": {
"Board": {
"parent": null,
- "size": [1000, 200, 25],
- "mountPosition": [0, 0, 0],
- "mountRotation": [0, 0, 0],
+ "size": [
+ 1000,
+ 200,
+ 25
+ ],
+ "mountPosition": [
+ 0,
+ 0,
+ 0
+ ],
+ "mountRotation": [
+ 0,
+ 0,
+ 0
+ ],
"skeleton": {
- "from": [0, 0, 16],
- "to": [1000, 0, 16],
+ "from": [
+ 0,
+ 0,
+ 16
+ ],
+ "to": [
+ 1000,
+ 0,
+ 16
+ ],
"radius": 4,
- "color": [0.85, 0.2, 0.2]
+ "color": [
+ 0.85,
+ 0.2,
+ 0.2
+ ]
},
"markers": [
- {"id": 210, "position": [20, -20, 0.3], "normal": [0, 0, 1]},
- {"id": 211, "position": [250, -10, 0.3], "normal": [0, 0, 1]},
- {"id": 215, "position": [250, -90, 0.3], "normal": [0, 0, 1]},
- {"id": 214, "position": [350, -10, 0.3], "normal": [0, 0, 1]},
- {"id": 208, "position": [350, -90, 0.3], "normal": [0, 0, 1]},
- {"id": 206, "position": [650, -10, 0.3], "normal": [0, 0, 1]},
- {"id": 205, "position": [750, -90, 0.3], "normal": [0, 0, 1]},
- {"id": 207, "position": [750, -10, 0.3], "normal": [0, 0, 1]},
- {"id": 217, "position": [650, -90, 0.3], "normal": [0, 0, 1]},
+ {
+ "id": 210,
+ "position": [
+ 20,
+ -20,
+ 0.3
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
+ ]
+ },
+ {
+ "id": 211,
+ "position": [
+ 250,
+ -10,
+ 0.3
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
+ ]
+ },
+ {
+ "id": 215,
+ "position": [
+ 250,
+ -90,
+ 0.3
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
+ ]
+ },
+ {
+ "id": 214,
+ "position": [
+ 350,
+ -10,
+ 0.3
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
+ ]
+ },
+ {
+ "id": 208,
+ "position": [
+ 350,
+ -90,
+ 0.3
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
+ ]
+ },
+ {
+ "id": 206,
+ "position": [
+ 650,
+ -10,
+ 0.3
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
+ ]
+ },
+ {
+ "id": 205,
+ "position": [
+ 750,
+ -90,
+ 0.3
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
+ ]
+ },
+ {
+ "id": 207,
+ "position": [
+ 750,
+ -10,
+ 0.3
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
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+ 35
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
+ ],
"size": 25,
"spin": 0
},
{
"id": 242,
"name": "aruco_242",
- "position": [0, -250, -35],
- "normal": [0, 0, -1],
+ "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],
+ "position": [
+ 0,
+ -285,
+ 0
+ ],
+ "normal": [
+ 0,
+ -1,
+ 0
+ ],
"size": 25,
"spin": 0
}
@@ -594,245 +1693,717 @@
"model": [
{
"stlFile": "surfaces/Holm.stl",
- "originOfModel__": [-25, 29, -28.5],
- "originOfModel": [-29, 25, 28.5],
- "rotationOfModelDegree__": [0, 0, 0],
- "rotationOfModelDegree": [180, 0, -90],
+ "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],
+ "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],
+ "axis": [
+ -1,
+ 0,
+ 0
+ ],
+ "origin": [
+ 0,
+ -250,
+ 0
+ ],
+ "rotation": [
+ 0,
+ 0,
+ 0
+ ],
"variable": "z"
},
"skeleton": {
- "from": [0, 0, 0],
- "to": [90, 0, 0],
+ "from": [
+ 0,
+ 0,
+ 0
+ ],
+ "to": [
+ 90,
+ 0,
+ 0
+ ],
"radius": 4,
- "color": [0.9, 0.2, 0.2]
+ "color": [
+ 0.9,
+ 0.2,
+ 0.2
+ ]
},
"model": [
{
"stlFile": "surfaces/Ellebogen.stl",
- "originOfModel": [90, 0, 0],
- "rotationOfModelDegree": [0, -90, -90],
+ "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}
+ {
+ "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],
+ "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],
+ "axis": [
+ 0,
+ -1,
+ 0
+ ],
+ "origin": [
+ 90,
+ 0,
+ 0
+ ],
+ "rotation": [
+ 0,
+ 0,
+ 0
+ ],
"variable": "a"
},
"skeleton": {
- "from": [0, 0, 0],
- "to": [0, -250, 0],
+ "from": [
+ 0,
+ 0,
+ 0
+ ],
+ "to": [
+ 0,
+ -250,
+ 0
+ ],
"radius": 4,
- "color": [0.95, 0.85, 0.2]
+ "color": [
+ 0.95,
+ 0.85,
+ 0.2
+ ]
},
"model": [
{
"stlFile": "surfaces/Unterarm.stl",
- "originOfModel": [0, -250, 0],
- "rotationOfModelDegree": [180, 0, -90],
+ "originOfModel": [
+ 0,
+ -250,
+ 0
+ ],
+ "rotationOfModelDegree": [
+ 180,
+ 0,
+ -90
+ ],
"material": "defaultPlastic"
}
],
"markers": [
- {"id": 120, "position": [24.75, -112, -24.75], "normal": [1, 0, -1]},
+ {
+ "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]
+ "position": [
+ -35,
+ -112,
+ 0
+ ],
+ "normal": [
+ -1,
+ 0,
+ 0
+ ]
},
{
"id": 218,
"name": "aruco_218",
- "position": [35, -112, 0],
- "normal": [1, 0, 0]
+ "position": [
+ 35,
+ -112,
+ 0
+ ],
+ "normal": [
+ 1,
+ 0,
+ 0
+ ]
},
{
"id": 113,
"name": "aruco_113",
- "position": [0, -182, 30],
- "normal": [0, 0, 1]
+ "position": [
+ 0,
+ -182,
+ 30
+ ],
+ "normal": [
+ 0,
+ 0,
+ 1
+ ]
},
{
"id": 114,
"name": "aruco_114",
- "position": [24.75, -182, -24.75],
- "normal": [1, 0, -1]
+ "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]
+ "position": [
+ -24.75,
+ -182,
+ -24.75
+ ],
+ "normal": [
+ -1,
+ 0,
+ -1
+ ]
},
{
"id": 124,
"name": "aruco_124",
- "position": [-35, -219, 0],
- "normal": [-1, 0, 0]
+ "position": [
+ -35,
+ -219,
+ 0
+ ],
+ "normal": [
+ -1,
+ 0,
+ 0
+ ]
},
{
"id": 219,
"name": "aruco_219",
- "position": [35, -219, 0],
- "normal": [1, 0, 0]
+ "position": [
+ 35,
+ -219,
+ 0
+ ],
+ "normal": [
+ 1,
+ 0,
+ 0
+ ]
}
]
},
"Hand": {
"parent": "Arm2",
- "mountPosition": [0, 0, 0],
- "mountRotation": [0, 0, 0],
+ "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],
+ "axis": [
+ 1,
+ 0,
+ 0
+ ],
+ "origin": [
+ 0,
+ -250,
+ 0
+ ],
+ "rotation": [
+ 0,
+ 0,
+ 0
+ ],
"variable": "b"
},
"skeleton": {
- "from": [0, 0, 0],
- "to": [0, -35, 0],
+ "from": [
+ 0,
+ 0,
+ 0
+ ],
+ "to": [
+ 0,
+ -35,
+ 0
+ ],
"radius": 4,
- "color": [0.95, 0.55, 0.15]
+ "color": [
+ 0.95,
+ 0.55,
+ 0.15
+ ]
}
},
"Palm": {
"parent": "Hand",
- "mountPosition": [0, 0, 0],
- "mountRotation": [0, 0, 0],
+ "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],
+ "axis": [
+ 0,
+ -1,
+ 0
+ ],
+ "origin": [
+ 0,
+ 0,
+ 0
+ ],
+ "rotation": [
+ 0,
+ 0,
+ 0
+ ],
"variable": "c"
},
"skeleton": {
- "from": [-50, -35, 0],
- "to": [50, -35, 0],
+ "from": [
+ -50,
+ -35,
+ 0
+ ],
+ "to": [
+ 50,
+ -35,
+ 0
+ ],
"radius": 7,
- "color": [0.95, 0.2, 0.2]
+ "color": [
+ 0.95,
+ 0.2,
+ 0.2
+ ]
}
},
"FingerA": {
"parent": "Palm",
- "size": [80, 60, 20],
- "mountPosition": [0, 0, 0],
- "mountRotation": [0, 0, 0],
+ "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],
+ "axis": [
+ 1,
+ 0,
+ 0
+ ],
+ "origin": [
+ 4,
+ -35,
+ 0
+ ],
+ "rotation": [
+ 0,
+ 0,
+ 0
+ ],
"variable": "e"
},
"skeleton": {
- "from": [0, 0, 0],
- "to": [0, -60, 0],
+ "from": [
+ 0,
+ 0,
+ 0
+ ],
+ "to": [
+ 0,
+ -60,
+ 0
+ ],
"radius": 4,
- "color": [0.2, 0.8, 0.2]
+ "color": [
+ 0.2,
+ 0.8,
+ 0.2
+ ]
},
"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": 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, 0.4],
+ "position": [
+ 13.9,
+ -40,
+ 0
+ ],
+ "normal": [
+ 1,
+ -0.35,
+ 0.4
+ ],
"spin": 27
}
],
"model": [
{
"stlFile": "surfaces/Finger.stl",
- "originOfModel": [24, 0, -9.1],
- "rotationOfModelDegree": [90, -90, 0],
+ "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],
+ "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],
+ "axis": [
+ -1,
+ 0,
+ 0
+ ],
+ "origin": [
+ -4,
+ -35,
+ 0
+ ],
+ "rotation": [
+ 0,
+ 0,
+ 0
+ ],
"variable": "e"
},
"skeleton": {
- "from": [0, 0, 0],
- "to": [0, -60, 0],
+ "from": [
+ 0,
+ 0,
+ 0
+ ],
+ "to": [
+ 0,
+ -60,
+ 0
+ ],
"radius": 4,
- "color": [0.2, 0.8, 0.2]
+ "color": [
+ 0.2,
+ 0.8,
+ 0.2
+ ]
},
"markers": [
{
"id": 43,
- "position": [-12, -24, 17.1],
- "normal": [10.98, 0, 23.56],
+ "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],
+ "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, -0.4],
+ "position": [
+ -13.9,
+ -40,
+ 0
+ ],
+ "normal": [
+ -1,
+ -0.35,
+ -0.4
+ ],
"spin": -27
}
],
"model": [
{
"stlFile": "surfaces/Finger.stl",
- "originOfModel": [-24, 0, 9.1],
- "rotationOfModelDegree": [90, 90, 0],
+ "originOfModel": [
+ -24,
+ 0,
+ 9.1
+ ],
+ "rotationOfModelDegree": [
+ 90,
+ 90,
+ 0
+ ],
"material": "defaultPlastic"
}
]
}
}
-}
+}
\ No newline at end of file
diff --git a/data/robot/robot_commented.json b/data/robot/robot_commented.json
deleted file mode 100644
index ffc0c76..0000000
--- a/data/robot/robot_commented.json
+++ /dev/null
@@ -1,334 +0,0 @@
-{
- "_comment": "Robot definition file for Blender/Robot/URDF-style kinematic rendering",
-
- "coordinateSystem": {
- "_comment": "Global coordinate system definition",
-
- "system": "right-handed",
-
- "axes": {
- "x": "right",
- "y": "backward",
- "z": "up"
- },
-
- "_important": [
- "This coordinate system is intentionally identical to Blender.",
- "All positions are expressed in millimeters.",
- "All rotations are expressed in degrees.",
- "Positive rotations follow the right-hand rule."
- ]
- },
-
- "units": {
- "length": "mm",
- "rotation": "degree"
- },
-
- "renderingInfo": {
- "_comment": "Pure rendering settings. Does NOT affect robot kinematics.",
-
- "cameraPosition": [-400, -700, 300],
-
- "cameraTarget": [0, 0, 150],
-
- "_cameraTargetInfo": [
- "cameraTarget defines the world-space point the camera looks at.",
- "Values may also reference state variables like 'x'."
- ],
-
- "cameraUpVector": [0, 0, 1],
-
- "lightPosition": [-500, -500, 500],
-
- "lightTarget": [0, 0, 0],
-
- "lightUpVector": [0, 0, 1],
-
- "metric": "mm",
-
- "materials": {
- "wood": {
- "baseColor": [0.72, 0.52, 0.33],
- "roughness": 0.85,
- "metallic": 0.0
- },
-
- "plaWhite": {
- "baseColor": [0.95, 0.95, 0.95],
- "roughness": 0.45,
- "metallic": 0.0
- },
-
- "steel": {
- "baseColor": [0.72, 0.72, 0.75],
- "roughness": 0.25,
- "metallic": 1.0
- },
-
- "powderCoatBlue": {
- "baseColor": [0.15, 0.25, 0.70],
- "roughness": 0.55,
- "metallic": 0.0
- },
-
- "defaultPlastic": {
- "baseColor": [0.95, 0.95, 0.95],
- "roughness": 0.40,
- "metallic": 0.0
- }
- }
- },
-
- "defaultPosition": {
- "_comment": "Robot zero/home position",
-
- "_important": [
- "These values define the robot's neutral pose.",
- "All joints are evaluated relative to this pose."
- ],
-
- "x": 0,
- "y": 0,
- "z": 0,
-
- "a": 0,
- "b": 0,
- "c": 0,
-
- "e": 0
- },
-
- "recognized": {
- "_comment": "Pose reconstructed from machine vision / markers",
-
- "x": null,
- "y": null,
- "z": null,
-
- "a": null,
- "b": null,
- "c": null,
-
- "e": null
- },
-
- "movements": {
- "_comment": "Current commanded movement state (e.g. from GCode)",
-
- "x": null,
- "y": null,
- "z": null,
-
- "a": null,
- "b": null,
- "c": null,
-
- "e": null
- },
-
- "_statePriority": [
- "movements overrides recognized",
- "recognized overrides defaultPosition",
- "defaultPosition overrides zero"
- ],
-
- "links": {
- "Board": {
- "_comment": "Static world/base object",
-
- "parent": null,
-
- "_mountPositionMeaning": [
- "Position of THIS LINK coordinate system",
- "relative to the PARENT LINK coordinate system"
- ],
-
- "mountPosition": [0, 0, 0],
-
- "_mountRotationMeaning": [
- "Mechanical installation rotation",
- "Defines how the LINK coordinate system",
- "is rotated relative to its parent link",
- "This is NOT the joint movement."
- ],
-
- "mountRotation": [0, 0, 0],
-
- "_modelMeaning": [
- "One link may consist of multiple STL surfaces.",
- "Each STL is positioned relative to the LINK coordinate system."
- ],
-
- "model": [
- {
- "_comment": "Visual geometry only",
-
- "stlFile": "surfaces/Board.stl",
-
- "_originOfModelMeaning": [
- "Position of STL inside the LINK coordinate system",
- "Purely visual adjustment",
- "Used to compensate CAD export offsets"
- ],
-
- "originOfModel": [0, 0, 0],
-
- "_rotationOfModelMeaning": [
- "Rotation of STL inside LINK coordinate system",
- "Purely visual adjustment",
- "Used to compensate CAD export orientation"
- ],
-
- "rotationOfModelDegree": [0, 0, 90],
-
- "material": "wood"
- }
- ]
- },
-
- "Base": {
- "_comment": "Linear axis mounted on Board",
-
- "parent": "Board",
-
- "mountPosition": [0, 0, 25],
-
- "mountRotation": [0, 0, 0],
-
- "_jointToParentMeaning": [
- "Defines the kinematic transformation",
- "between parent link and this link"
- ],
-
- "jointToParent": {
- "name": "Slider",
-
- "_jointTypeMeaning": [
- "fixed = no movement",
- "linear = translational movement",
- "revolute = rotational movement"
- ],
-
- "type": "linear",
-
- "_axisMeaning": [
- "Joint movement axis in LOCAL joint coordinates",
- "[1,0,0] = local X axis",
- "[0,1,0] = local Y axis",
- "[0,0,1] = local Z axis"
- ],
-
- "axis": [1, 0, 0],
-
- "_originMeaning": [
- "Position of joint coordinate system",
- "inside the parent link coordinate system"
- ],
-
- "origin": [0, 0, 0],
-
- "_rotationMeaning": [
- "Orientation of joint coordinate system",
- "inside the parent link coordinate system"
- ],
-
- "rotation": [0, 0, 0],
-
- "_variableMeaning": [
- "Maps robot state variable",
- "to this joint"
- ],
-
- "variable": "x"
- },
-
- "model": [
- {
- "stlFile": "surfaces/Base.stl",
-
- "originOfModel": [0, 0, 0],
-
- "rotationOfModelDegree": [0, 0, 0],
-
- "material": "plaWhite"
- }
- ]
- },
-
- "Arm1": {
- "_comment": "Rotational arm",
-
- "parent": "Base",
-
- "mountPosition": [150, 0, 150],
-
- "mountRotation": [0, 0, 0],
-
- "jointToParent": {
- "name": "Joint1",
-
- "type": "revolute",
-
- "_important": [
- "Positive rotation follows right-hand rule."
- ],
-
- "axis": [1, 0, 0],
-
- "origin": [0, 0, 0],
-
- "rotation": [0, 0, 0],
-
- "variable": "a"
- },
-
- "model": [
- {
- "stlFile": "surfaces/Holm.stl",
-
- "originOfModel": [0, 0, 0],
-
- "rotationOfModelDegree": [0, 0, 0],
-
- "material": "powderCoatBlue"
- }
- ]
- }
- },
-
- "_kinematicStructure": {
- "_comment": "Conceptual hierarchy",
-
- "hierarchy": [
- "ParentLink",
- "-> JointOrigin",
- "-> JointMotion",
- "-> ChildLink",
- "-> VisualMeshes"
- ],
-
- "_important": [
- "All children automatically inherit parent movement.",
- "This creates full forward kinematics automatically.",
- "No manual propagation of child transformations is required."
- ]
- },
-
- "_futureExtensions": {
- "_comment": "Planned future capabilities",
-
- "possibleFeatures": [
- "marker definitions",
- "inverse kinematics",
- "collision geometry",
- "joint limits",
- "joint damping",
- "mass/inertia",
- "vision calibration",
- "urdf export",
- "gcode import",
- "trajectory playback"
- ]
- }
-}
\ No newline at end of file
diff --git a/data/robot/robot_r.json b/data/robot/robot_r.json
deleted file mode 100644
index cdcd16d..0000000
Binary files a/data/robot/robot_r.json and /dev/null differ
diff --git a/data/simulation/Scene7/pose.json b/data/simulation/Scene7/pose.json
index 4c1b65e..d3abbfc 100644
--- a/data/simulation/Scene7/pose.json
+++ b/data/simulation/Scene7/pose.json
@@ -9,6 +9,11 @@
"c": 9,
"e": 9
},
+ "rendering": {
+ "width": 1280,
+ "height": 720,
+ "dofFStop": 11.0
+ },
"camera_positions": {
"a": [
-300,
@@ -45,5 +50,42 @@
200,
1400
]
+ },
+ "camera_targets": {
+ "a": [
+ 210,
+ -100,
+ 180
+ ],
+ "b": [
+ 310,
+ -80,
+ 180
+ ],
+ "c": [
+ 210,
+ -100,
+ 150
+ ],
+ "d": [
+ 210,
+ -100,
+ 150
+ ],
+ "e": [
+ 210,
+ -100,
+ 50
+ ],
+ "f": [
+ 200,
+ -200,
+ 180
+ ],
+ "g": [
+ 200,
+ -200,
+ 180
+ ]
}
}
\ No newline at end of file
diff --git a/data/simulation/Scene7/render_a.json b/data/simulation/Scene7/render_a.json
index 81e77f6..a7fb394 100644
--- a/data/simulation/Scene7/render_a.json
+++ b/data/simulation/Scene7/render_a.json
@@ -2001,6 +2001,84 @@
-0.05233597010374069
]
},
+ {
+ "name": "aruco_248",
+ "id": 248,
+ "link": "Ellbow",
+ "position_m": [
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+ -0.17729905247688293,
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+ -2.0861628513557662e-07,
+ -0.9986295700073242,
+ 0.05233597010374069
+ ]
+ },
+ {
+ "name": "aruco_232",
+ "id": 232,
+ "link": "Ellbow",
+ "position_m": [
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+ -0.16823066771030426,
+ 0.02851978689432144
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+ "position_mm": [
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+ -168.23066771030426,
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+ ],
+ "rotation_quaternion": [
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+ 0.0,
+ 0.0
+ ],
+ "normal": [
+ 0.0,
+ -0.7431448698043823,
+ -0.6691306233406067
+ ]
+ },
+ {
+ "name": "aruco_231",
+ "id": 231,
+ "link": "Ellbow",
+ "position_m": [
+ 0.23000000417232513,
+ -0.1180923730134964,
+ 0.02589215338230133
+ ],
+ "position_mm": [
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+ -118.0923730134964,
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+ ],
+ "rotation_quaternion": [
+ 0.35836800932884216,
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+ -0.0
+ ],
+ "normal": [
+ 0.0,
+ 0.6691306829452515,
+ -0.7431447505950928
+ ]
+ },
{
"name": "Arm2_marker_120",
"id": 120,
diff --git a/data/simulation/Scene7/render_a.npz b/data/simulation/Scene7/render_a.npz
index 6243600..b10ee26 100644
Binary files a/data/simulation/Scene7/render_a.npz and b/data/simulation/Scene7/render_a.npz differ
diff --git a/data/simulation/Scene7/render_a.png b/data/simulation/Scene7/render_a.png
index bf6aad6..35ccd75 100644
Binary files a/data/simulation/Scene7/render_a.png and b/data/simulation/Scene7/render_a.png differ
diff --git a/data/simulation/Scene7/render_b.json b/data/simulation/Scene7/render_b.json
index 81e77f6..a7fb394 100644
--- a/data/simulation/Scene7/render_b.json
+++ b/data/simulation/Scene7/render_b.json
@@ -2001,6 +2001,84 @@
-0.05233597010374069
]
},
+ {
+ "name": "aruco_248",
+ "id": 248,
+ "link": "Ellbow",
+ "position_m": [
+ 0.19249999523162842,
+ -0.17729905247688293,
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+ "position_mm": [
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+ "normal": [
+ -2.0861628513557662e-07,
+ -0.9986295700073242,
+ 0.05233597010374069
+ ]
+ },
+ {
+ "name": "aruco_232",
+ "id": 232,
+ "link": "Ellbow",
+ "position_m": [
+ 0.23000000417232513,
+ -0.16823066771030426,
+ 0.02851978689432144
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+ "position_mm": [
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+ "rotation_quaternion": [
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+ "normal": [
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+ -0.7431448698043823,
+ -0.6691306233406067
+ ]
+ },
+ {
+ "name": "aruco_231",
+ "id": 231,
+ "link": "Ellbow",
+ "position_m": [
+ 0.23000000417232513,
+ -0.1180923730134964,
+ 0.02589215338230133
+ ],
+ "position_mm": [
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+ "rotation_quaternion": [
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+ ],
+ "normal": [
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+ 0.6691306829452515,
+ -0.7431447505950928
+ ]
+ },
{
"name": "Arm2_marker_120",
"id": 120,
diff --git a/data/simulation/Scene7/render_b.npz b/data/simulation/Scene7/render_b.npz
index 6243600..b10ee26 100644
Binary files a/data/simulation/Scene7/render_b.npz and b/data/simulation/Scene7/render_b.npz differ
diff --git a/data/simulation/Scene7/render_b.png b/data/simulation/Scene7/render_b.png
index 245d2eb..b210edd 100644
Binary files a/data/simulation/Scene7/render_b.png and b/data/simulation/Scene7/render_b.png differ
diff --git a/data/simulation/Scene7/render_c.json b/data/simulation/Scene7/render_c.json
index 81e77f6..a7fb394 100644
--- a/data/simulation/Scene7/render_c.json
+++ b/data/simulation/Scene7/render_c.json
@@ -2001,6 +2001,84 @@
-0.05233597010374069
]
},
+ {
+ "name": "aruco_248",
+ "id": 248,
+ "link": "Ellbow",
+ "position_m": [
+ 0.19249999523162842,
+ -0.17729905247688293,
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+ "position_mm": [
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+ "normal": [
+ -2.0861628513557662e-07,
+ -0.9986295700073242,
+ 0.05233597010374069
+ ]
+ },
+ {
+ "name": "aruco_232",
+ "id": 232,
+ "link": "Ellbow",
+ "position_m": [
+ 0.23000000417232513,
+ -0.16823066771030426,
+ 0.02851978689432144
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+ "position_mm": [
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+ "normal": [
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+ -0.7431448698043823,
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+ },
+ {
+ "name": "aruco_231",
+ "id": 231,
+ "link": "Ellbow",
+ "position_m": [
+ 0.23000000417232513,
+ -0.1180923730134964,
+ 0.02589215338230133
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+ "position_mm": [
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+ "rotation_quaternion": [
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+ ],
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+ -0.7431447505950928
+ ]
+ },
{
"name": "Arm2_marker_120",
"id": 120,
diff --git a/data/simulation/Scene7/render_c.npz b/data/simulation/Scene7/render_c.npz
index 6243600..b10ee26 100644
Binary files a/data/simulation/Scene7/render_c.npz and b/data/simulation/Scene7/render_c.npz differ
diff --git a/data/simulation/Scene7/render_c.png b/data/simulation/Scene7/render_c.png
index 5d28671..5cab1a9 100644
Binary files a/data/simulation/Scene7/render_c.png and b/data/simulation/Scene7/render_c.png differ
diff --git a/data/simulation/Scene7/render_d.json b/data/simulation/Scene7/render_d.json
index 81e77f6..a7fb394 100644
--- a/data/simulation/Scene7/render_d.json
+++ b/data/simulation/Scene7/render_d.json
@@ -2001,6 +2001,84 @@
-0.05233597010374069
]
},
+ {
+ "name": "aruco_248",
+ "id": 248,
+ "link": "Ellbow",
+ "position_m": [
+ 0.19249999523162842,
+ -0.17729905247688293,
+ 0.05413304641842842
+ ],
+ "position_mm": [
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+ "normal": [
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+ -0.9986295700073242,
+ 0.05233597010374069
+ ]
+ },
+ {
+ "name": "aruco_232",
+ "id": 232,
+ "link": "Ellbow",
+ "position_m": [
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+ -0.16823066771030426,
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+ "position_mm": [
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+ "rotation_quaternion": [
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+ -0.7431448698043823,
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+ },
+ {
+ "name": "aruco_231",
+ "id": 231,
+ "link": "Ellbow",
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+ ]
+ },
{
"name": "Arm2_marker_120",
"id": 120,
diff --git a/data/simulation/Scene7/render_d.npz b/data/simulation/Scene7/render_d.npz
index 6243600..b10ee26 100644
Binary files a/data/simulation/Scene7/render_d.npz and b/data/simulation/Scene7/render_d.npz differ
diff --git a/data/simulation/Scene7/render_d.png b/data/simulation/Scene7/render_d.png
index 73f5110..60c949a 100644
Binary files a/data/simulation/Scene7/render_d.png and b/data/simulation/Scene7/render_d.png differ
diff --git a/data/simulation/Scene7/render_e.json b/data/simulation/Scene7/render_e.json
index 81e77f6..a7fb394 100644
--- a/data/simulation/Scene7/render_e.json
+++ b/data/simulation/Scene7/render_e.json
@@ -2001,6 +2001,84 @@
-0.05233597010374069
]
},
+ {
+ "name": "aruco_248",
+ "id": 248,
+ "link": "Ellbow",
+ "position_m": [
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+ "normal": [
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+ ]
+ },
+ {
+ "name": "aruco_232",
+ "id": 232,
+ "link": "Ellbow",
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+ "normal": [
+ 0.0,
+ -0.7431448698043823,
+ -0.6691306233406067
+ ]
+ },
+ {
+ "name": "aruco_231",
+ "id": 231,
+ "link": "Ellbow",
+ "position_m": [
+ 0.23000000417232513,
+ -0.1180923730134964,
+ 0.02589215338230133
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+ "position_mm": [
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+ "rotation_quaternion": [
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+ ],
+ "normal": [
+ 0.0,
+ 0.6691306829452515,
+ -0.7431447505950928
+ ]
+ },
{
"name": "Arm2_marker_120",
"id": 120,
diff --git a/data/simulation/Scene7/render_e.npz b/data/simulation/Scene7/render_e.npz
index 6243600..b10ee26 100644
Binary files a/data/simulation/Scene7/render_e.npz and b/data/simulation/Scene7/render_e.npz differ
diff --git a/data/simulation/Scene7/render_e.png b/data/simulation/Scene7/render_e.png
index 95088bb..235204b 100644
Binary files a/data/simulation/Scene7/render_e.png and b/data/simulation/Scene7/render_e.png differ
diff --git a/data/simulation/Scene8/pose.json b/data/simulation/Scene8/pose.json
index a7ee6a8..0025639 100644
--- a/data/simulation/Scene8/pose.json
+++ b/data/simulation/Scene8/pose.json
@@ -9,6 +9,11 @@
"c": 9,
"e": 3
},
+ "rendering": {
+ "width": 1280,
+ "height": 720,
+ "dofFStop": 11.0
+ },
"camera_positions": {
"a": [
-300,
@@ -45,5 +50,42 @@
200,
1400
]
+ },
+ "camera_targets": {
+ "a": [
+ 210,
+ -100,
+ 180
+ ],
+ "b": [
+ 310,
+ -80,
+ 180
+ ],
+ "c": [
+ 210,
+ -100,
+ 150
+ ],
+ "d": [
+ 210,
+ -100,
+ 150
+ ],
+ "e": [
+ 210,
+ -100,
+ 50
+ ],
+ "f": [
+ 200,
+ -200,
+ 180
+ ],
+ "g": [
+ 200,
+ -200,
+ 180
+ ]
}
}
\ No newline at end of file
diff --git a/data/simulation/Scene8/render_a.json b/data/simulation/Scene8/render_a.json
index 5d3d420..81b2b95 100644
--- a/data/simulation/Scene8/render_a.json
+++ b/data/simulation/Scene8/render_a.json
@@ -2001,6 +2001,84 @@
-0.05233597010374069
]
},
+ {
+ "name": "aruco_248",
+ "id": 248,
+ "link": "Ellbow",
+ "position_m": [
+ 0.21249999105930328,
+ -0.17729905247688293,
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+ {
+ "name": "aruco_232",
+ "id": 232,
+ "link": "Ellbow",
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+ },
+ {
+ "name": "aruco_231",
+ "id": 231,
+ "link": "Ellbow",
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+ -0.1180923730134964,
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+ "position_mm": [
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+ -0.7431447505950928
+ ]
+ },
{
"name": "Arm2_marker_120",
"id": 120,
diff --git a/data/simulation/Scene8/render_a.npz b/data/simulation/Scene8/render_a.npz
index 6243600..b10ee26 100644
Binary files a/data/simulation/Scene8/render_a.npz and b/data/simulation/Scene8/render_a.npz differ
diff --git a/data/simulation/Scene8/render_a.png b/data/simulation/Scene8/render_a.png
index e799049..bf19949 100644
Binary files a/data/simulation/Scene8/render_a.png and b/data/simulation/Scene8/render_a.png differ
diff --git a/data/simulation/Scene8/render_b.json b/data/simulation/Scene8/render_b.json
index 5d3d420..81b2b95 100644
--- a/data/simulation/Scene8/render_b.json
+++ b/data/simulation/Scene8/render_b.json
@@ -2001,6 +2001,84 @@
-0.05233597010374069
]
},
+ {
+ "name": "aruco_248",
+ "id": 248,
+ "link": "Ellbow",
+ "position_m": [
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index 6243600..b10ee26 100644
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diff --git a/data/simulation/Scene8/render_b.png b/data/simulation/Scene8/render_b.png
index 21be21d..f103d96 100644
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diff --git a/data/simulation/Scene8/render_c.json b/data/simulation/Scene8/render_c.json
index 5d3d420..81b2b95 100644
--- a/data/simulation/Scene8/render_c.json
+++ b/data/simulation/Scene8/render_c.json
@@ -2001,6 +2001,84 @@
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]
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index 6243600..b10ee26 100644
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diff --git a/data/simulation/Scene8/render_c.png b/data/simulation/Scene8/render_c.png
index 56c0074..ed21d82 100644
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diff --git a/data/simulation/Scene8/render_d.json b/data/simulation/Scene8/render_d.json
index 5d3d420..81b2b95 100644
--- a/data/simulation/Scene8/render_d.json
+++ b/data/simulation/Scene8/render_d.json
@@ -2001,6 +2001,84 @@
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]
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index 6243600..b10ee26 100644
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diff --git a/data/simulation/Scene8/render_d.png b/data/simulation/Scene8/render_d.png
index 95a1047..fec8349 100644
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diff --git a/data/simulation/Scene8/render_e.json b/data/simulation/Scene8/render_e.json
index 5d3d420..81b2b95 100644
--- a/data/simulation/Scene8/render_e.json
+++ b/data/simulation/Scene8/render_e.json
@@ -2001,6 +2001,84 @@
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]
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index 6243600..b10ee26 100644
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diff --git a/data/simulation/Scene8/render_e.png b/data/simulation/Scene8/render_e.png
index deff2b0..6ecb544 100644
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diff --git a/data/simulation/Scene8/render_f.json b/data/simulation/Scene8/render_f.json
index 5d3d420..81b2b95 100644
--- a/data/simulation/Scene8/render_f.json
+++ b/data/simulation/Scene8/render_f.json
@@ -2001,6 +2001,84 @@
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]
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index 6243600..b10ee26 100644
Binary files a/data/simulation/Scene8/render_f.npz and b/data/simulation/Scene8/render_f.npz differ
diff --git a/data/simulation/Scene8/render_f.png b/data/simulation/Scene8/render_f.png
index 9f63344..33fb907 100644
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diff --git a/data/simulation/Scene8/render_g.json b/data/simulation/Scene8/render_g.json
index 5d3d420..81b2b95 100644
--- a/data/simulation/Scene8/render_g.json
+++ b/data/simulation/Scene8/render_g.json
@@ -2001,6 +2001,84 @@
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]
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{
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index 6243600..b10ee26 100644
Binary files a/data/simulation/Scene8/render_g.npz and b/data/simulation/Scene8/render_g.npz differ
diff --git a/data/simulation/Scene8/render_g.png b/data/simulation/Scene8/render_g.png
index 3f4e337..5a450d9 100644
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diff --git a/data/simulation/debug/markers.json b/data/simulation/debug/markers.json
index 6870bb5..a7fb394 100644
--- a/data/simulation/debug/markers.json
+++ b/data/simulation/debug/markers.json
@@ -1798,12 +1798,12 @@
"id": 198,
"link": "Arm1",
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+ 0.02211807668209076
]
},
{
@@ -2032,25 +2110,25 @@
"id": 122,
"link": "Arm2",
"position_m": [
- 0.29335907101631165,
- -0.12386100739240646,
- 0.16348618268966675
+ 0.19664090871810913,
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},
{
@@ -2058,25 +2136,25 @@
"id": 218,
"link": "Arm2",
"position_m": [
- 0.22664089500904083,
- -0.14811114966869354,
- 0.16475707292556763
+ 0.26335909962654114,
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{
@@ -2084,25 +2162,25 @@
"id": 113,
"link": "Arm2",
"position_m": [
- 0.27043160796165466,
- -0.1609439104795456,
- 0.2355256825685501
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+ -103.70121896266937,
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],
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0.6778969764709473,
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+ 0.12595993280410767
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+ -0.3420201539993286,
+ 0.9384047985076904,
+ -0.04917961359024048
]
},
{
@@ -2110,25 +2188,25 @@
"id": 114,
"link": "Arm2",
"position_m": [
- 0.22782443463802338,
- -0.11733941733837128,
- 0.23324045538902283
+ 0.2621755301952362,
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+ 0.2348109483718872
],
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- 227.82443463802338,
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- 233.24045538902283
+ 262.1755301952362,
+ -147.3057121038437,
+ 234.8109483718872
],
"rotation_quaternion": [
- 0.5805524587631226,
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+ -0.6117745041847229
],
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- -0.9063076972961426,
- 0.42203933000564575,
- -0.022118031978607178
+ 0.9063078165054321,
+ -0.4220390319824219,
+ 0.02211807668209076
]
},
{
@@ -2136,25 +2214,25 @@
"id": 115,
"link": "Arm2",
"position_m": [
- 0.27500370144844055,
- -0.10019111633300781,
- 0.23234176635742188
+ 0.21499629318714142,
+ -0.16445402801036835,
+ 0.23570963740348816
],
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- 275.00370144844055,
- -100.19111633300781,
- 232.34176635742188
+ 214.99629318714142,
+ -164.45402801036835,
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],
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- 0.6720378398895264,
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+ 0.14898721873760223,
+ -0.15699973702430725,
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+ 0.7081800699234009
],
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+ -0.4226182699203491,
+ -0.9050657749176025,
+ 0.047432348132133484
]
},
{
@@ -2162,25 +2240,25 @@
"id": 124,
"link": "Arm2",
"position_m": [
- 0.29335907101631165,
- -0.11826106905937195,
- 0.2703395485877991
+ 0.19664090871810913,
+ -0.14251121878623962,
+ 0.27161043882369995
],
"position_mm": [
- 293.35907101631165,
- -118.26106905937195,
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+ 196.64090871810913,
+ -142.51121878623962,
+ 271.61043882369995
],
"rotation_quaternion": [
- 0.5638670921325684,
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+ -0.41605767607688904,
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+ 0.59419184923172
],
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+ -0.9396926164627075,
+ -0.34155139327049255,
+ 0.017899779602885246
]
},
{
@@ -2188,25 +2266,25 @@
"id": 219,
"link": "Arm2",
"position_m": [
- 0.22664089500904083,
- -0.14251121878623962,
- 0.27161043882369995
+ 0.26335909962654114,
+ -0.11826106160879135,
+ 0.2703395485877991
],
"position_mm": [
- 226.64089500904083,
- -142.51121878623962,
- 271.61043882369995
+ 263.35909962654114,
+ -118.26106160879135,
+ 270.3395485877991
],
"rotation_quaternion": [
- 0.3948240280151367,
- -0.4160577058792114,
- -0.5638670921325684,
- 0.59419184923172
+ 0.5638671517372131,
+ -0.5941919088363647,
+ 0.39482399821281433,
+ -0.41605764627456665
],
"normal": [
- -0.9396926760673523,
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- 0.017899809405207634
+ 0.9396926164627075,
+ 0.3415515422821045,
+ -0.017899898812174797
]
},
{
@@ -2214,25 +2292,25 @@
"id": 40,
"link": "FingerA",
"position_m": [
- 0.21553662419319153,
- -0.08246307820081711,
- 0.31723877787590027
+ 0.2677094340324402,
+ -0.1501556783914566,
+ 0.35217177867889404
],
"position_mm": [
- 215.53662419319153,
- -82.46307820081711,
- 317.23877787590027
+ 267.7094340324402,
+ -150.1556783914566,
+ 352.17177867889404
],
"rotation_quaternion": [
- 0.25081899762153625,
- -0.9551512002944946,
- -0.13290834426879883,
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+ 0.06727804243564606,
+ -0.8116653561592102,
+ 0.5798529982566833
],
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- 0.09442292153835297,
- 0.5015562772750854,
- -0.859956681728363
+ 0.04383547604084015,
+ -0.9441269040107727,
+ -0.32665398716926575
]
},
{
@@ -2240,25 +2318,25 @@
"id": 41,
"link": "FingerA",
"position_m": [
- 0.24487937986850739,
- -0.11210105568170547,
- 0.34399858117103577
+ 0.2358827143907547,
+ -0.11256645619869232,
+ 0.34673067927360535
],
"position_mm": [
- 244.87937986850739,
- -112.10105568170547,
- 343.99858117103577
+ 235.8827143907547,
+ -112.56645619869232,
+ 346.73067927360535
],
"rotation_quaternion": [
- 0.22204725444316864,
- 0.003033978631719947,
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+ 0.9692426919937134,
+ 0.002282005036249757,
+ -0.018137134611606598,
+ 0.24542734026908875
],
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- -0.16778706014156342,
- 0.6593782901763916,
- 0.73284912109375
+ -0.03403843566775322,
+ -0.013326330110430717,
+ 0.9993317127227783
]
},
{
@@ -2266,25 +2344,25 @@
"id": 42,
"link": "FingerA",
"position_m": [
- 0.21405166387557983,
- -0.0764177069067955,
- 0.34054282307624817
+ 0.2639923095703125,
+ -0.13954909145832062,
+ 0.3735145628452301
],
"position_mm": [
- 214.05166387557983,
- -76.4177069067955,
- 340.54282307624817
+ 263.9923095703125,
+ -139.54909145832062,
+ 373.5145628452301
],
"rotation_quaternion": [
- 0.2647150754928589,
- 0.453290730714798,
- -0.008107217960059643,
- -0.8511097431182861
+ 0.8447493314743042,
+ -0.3168453276157379,
+ 0.42179709672927856,
+ 0.0899711325764656
],
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- -0.7758923768997192,
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- 0.5889236330986023
+ 0.6556118130683899,
+ 0.6112089157104492,
+ 0.4433925151824951
]
},
{
@@ -2292,25 +2370,25 @@
"id": 43,
"link": "FingerB",
"position_m": [
- 0.26951199769973755,
- -0.07608000934123993,
- 0.34051966667175293
+ 0.2080598622560501,
+ -0.1449533998966217,
+ 0.36243146657943726
],
"position_mm": [
- 269.51199769973755,
- -76.08000934123993,
- 340.51966667175293
+ 208.0598622560501,
+ -144.9533998966217,
+ 362.43146657943726
],
"rotation_quaternion": [
- 0.7693742513656616,
- 0.23698587715625763,
- 0.11772578954696655,
- -0.5814135074615479
+ 0.526361346244812,
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+ 0.6215068101882935
],
"normal": [
- -0.09442318975925446,
- -0.5015563368797302,
- 0.859956681728363
+ -0.043835271149873734,
+ 0.9441269636154175,
+ 0.3266540467739105
]
},
{
@@ -2318,25 +2396,25 @@
"id": 44,
"link": "FingerB",
"position_m": [
- 0.25280579924583435,
- -0.08222946524620056,
- 0.2942748963832855
+ 0.23418523371219635,
+ -0.16895513236522675,
+ 0.3278355598449707
],
"position_mm": [
- 252.80579924583435,
- -82.22946524620056,
- 294.2748963832855
+ 234.18523371219635,
+ -168.95513236522675,
+ 327.8355598449707
],
"rotation_quaternion": [
- 0.6558026671409607,
- -0.4080226421356201,
- -0.521297037601471,
- -0.3628908097743988
+ 0.47481709718704224,
+ 0.28831005096435547,
+ -0.19160225987434387,
+ 0.8091443777084351
],
"normal": [
- -0.38760069012641907,
- 0.9135125875473022,
- 0.12353380024433136
+ 0.2846168577671051,
+ -0.5838568210601807,
+ 0.7603318095207214
]
},
{
@@ -2344,25 +2422,25 @@
"id": 45,
"link": "FingerB",
"position_m": [
- 0.2614270746707916,
- -0.055022913962602615,
- 0.3319719433784485
+ 0.21609467267990112,
+ -0.16585004329681396,
+ 0.37140941619873047
],
"position_mm": [
- 261.4270746707916,
- -55.022913962602615,
- 331.9719433784485
+ 216.09467267990112,
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],
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+ -0.6249297261238098,
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],
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- 0.592807948589325,
- 0.7446916103363037,
- -0.30661579966545105
+ -0.573008120059967,
+ -0.808071494102478,
+ 0.136683389544487
]
}
]
\ No newline at end of file
diff --git a/data/simulation/debug/render.npz b/data/simulation/debug/render.npz
index c76f892..b10ee26 100644
Binary files a/data/simulation/debug/render.npz and b/data/simulation/debug/render.npz differ
diff --git a/data/simulation/debug/render.png b/data/simulation/debug/render.png
index e5e5987..235204b 100644
Binary files a/data/simulation/debug/render.png and b/data/simulation/debug/render.png differ
diff --git a/pipeline/3_multiview_bundle_adjustment_v4.py b/pipeline/3_multiview_bundle_adjustment_v4.py
index d373a70..e9a4bbb 100644
--- a/pipeline/3_multiview_bundle_adjustment_v4.py
+++ b/pipeline/3_multiview_bundle_adjustment_v4.py
@@ -1091,9 +1091,11 @@ def optimize_with_constraints(
# ===================================================================
def print_constraint_summary(constraints: List[Constraint]) -> None:
- num_dist = sum(isinstance(c, MarkerDistanceConstraint) for c in constraints)
+ num_dist = sum(isinstance(c, MarkerDistanceConstraint) for c in constraints)
num_joint = sum(isinstance(c, JointAxisConstraint) for c in constraints)
- print(f"[INFO] Constraint summary: total={len(constraints)} distance={num_dist} joint/chain={num_joint}")
+ num_other = len(constraints) - num_dist - num_joint
+ extra = f" other={num_other}" if num_other else ""
+ print(f"[INFO] Constraint summary: total={len(constraints)} distance={num_dist} joint/chain={num_joint}{extra}")
def print_constraint_list(constraints: List[Constraint]) -> None:
@@ -1108,7 +1110,7 @@ def print_constraint_list(constraints: List[Constraint]) -> None:
f"Weight={constraint.weight} | "
f"Source={constraint.source}"
)
- else:
+ elif isinstance(constraint, JointAxisConstraint):
axis_str = np.array2string(constraint.joint_axis, precision=3, suppress_small=True)
print(
f" [{idx:03d}] JOINT_AXIS | "
@@ -1119,6 +1121,12 @@ def print_constraint_list(constraints: List[Constraint]) -> None:
f"Weight={constraint.weight} | "
f"Source={constraint.source}"
)
+ else:
+ print(
+ f" [{idx:03d}] {type(constraint).__name__} | "
+ f"weight={getattr(constraint, 'weight', '?')} | "
+ f"source={getattr(constraint, 'source', '?')}"
+ )
def print_constraints_with_errors(
diff --git a/pipeline/3_multiview_bundle_adjustment_v5_board_anchor_patch.py b/pipeline/3_multiview_bundle_adjustment_v5_board_anchor_patch.py
index 1cba4c6..68f8fdd 100644
--- a/pipeline/3_multiview_bundle_adjustment_v5_board_anchor_patch.py
+++ b/pipeline/3_multiview_bundle_adjustment_v5_board_anchor_patch.py
@@ -165,6 +165,7 @@ def _monkey_patch_v4():
spec = importlib.util.spec_from_file_location("ba_v4", v4_path)
mod = importlib.util.module_from_spec(spec)
+ sys.modules["ba_v4"] = mod # must be registered before exec_module for @dataclass
spec.loader.exec_module(mod)
# Inject PositionAnchorConstraint into the module namespace
@@ -198,9 +199,19 @@ def _monkey_patch_v4():
def _patched_main():
import sys as _sys
# We hijack the module-level function calls by patching compile_constraints
- _orig_compile = mod.compile_constraints
+ _orig_compile = mod.compile_constraints
+ _orig_initial = mod.initial_triangulation
+
+ # robot_data / length_scale are captured here so the initial-triangulation
+ # wrapper below can pin Board markers to their true world positions.
+ # In v4.main(), compile_constraints() runs BEFORE initial_triangulation(),
+ # so this dict is populated by the time the triangulation wrapper fires.
+ captured: Dict[str, Any] = {}
def _compile_with_anchors(robot_data, length_scale, cfg):
+ captured["robot_data"] = robot_data
+ captured["length_scale"] = length_scale
+
marker_to_link, link_markers, constraints, issues, marker_meta = \
_orig_compile(robot_data, length_scale, cfg)
@@ -209,9 +220,40 @@ def _monkey_patch_v4():
constraints = constraints + anchors
return marker_to_link, link_markers, constraints, issues, marker_meta
- mod.compile_constraints = _compile_with_anchors
+ def _initial_with_board(marker_observations, cameras):
+ """
+ Run the normal multi-view triangulation, then overwrite every
+ OBSERVED Board marker with its exact robot.json world position.
+ Board markers define the world frame, so they must not be left at
+ their (z-noisy) triangulated values — not even in the initial JSON.
+ """
+ tri = _orig_initial(marker_observations, cameras)
+
+ robot_data = captured.get("robot_data")
+ length_scale = captured.get("length_scale", 1.0)
+ if robot_data is None:
+ return tri
+
+ board = (robot_data.get("links", {}) or {}).get("Board", {}) or {}
+ pinned = 0
+ for m in board.get("markers", []):
+ mid = int(m.get("id", -1))
+ pos = m.get("position", None)
+ if mid < 0 or pos is None or len(pos) != 3:
+ continue
+ # Only pin markers that were actually observed/triangulated,
+ # so we don't introduce markers that no camera ever saw.
+ if mid in tri:
+ tri[mid] = np.array(pos, dtype=np.float64) * float(length_scale)
+ pinned += 1
+ print(f"[PATCH] Board markers pinned to robot.json in initial triangulation: {pinned}")
+ return tri
+
+ mod.compile_constraints = _compile_with_anchors
+ mod.initial_triangulation = _initial_with_board
_orig_main()
- mod.compile_constraints = _orig_compile # restore
+ mod.compile_constraints = _orig_compile # restore
+ mod.initial_triangulation = _orig_initial # restore
mod.main = _patched_main
return mod
diff --git a/pipeline/5_v8_camera_z_refine.py b/pipeline/5_v8_camera_z_refine.py
new file mode 100644
index 0000000..17bab20
--- /dev/null
+++ b/pipeline/5_v8_camera_z_refine.py
@@ -0,0 +1,218 @@
+#!/usr/bin/env python3
+"""
+5_v8_camera_z_refine.py
+-----------------------
+Refines camera z-positions using the FK-predicted z of the Ellbow link.
+
+Background
+----------
+Camera poses from step 2 are estimated from board markers alone. Board
+markers are roughly coplanar (z ≈ 0), so the camera's z-height above the
+board is poorly constrained and can be 20–40 % off.
+
+Once we have the elbow angle (step 3b, from 4_v8_4b_revolute_angle.py),
+FK predicts where the Ellbow markers *should* be in world space. The
+difference between FK-predicted z and triangulated z gives a global
+z-offset for the cameras.
+
+Algorithm
+---------
+1. Load elbow-angle result (v8_ellbow_angle.json) → joint state dict
+2. Run FK with that state → predicted world positions for Ellbow markers (mm)
+3. Load triangulated Ellbow marker positions from aruco_positions_optimized.json
+4. delta_z_mm = median(fk_z - triangulated_z) over matched markers
+5. For each camera pose file:
+ a. camera center world C = -R_wc.T @ t_wc
+ b. C_new = C + [0, 0, delta_z_mm / 1000]
+ c. t_wc_new = -R_wc @ C_new
+ d. Save as *_camera_pose_v8.json
+6. Save v8_z_correction.json summary
+
+Usage
+-----
+python 5_v8_camera_z_refine.py \\
+ --angle path/to/v8_ellbow_angle.json \\
+ --robot path/to/robot.json \\
+ --aruco path/to/aruco_positions_optimized.json \\
+ -pose path/to/render_a_camera_pose.json \\
+ -pose path/to/render_b_camera_pose.json \\
+ --outDir path/to/output_dir \\
+ [--elbowLink Ellbow]
+"""
+
+from __future__ import annotations
+
+import argparse
+import copy
+import json
+import os
+import sys
+import time
+from pathlib import Path
+from typing import Dict, List, Optional
+
+import numpy as np
+
+# robot_fk lives in the same directory as this script
+sys.path.insert(0, str(Path(__file__).parent))
+from robot_fk import RobotFK
+
+
+# ──────────────────────────────────────────────────────────────
+# I/O helpers
+# ──────────────────────────────────────────────────────────────
+
+def load_json(path: str) -> dict:
+ with open(path, "r", encoding="utf-8") as f:
+ return json.load(f)
+
+
+def save_json(path: str, data: dict) -> None:
+ os.makedirs(os.path.dirname(path) or ".", exist_ok=True)
+ with open(path, "w", encoding="utf-8") as f:
+ json.dump(data, f, indent=2)
+
+
+def load_triangulated_mm(aruco_json: dict) -> Dict[int, np.ndarray]:
+ """Read marker world positions (mm) from aruco_positions_*.json."""
+ result: Dict[int, np.ndarray] = {}
+ for m in aruco_json.get("markers", []):
+ mid = int(m.get("marker_id", m.get("id", -1)))
+ if mid < 0:
+ continue
+ if "position_mm" in m:
+ result[mid] = np.array(m["position_mm"], dtype=float)
+ elif "position_m" in m:
+ result[mid] = np.array(m["position_m"], dtype=float) * 1000.0
+ return result
+
+
+# ──────────────────────────────────────────────────────────────
+# Main
+# ──────────────────────────────────────────────────────────────
+
+def main() -> None:
+ parser = argparse.ArgumentParser(
+ description="5v8: refine camera z-positions using FK-predicted Ellbow marker z"
+ )
+ parser.add_argument("--angle", required=True,
+ help="v8_ellbow_angle.json from 4_v8_4b_revolute_angle.py")
+ parser.add_argument("--robot", required=True, help="robot.json")
+ parser.add_argument("--aruco", required=True,
+ help="aruco_positions_optimized.json (first-pass triangulation)")
+ parser.add_argument("-pose", "--poses", action="append", required=True,
+ help="*_camera_pose.json files (repeat for each camera)")
+ parser.add_argument("--outDir", required=True, help="Output directory")
+ parser.add_argument("--elbowLink", default="Ellbow",
+ help="Link name used for z estimation (default: Ellbow)")
+ args = parser.parse_args()
+
+ os.makedirs(args.outDir, exist_ok=True)
+
+ # ── 1. Load angle / state ────────────────────────────────
+ angle_data = load_json(args.angle)
+ if angle_data.get("status") != "ok":
+ print(f"[ERROR] Angle estimation was not ok: {angle_data.get('reason', '?')}")
+ sys.exit(1)
+
+ accumulated_state = angle_data.get("accumulated_state", {})
+ elbow_link = angle_data.get("link", args.elbowLink)
+
+ print(f"[INFO] Joint state from 4b: {accumulated_state}")
+ print(f"[INFO] Link used for z-ref: {elbow_link}")
+
+ # ── 2. FK prediction ─────────────────────────────────────
+ fk = RobotFK.from_file(args.robot)
+ T = fk.compute(accumulated_state)
+ all_fk = fk.all_markers_world(T) # marker_id -> {world_mm, link, …}
+
+ elbow_fk = {mid: v for mid, v in all_fk.items() if v["link"] == elbow_link}
+
+ if not elbow_fk:
+ print(f"[ERROR] No FK markers found for link '{elbow_link}'")
+ sys.exit(1)
+
+ print(f"[INFO] FK markers for '{elbow_link}': {sorted(elbow_fk.keys())}")
+
+ # ── 3. Load triangulated positions ───────────────────────
+ aruco_data = load_json(args.aruco)
+ triangulated = load_triangulated_mm(aruco_data)
+
+ # ── 4. Compute z-deltas ──────────────────────────────────
+ z_deltas: List[float] = []
+ print("\n[INFO] Per-marker z comparison (FK vs triangulated):")
+ for mid in sorted(elbow_fk.keys()):
+ fk_z = float(elbow_fk[mid]["world_mm"][2])
+ if mid not in triangulated:
+ print(f" Marker {mid:4d}: FK z={fk_z:8.1f} mm [NOT triangulated – skip]")
+ continue
+ obs_z = float(triangulated[mid][2])
+ delta = fk_z - obs_z
+ z_deltas.append(delta)
+ print(f" Marker {mid:4d}: FK z={fk_z:8.1f} mm obs z={obs_z:8.1f} mm Δz={delta:+7.1f} mm")
+
+ if not z_deltas:
+ print(f"\n[ERROR] No matched markers for '{elbow_link}' — cannot compute z correction.")
+ sys.exit(1)
+
+ delta_z_mm = float(np.median(z_deltas))
+ print(f"\n[INFO] z-correction (median): {delta_z_mm:+.1f} mm "
+ f"(from {len(z_deltas)} markers)")
+ if abs(delta_z_mm) < 1.0:
+ print("[INFO] Correction < 1 mm — cameras already well-calibrated in z.")
+
+ # ── 5. Apply correction to each camera pose ──────────────
+ corrected_files: List[str] = []
+
+ for pose_file in args.poses:
+ pose_data = load_json(pose_file)
+
+ pose_section = pose_data.get("camera_pose", {}) or {}
+ w2c = pose_section.get("world_to_camera", {}) or {}
+
+ R_wc = np.array(w2c.get("rotation_matrix", []), dtype=float).reshape(3, 3)
+ t_wc = np.array(w2c.get("translation_m", []), dtype=float).reshape(3)
+
+ # Camera centre in world (metres)
+ C_world = -R_wc.T @ t_wc
+ C_world_new = C_world + np.array([0.0, 0.0, delta_z_mm / 1000.0])
+
+ t_wc_new = -R_wc @ C_world_new
+
+ pose_new = copy.deepcopy(pose_data)
+ pose_new["camera_pose"]["world_to_camera"]["translation_m"] = \
+ [float(v) for v in t_wc_new.tolist()]
+ pose_new["camera_pose"]["camera_in_world"]["position_m"] = \
+ [float(v) for v in C_world_new.tolist()]
+ pose_new["camera_pose"]["camera_in_world"]["position_mm"] = \
+ [float(v * 1000.0) for v in C_world_new.tolist()]
+ pose_new["v8_z_correction_mm"] = delta_z_mm
+ pose_new["created_utc"] = time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime())
+
+ basename = os.path.basename(pose_file)
+ out_name = basename.replace("_camera_pose.json", "_camera_pose_v8.json")
+ if out_name == basename:
+ out_name = os.path.splitext(basename)[0] + "_v8.json"
+
+ out_path = os.path.join(args.outDir, out_name)
+ save_json(out_path, pose_new)
+ print(f"[INFO] Saved: {out_path}")
+ corrected_files.append(out_path)
+
+ # ── 6. Save correction summary ───────────────────────────
+ summary = {
+ "schema_version": "1.0",
+ "created_utc": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
+ "elbow_link": elbow_link,
+ "z_correction_mm": delta_z_mm,
+ "n_markers_used": len(z_deltas),
+ "z_deltas_mm": z_deltas,
+ "corrected_pose_files": corrected_files,
+ }
+ summary_path = os.path.join(args.outDir, "v8_z_correction.json")
+ save_json(summary_path, summary)
+ print(f"\n[INFO] Correction summary → {summary_path}")
+
+
+if __name__ == "__main__":
+ main()
diff --git a/pipeline/__pycache__/3_multiview_bundle_adjustment_v4.cpython-311.pyc b/pipeline/__pycache__/3_multiview_bundle_adjustment_v4.cpython-311.pyc
index 7d7478a..6f1b376 100644
Binary files a/pipeline/__pycache__/3_multiview_bundle_adjustment_v4.cpython-311.pyc and b/pipeline/__pycache__/3_multiview_bundle_adjustment_v4.cpython-311.pyc differ
diff --git a/pipeline/__pycache__/3_multiview_bundle_adjustment_v5_board_anchor_patch.cpython-311.pyc b/pipeline/__pycache__/3_multiview_bundle_adjustment_v5_board_anchor_patch.cpython-311.pyc
new file mode 100644
index 0000000..0f41ab8
Binary files /dev/null and b/pipeline/__pycache__/3_multiview_bundle_adjustment_v5_board_anchor_patch.cpython-311.pyc differ
diff --git a/robot_viewer.html b/robot_viewer.html
deleted file mode 100644
index 6837d94..0000000
--- a/robot_viewer.html
+++ /dev/null
@@ -1,751 +0,0 @@
-
-
-
-
-Robot FK Viewer
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/run/run_pipeline_v8.bat b/run/run_pipeline_v8.bat
index a06de4f..cbda00c 100644
--- a/run/run_pipeline_v8.bat
+++ b/run/run_pipeline_v8.bat
@@ -1,53 +1,48 @@
@echo off
setlocal EnableDelayedExpansion
-REM 3_pipeline_multiview.bat
-REM Multi-camera ArUco detection and pose estimation pipeline
-REM Parametr e.g.
-REM run_pipeline.bat ../data/simulation/Scene4
+REM run_pipeline_v8.bat
+REM v8 pipeline: adds elbow angle estimation + camera z refinement
+REM
+REM Steps:
+REM 1 ArUco detection (same as v4)
+REM 2 Camera pose from board markers (same as v4)
+REM 3a First bundle adjustment with board-calibrated cameras
+REM 3b Elbow angle estimation (robust to z-error, uses relative marker vectors)
+REM 4 Camera z refinement using FK-predicted Ellbow z
+REM 5 Second bundle adjustment with z-corrected cameras -> v8/ subfolder
+REM 6 Robot state estimation from v8 positions
+REM
+REM Usage: .\run_pipeline_v8.bat ..\data\simulation\Scene9
-
-
-
-REM Wenn kein Argument übergeben wurde
if "%1"=="" (
echo.
- echo [32m[INFO] Aufruf fehlt![0m
- echo [32mBeispiel: .\run_pipeline.bat ../data/simulation/Scene4[0m
+ echo [INFO] Aufruf fehlt!
+ echo Beispiel: .\run_pipeline_v8.bat ..\data\simulation\Scene9
echo.
exit /b
)
-
set "IMAGES=%~1"
-
-REM trailing slash entfernen
if "%IMAGES:~-1%"=="\" set "IMAGES=%IMAGES:~0,-1%"
if "%IMAGES:~-1%"=="/" set "IMAGES=%IMAGES:~0,-1%"
set ROBOT_JSON=..\data\robot\robot.json
set BASE_OUT_DIR=C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\evaluations
-REM ✅ richtigen Namen extrahieren
for %%I in ("%IMAGES%") do set "SCENE_NAME=%%~nxI"
set OUT_DIR=%BASE_OUT_DIR%\%SCENE_NAME%
+set OUT_DIR_V8=%OUT_DIR%\v8
-
-
+REM ── STEP 1: ArUco detection ────────────────────────────────────
echo.
-echo [STEP 1] Detect ArUco markers from all cameras in the folder %IMAGES%
+echo [STEP 1] Detect ArUco markers from %IMAGES%
-for %%F in ("%IMAGES%\*.png" "%IMAGES%\*.PNG" "%IMAGES%\*.jpg" "%IMAGES%\*.jpeg" "%IMAGES%\*.JPG" "%IMAGES%\*.JPEG") do (
-
- REM Dateiname ohne Pfad und ohne .png
+for %%F in ("%IMAGES%\*.png" "%IMAGES%\*.PNG" "%IMAGES%\*.jpg" "%IMAGES%\*.jpeg" "%IMAGES%\*.JPG" "%IMAGES%\*.JPEG") do (
set "NAME=%%~nF"
echo Bearbeite: !NAME!
-
- REM Split bei "_" → nehme 2. Teil (die ID)
for /f "tokens=2 delims=_" %%A in ("%%~nF") do (
set "CAMID=%%A"
-
- REM Takes files and detected arucos output to render_c_aruco_detection.json
python3 ../pipeline/1_detect_aruco_observations.py ^
-i "%%F" ^
-npz "%IMAGES%\render_a.npz" ^
@@ -57,44 +52,100 @@ for %%F in ("%IMAGES%\*.png" "%IMAGES%\*.PNG" "%IMAGES%\*.jpg" "%IMAGES%\*.jpeg"
)
)
+REM ── STEP 2: Camera pose from board markers ─────────────────────
echo.
-echo [STEP 2] Estimate camera poses from detections
+echo [STEP 2] Estimate camera poses from board markers
-for %%F in ("%OUT_DIR%\*_aruco_detection.json") do (
+for %%F in ("%OUT_DIR%\*_aruco_detection.json") do (
echo Bearbeite: %%F
-
python3 ../pipeline/2_estimate_camera_from_observations.py ^
-i "%%F" ^
-robot %ROBOT_JSON% ^
-outDir %OUT_DIR%
)
-echo.
-echo [STEP 3] Triangulate marker positions from multi-view observations
+REM ── Collect file lists ─────────────────────────────────────────
+set DET_ARGS=
+set POSE_ARGS=
+set POSE_ARGS_V8=
-
-REM Alle detection files sammeln
for %%F in ("%OUT_DIR%\*_aruco_detection.json") do (
set DET_ARGS=!DET_ARGS! -det "%%F"
)
-
-REM Alle pose files sammeln
for %%F in ("%OUT_DIR%\*_camera_pose.json") do (
set POSE_ARGS=!POSE_ARGS! -pose "%%F"
)
-python3 "..\pipeline\3_multiview_bundle_adjustment_v4.py" ^
+REM ── STEP 3a: First bundle adjustment (board cameras) ──────────
+echo.
+echo [STEP 3a] Initial bundle adjustment with board-calibrated cameras
+
+python3 "..\pipeline\3_multiview_bundle_adjustment_v5_board_anchor_patch.py" ^
-robot "%ROBOT_JSON%" ^
-lambdaWeight 100.0 ^
!DET_ARGS! ^
!POSE_ARGS!
+REM ── STEP 3b: Elbow angle (robust to z-error) ──────────────────
+echo.
+echo [STEP 3b-v8] Estimate elbow angle
+
+python3 "..\pipeline\4_v8_4b_revolute_angle.py" ^
+ --robot "%ROBOT_JSON%" ^
+ --aruco "%OUT_DIR%\aruco_positions_optimized.json" ^
+ --link Ellbow ^
+ --output "%OUT_DIR%\v8_ellbow_angle.json"
+
+if errorlevel 1 (
+ echo [ERROR] Elbow angle estimation failed. Aborting v8 pipeline.
+ exit /b 1
+)
+
+REM ── STEP 4: Camera z refinement ───────────────────────────────
+echo.
+echo [STEP 4-v8] Refine camera z using FK prediction
+
+for %%F in ("%OUT_DIR%\*_camera_pose.json") do (
+ set POSE_ARGS_V8=!POSE_ARGS_V8! -pose "%%F"
+)
+
+python3 "..\pipeline\5_v8_camera_z_refine.py" ^
+ --angle "%OUT_DIR%\v8_ellbow_angle.json" ^
+ --robot "%ROBOT_JSON%" ^
+ --aruco "%OUT_DIR%\aruco_positions_optimized.json" ^
+ !POSE_ARGS_V8! ^
+ --outDir "%OUT_DIR%"
+
+if errorlevel 1 (
+ echo [ERROR] Camera z refinement failed. Aborting v8 pipeline.
+ exit /b 1
+)
+
+REM ── STEP 5: Second bundle adjustment (z-corrected cameras) ────
+echo.
+echo [STEP 5-v8] Second bundle adjustment with z-corrected cameras
+
+set POSE_ARGS_REFINED=
+for %%F in ("%OUT_DIR%\*_camera_pose_v8.json") do (
+ set POSE_ARGS_REFINED=!POSE_ARGS_REFINED! -pose "%%F"
+)
+
+python3 "..\pipeline\3_multiview_bundle_adjustment_v5_board_anchor_patch.py" ^
+ -robot "%ROBOT_JSON%" ^
+ -lambdaWeight 100.0 ^
+ --outDir "%OUT_DIR_V8%" ^
+ !DET_ARGS! ^
+ !POSE_ARGS_REFINED!
+
+REM ── STEP 6: Robot state estimation from v8 positions ──────────
+echo.
+echo [STEP 6-v8] Robot state estimation
+
+python3 "..\pipeline\4_robotState_estimation_v6.py" ^
+ "%OUT_DIR_V8%\aruco_positions_optimized.json" ^
+ -robot "%ROBOT_JSON%" ^
+ -out "%OUT_DIR_V8%\robot_state_v8.json"
echo.
-echo [STEP 4] Robotics Pose calculation of angles and joint positions
-
-
-python3 "..\pipeline\4_v8_4a_base_slider.py" ^
- "%OUT_DIR%\aruco_positions_initial.json" ^
- -robot "%ROBOT_JSON%" ^
- -out "%OUT_DIR%\robot_state.json"
+echo [DONE] v8 results in: %OUT_DIR_V8%
+echo z-correction summary: %OUT_DIR%\v8_z_correction.json
diff --git a/run/run_sceneGenerator.bat b/run/run_sceneGenerator.bat
index 14742bc..81a6306 100644
--- a/run/run_sceneGenerator.bat
+++ b/run/run_sceneGenerator.bat
@@ -1 +1 @@
-python3 ../setup/generateSets/render_Loop.py
\ No newline at end of file
+python3 ../setup/generateSets/render_Loop.py %*
\ No newline at end of file
diff --git a/setup/generateSets/__pycache__/render_Loop.cpython-311.pyc b/setup/generateSets/__pycache__/render_Loop.cpython-311.pyc
new file mode 100644
index 0000000..5a85df2
Binary files /dev/null and b/setup/generateSets/__pycache__/render_Loop.cpython-311.pyc differ
diff --git a/setup/generateSets/__pycache__/render_robot.cpython-311.pyc b/setup/generateSets/__pycache__/render_robot.cpython-311.pyc
new file mode 100644
index 0000000..cba11b3
Binary files /dev/null and b/setup/generateSets/__pycache__/render_robot.cpython-311.pyc differ
diff --git a/setup/generateSets/render_Loop.py b/setup/generateSets/render_Loop.py
index ad49214..76cc0fa 100644
--- a/setup/generateSets/render_Loop.py
+++ b/setup/generateSets/render_Loop.py
@@ -5,10 +5,17 @@ import shutil
from pathlib import Path
import argparse
+STATE_KEYS = ("x", "y", "z", "a", "b", "c", "e")
+
+
def update_robot_json(robot_json_file, camera_position, camera_target, default_position, width, height, fstop):
- """Aktualisiert die cameraPosition und defaultPosition in der robot.json-Datei."""
+ """Aktualisiert cameraPosition/Target, Auflösung und defaultPosition in robot.json.
+
+ Hinweis: render_robot.py liest robot.json bei jedem Blender-Start frisch ein,
+ deshalb wird hier pro Kamera in die Datei geschrieben.
+ """
try:
- with open(robot_json_file, 'r') as f:
+ with open(robot_json_file, 'r', encoding='utf-8') as f:
data = json.load(f)
data['renderingInfo']['cameraPosition'] = camera_position
@@ -18,7 +25,7 @@ def update_robot_json(robot_json_file, camera_position, camera_target, default_p
data['renderingInfo']['dofFStop'] = fstop
data['defaultPosition'] = default_position
- with open(robot_json_file, 'w') as f:
+ with open(robot_json_file, 'w', encoding='utf-8') as f:
json.dump(data, f, indent=2)
except FileNotFoundError:
print(f"Fehler: Datei {robot_json_file} nicht gefunden.")
@@ -28,6 +35,7 @@ def update_robot_json(robot_json_file, camera_position, camera_target, default_p
return False
return True
+
def run_blender(blender_executable, script_path, log_level):
"""Führt Blender mit dem angegebenen Skript aus."""
try:
@@ -45,8 +53,9 @@ def run_blender(blender_executable, script_path, log_level):
print(f"Blender-Skript fehlgeschlagen:\n{e.stderr}")
return False
+
def copy_and_rename_file(source_file, destination_dir, new_filename):
- """Kopiert die erstellte Bilddatei in den Zielordner und benennt sie um."""
+ """Kopiert die erstellte Datei in den Zielordner und benennt sie um."""
destination_path = os.path.join(destination_dir, new_filename)
try:
shutil.copy2(source_file, destination_path) # copy2 behält Metadaten
@@ -58,118 +67,133 @@ def copy_and_rename_file(source_file, destination_dir, new_filename):
print(f"Fehler beim Kopieren/Umbenennen der Datei: {e}")
return False
+
+def load_render_config(robot_json_file):
+ """Liest Posen, Kamera-Setup und Render-Defaults aus robot.json."""
+ with open(robot_json_file, 'r', encoding='utf-8') as f:
+ data = json.load(f)
+
+ poses = data.get("robot_test_poses", {}) or {}
+ cam_positions = data.get("test_camera_positions", {}) or {}
+ cam_targets = data.get("test_camera_targets", {}) or {}
+
+ rinfo = data.get("renderingInfo", {}) or {}
+ default_rendering = {
+ "width": int(rinfo.get("width", 1280)),
+ "height": int(rinfo.get("height", 720)),
+ "dofFStop": float(rinfo.get("dofFStop", 11)),
+ }
+
+ return poses, cam_positions, cam_targets, default_rendering
+
+
+def split_pose(pose_entry):
+ """Trennt eine robot_test_poses-Definition in (joint_state, rendering_override)."""
+ joint_state = {k: pose_entry[k] for k in STATE_KEYS if k in pose_entry}
+ rendering_override = pose_entry.get("rendering", {}) or {}
+ return joint_state, rendering_override
+
+
def main():
USER_HOME = Path.home()
- ROBOT_JSON_FILE = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "robot" / "robot.json")
- OUTPUT_DIR = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "simulation" / "debug" )
+ BASE = USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering"
+
+ ROBOT_JSON_FILE = str(BASE / "data" / "robot" / "robot.json")
+ OUTPUT_DIR = str(BASE / "data" / "simulation" / "debug")
BLENDER_EXE = str("C:/Program Files/Blender Foundation/Blender 4.5/blender.exe")
- RENDER_PY= str(USER_HOME /"SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering"/ "setup"/"generateSets"/"render_robot.py")
- RENDER_PNG=str(USER_HOME /"SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering"/"data"/"simulation"/"debug"/"render.png")
- OUTPUT_SET = str(USER_HOME / "SynologyDrive" / "2026-AppServer-AppRobot" / "appRobotRendering" / "data" / "simulation" )
-
+ RENDER_PY = str(BASE / "setup" / "generateSets" / "render_robot.py")
+ RENDER_PNG = str(BASE / "data" / "simulation" / "debug" / "render.png")
+ OUTPUT_SET = str(BASE / "data" / "simulation")
+
parser = argparse.ArgumentParser(description="Automatisiert die Roboter-Rendering-Pipeline.")
- parser.add_argument("robot_json", nargs="?",
- default=ROBOT_JSON_FILE, help="Pfad zur robot.json-Datei.")
- parser.add_argument("blender_executable",nargs="?",
- default=BLENDER_EXE, help="Pfad zur Blender-Executable.")
- parser.add_argument("render_script",
- default=RENDER_PY,
- help="Pfad zum render_robot.py-Skript.",nargs="?")
- parser.add_argument("render_png",nargs="?",
- default=RENDER_PNG,help="script erzeugte png")
- parser.add_argument("output_dir", nargs="?",
- default=OUTPUT_DIR, help="Zielordner für die gerenderten Blender Bilder.")
- parser.add_argument("output_set", nargs="?",
- default=OUTPUT_SET, help="Zielordner in dem die Sets abgelegt werden")
+ parser.add_argument("robot_json", nargs="?", default=ROBOT_JSON_FILE, help="Pfad zur robot.json-Datei.")
+ parser.add_argument("blender_executable", nargs="?", default=BLENDER_EXE, help="Pfad zur Blender-Executable.")
+ parser.add_argument("render_script", nargs="?", default=RENDER_PY, help="Pfad zum render_robot.py-Skript.")
+ parser.add_argument("render_png", nargs="?", default=RENDER_PNG, help="vom Skript erzeugte png")
+ parser.add_argument("output_dir", nargs="?", default=OUTPUT_DIR, help="Zielordner für die gerenderten Blender Bilder.")
+ parser.add_argument("output_set", nargs="?", default=OUTPUT_SET, help="Zielordner in dem die Sets abgelegt werden")
+ parser.add_argument("--poses", nargs="*", default=None,
+ help="Nur diese Pose-Keys rendern (z.B. --poses 8 9). Default: alle aus robot_test_poses.")
+ parser.add_argument("--scene_prefix", default="Scene", help="Präfix für die Scene-Ordnernamen (Default: Scene).")
parser.add_argument("--log_level", type=int, default=2, help="Log-Level für Blender (Standard: 2).")
args = parser.parse_args()
- # Kamerapositions-Dictionary
- camera_positions = {
- "a": [-300, -800, 800],
- "b": [300, -900, 1200],
- "c": [300, -900, 400],
- "d": [700, -800, 400],
- "e": [1200, -900, 400],
- "f": [500, -300, 1400],
- "g": [-200, 200, 1400],
- }
- camera_targets = {
- "a": [210, -100, 180],
- "b": [310, -80, 180],
- "c": [210, -100, 150],
- "d": [210, -100, 150],
- "e": [210, -100, 50],
- "f": [200, -200, 180],
- "g": [200, -200, 180],
- }
-
+ # Konfiguration aus robot.json
+ robot_poses, camera_positions, camera_targets, default_rendering = load_render_config(args.robot_json)
- # Robot-Pose-Dictionary
- robot_poses = {
- #"4": {"x": 70, "y": 50,"z": -70,"a": 120,"b": 50,"c": 30,"e": 20},
- #"5": {"x": 180,"y": 86,"z": -120,"a": -60,"b": 22,"c": 91,"e": 10},
- #"6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
- #"7": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
- #"8": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
- #"9": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
- #"9a": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
- "9b": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
- #"10": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
- #"11": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
- #"12": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6},
- }
+ if not robot_poses:
+ print("Keine 'robot_test_poses' in robot.json gefunden.")
+ return
+ if not camera_positions:
+ print("Keine 'test_camera_positions' in robot.json gefunden.")
+ return
- renderingInfos = {
- "4": {"width":1280, "height":720, "dofFStop":11},
- "5": {"width":1280, "height":720, "dofFStop":11},
- "6": {"width":1280, "height":720, "dofFStop":11},
- "7": {"width":1280, "height":720, "dofFStop":11},
- "8": {"width":1280, "height":720, "dofFStop":11},
- "9": {"width":1280, "height":720, "dofFStop":11},
- "9a": {"width":1440, "height":1080, "dofFStop":11},
- "9b": {"width":4896, "height":3264, "dofFStop":5.6},
- "10": {"width":1280, "height":720, "dofFStop":11},
- "11": {"width":1280, "height":720, "dofFStop":11},
- "12": {"width":1280, "height":720, "dofFStop":11},
- }
+ # Optionaler Pose-Filter
+ if args.poses:
+ missing = [p for p in args.poses if p not in robot_poses]
+ for p in missing:
+ print(f"[WARN] Pose '{p}' nicht in robot_test_poses – wird übersprungen.")
+ selected = {p: robot_poses[p] for p in args.poses if p in robot_poses}
+ else:
+ selected = robot_poses
- for pose_name, default_position in robot_poses.items():
- new_folder = Path(args.output_set) / f"Scene{pose_name}"
+ print(f"Zu rendernde Posen: {list(selected.keys())}")
+ print(f"Kameras pro Pose: {list(camera_positions.keys())}")
+
+ for pose_name, pose_entry in selected.items():
+ joint_state, rendering_override = split_pose(pose_entry)
+
+ # Render-Settings: globaler Default, pro Pose überschreibbar
+ rendering = dict(default_rendering)
+ rendering.update({k: rendering_override[k] for k in ("width", "height", "dofFStop") if k in rendering_override})
+
+ new_folder = Path(args.output_set) / f"{args.scene_prefix}{pose_name}"
os.makedirs(new_folder, exist_ok=True)
-
- renderingInfo = renderingInfos[pose_name]
- print(renderingInfo)
-
+
+ print(f"\n=== Scene {pose_name} | {rendering['width']}x{rendering['height']} f/{rendering['dofFStop']} ===")
+
+ # Ground-Truth-Record: Joint-Pose + Kamera-Setup (für spätere Messung/GT-Posen)
pose_file = new_folder / "pose.json"
- pose_data = {"name": pose_name,"position": default_position, "camera_positions": camera_positions}
- with open(pose_file, "w") as f:
+ pose_data = {
+ "name": pose_name,
+ "position": joint_state,
+ "rendering": rendering,
+ "camera_positions": camera_positions,
+ "camera_targets": camera_targets,
+ }
+ with open(pose_file, "w", encoding="utf-8") as f:
json.dump(pose_data, f, indent=2)
for frame_name, camera_position in camera_positions.items():
+ camera_target = camera_targets.get(frame_name)
+ if camera_target is None:
+ print(f"[WARN] Kein Target für Kamera '{frame_name}' – übersprungen.")
+ continue
- camera_target = camera_targets[frame_name]
+ # 1. robot.json für diesen Render aktualisieren
+ if not update_robot_json(args.robot_json, camera_position, camera_target, joint_state,
+ rendering["width"], rendering["height"], rendering["dofFStop"]):
+ continue
- # 1. JSON aktualisieren
- if not update_robot_json(args.robot_json, camera_position, camera_target, default_position, renderingInfo["width"], renderingInfo["height"], renderingInfo["dofFStop"]):
- continue # Gehe zum nächsten Schleifendurchlauf
-
- # 2. Blender-Skript ausführen
+ # 2. Blender ausführen
if not run_blender(args.blender_executable, args.render_script, args.log_level):
- continue # Gehe zum nächsten Schleifendurchlauf
+ continue
- # 3. Datei kopieren und umbenennen
+ # 3. Ergebnisse kopieren und umbenennen (png, npz, markers.json)
new_filename = f"render_{frame_name}.png"
if not copy_and_rename_file(args.render_png, new_folder, new_filename):
- continue # Gehe zum nächsten Schleifendurchlauf
-
- if not copy_and_rename_file(args.render_png.replace(".png",".npz"), new_folder, new_filename.replace(".png",".npz")):
- continue # Gehe zum nächsten Schleifendurchlauf
-
- if not copy_and_rename_file(args.render_png.replace("render.png","markers.json"), new_folder, new_filename.replace(".png",".json")):
- continue # Gehe zum nächsten Schleifendurchlauf
+ continue
+ if not copy_and_rename_file(args.render_png.replace(".png", ".npz"),
+ new_folder, new_filename.replace(".png", ".npz")):
+ continue
+ if not copy_and_rename_file(args.render_png.replace("render.png", "markers.json"),
+ new_folder, new_filename.replace(".png", ".json")):
+ continue
+
+ print(f" Frame {frame_name}: OK")
+
+ print(f"Scene {pose_name} fertig -> {new_folder}")
- print(f"Rendering für Frame {frame_name}, Scene {pose_name} erfolgreich abgeschlossen.")
if __name__ == "__main__":
- main()
\ No newline at end of file
+ main()
diff --git a/setup/generateSets/render_robot.py b/setup/generateSets/render_robot.py
index e89caaf..638a840 100644
--- a/setup/generateSets/render_robot.py
+++ b/setup/generateSets/render_robot.py
@@ -465,22 +465,35 @@ CALIBRATION_OUTPUT = str(
render = scene.render
cam = cam_obj.data
-width_px = render.resolution_x
-height_px = render.resolution_y
-
scale = render.resolution_percentage / 100.0
+width_px = render.resolution_x * scale
+height_px = render.resolution_y * scale
-width_px *= scale
-height_px *= scale
-
+focal_mm = cam.lens
sensor_width_mm = cam.sensor_width
sensor_height_mm = cam.sensor_height
-focal_mm = cam.lens
+# Pixel aspect ratio (1.0 for synthetic cameras with square pixels)
+pixel_aspect_ratio = render.pixel_aspect_y / render.pixel_aspect_x
-# focal length in pixels
-fx = (width_px * focal_mm) / sensor_width_mm
-fy = (height_px * focal_mm) / sensor_height_mm
+# Blender's 'sensor_fit' decides which sensor axis defines the focal length.
+# With AUTO it is the longer (pixel-aspect-weighted) image axis, and pixels are
+# square (fy == fx). The previous code used sensor_height for fy, which only
+# matched at a 3:2 aspect ratio and was ~15% off at 16:9 (e.g. 1280x720).
+sensor_fit = cam.sensor_fit
+if sensor_fit == 'AUTO':
+ sensor_fit = 'HORIZONTAL' if width_px >= height_px * pixel_aspect_ratio else 'VERTICAL'
+
+if sensor_fit == 'HORIZONTAL':
+ sensor_size_mm = sensor_width_mm
+ view_fac_px = width_px
+else: # VERTICAL
+ sensor_size_mm = sensor_height_mm
+ view_fac_px = pixel_aspect_ratio * height_px
+
+f_px = focal_mm * view_fac_px / sensor_size_mm
+fx = f_px
+fy = f_px / pixel_aspect_ratio # square pixels => fy == fx
cx = width_px / 2.0
cy = height_px / 2.0