From 5c71c00fb41e627a39160dcc7cfa9a2736989da0 Mon Sep 17 00:00:00 2001 From: chk <79915315+ChKendel@users.noreply.github.com> Date: Wed, 3 Jun 2026 06:34:26 +0200 Subject: [PATCH] =?UTF-8?q?Claude:=20Abweichungen=20bei=203=20Kameras=20z?= =?UTF-8?q?=C3=A4hlen?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 28 ++++ README.md | 19 ++- benchmark/camera_count/README.md | 127 +++++++++++++----- benchmark/camera_count/analyze.py | 85 ++++++++---- benchmark/camera_count/run_camera_study.py | 63 +++++++-- benchmark/eval_pose.py | 88 +++++++++--- .../Scene10/k3_abd/aruco_marker_poses.json | 2 +- .../k3_abd/aruco_positions_initial.json | 2 +- .../k3_abd/aruco_positions_optimized.json | 2 +- .../k3_abd/render_a_aruco_detection.json | 54 ++++---- .../Scene10/k3_abd/render_a_camera_pose.json | 2 +- .../k3_abd/render_b_aruco_detection.json | 74 +++++----- .../Scene10/k3_abd/render_b_camera_pose.json | 2 +- 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| 2 +- .../Scene10/k4_abdg/robot_state.eval.json | 4 +- .../Scene10/k4_abdg/robot_state.json | 2 +- .../Scene10/k4_abef/aruco_marker_poses.json | 2 +- .../k4_abef/aruco_positions_initial.json | 2 +- .../k4_abef/aruco_positions_optimized.json | 2 +- .../k4_abef/render_a_aruco_detection.json | 54 ++++---- .../Scene10/k4_abef/render_a_camera_pose.json | 2 +- .../k4_abef/render_b_aruco_detection.json | 74 +++++----- .../Scene10/k4_abef/render_b_camera_pose.json | 2 +- .../k4_abef/render_e_aruco_detection.json | 26 ++-- .../Scene10/k4_abef/render_e_camera_pose.json | 2 +- .../k4_abef/render_f_aruco_detection.json | 68 +++++----- .../Scene10/k4_abef/render_f_camera_pose.json | 2 +- .../Scene10/k4_abef/robot_state.eval.json | 4 +- .../Scene10/k4_abef/robot_state.json | 2 +- .../Scene10/k4_adef/aruco_marker_poses.json | 2 +- .../k4_adef/aruco_positions_initial.json | 2 +- .../k4_adef/aruco_positions_optimized.json | 2 +- .../k4_adef/render_a_aruco_detection.json | 54 ++++---- 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+- .../k5_bcdef/aruco_positions_optimized.json | 2 +- .../k5_bcdef/render_b_aruco_detection.json | 74 +++++----- .../k5_bcdef/render_b_camera_pose.json | 2 +- .../k5_bcdef/render_c_aruco_detection.json | 34 ++--- .../k5_bcdef/render_c_camera_pose.json | 2 +- .../k5_bcdef/render_d_aruco_detection.json | 32 ++--- .../k5_bcdef/render_d_camera_pose.json | 2 +- .../k5_bcdef/render_e_aruco_detection.json | 26 ++-- .../k5_bcdef/render_e_camera_pose.json | 2 +- .../k5_bcdef/render_f_aruco_detection.json | 68 +++++----- .../k5_bcdef/render_f_camera_pose.json | 2 +- .../Scene10/k5_bcdef/robot_state.eval.json | 4 +- .../Scene10/k5_bcdef/robot_state.json | 2 +- .../Scene10/k5_bcdfg/aruco_marker_poses.json | 2 +- .../k5_bcdfg/aruco_positions_initial.json | 2 +- .../k5_bcdfg/aruco_positions_optimized.json | 2 +- .../k5_bcdfg/render_b_aruco_detection.json | 74 +++++----- .../k5_bcdfg/render_b_camera_pose.json | 2 +- .../k5_bcdfg/render_c_aruco_detection.json | 34 ++--- .../k5_bcdfg/render_c_camera_pose.json | 2 +- .../k5_bcdfg/render_d_aruco_detection.json | 32 ++--- .../k5_bcdfg/render_d_camera_pose.json | 2 +- .../k5_bcdfg/render_f_aruco_detection.json | 68 +++++----- .../k5_bcdfg/render_f_camera_pose.json | 2 +- .../k5_bcdfg/render_g_aruco_detection.json | 76 +++++------ .../k5_bcdfg/render_g_camera_pose.json | 2 +- .../Scene10/k5_bcdfg/robot_state.eval.json | 4 +- .../Scene10/k5_bcdfg/robot_state.json | 2 +- .../Scene10/k5_bdefg/aruco_marker_poses.json | 2 +- .../k5_bdefg/aruco_positions_initial.json | 2 +- .../k5_bdefg/aruco_positions_optimized.json | 2 +- .../k5_bdefg/render_b_aruco_detection.json | 74 +++++----- .../k5_bdefg/render_b_camera_pose.json | 2 +- .../k5_bdefg/render_d_aruco_detection.json | 32 ++--- .../k5_bdefg/render_d_camera_pose.json | 2 +- .../k5_bdefg/render_e_aruco_detection.json | 26 ++-- .../k5_bdefg/render_e_camera_pose.json | 2 +- .../k5_bdefg/render_f_aruco_detection.json | 68 +++++----- .../k5_bdefg/render_f_camera_pose.json | 2 +- .../k5_bdefg/render_g_aruco_detection.json | 76 +++++------ .../k5_bdefg/render_g_camera_pose.json | 2 +- .../Scene10/k5_bdefg/robot_state.eval.json | 4 +- .../Scene10/k5_bdefg/robot_state.json | 2 +- .../Scene10/k5_cdefg/aruco_marker_poses.json | 2 +- .../k5_cdefg/aruco_positions_initial.json | 2 +- .../k5_cdefg/aruco_positions_optimized.json | 2 +- .../k5_cdefg/render_c_aruco_detection.json | 34 ++--- .../k5_cdefg/render_c_camera_pose.json | 2 +- .../k5_cdefg/render_d_aruco_detection.json | 32 ++--- .../k5_cdefg/render_d_camera_pose.json | 2 +- .../k5_cdefg/render_e_aruco_detection.json | 26 ++-- .../k5_cdefg/render_e_camera_pose.json | 2 +- .../k5_cdefg/render_f_aruco_detection.json | 68 +++++----- .../k5_cdefg/render_f_camera_pose.json | 2 +- .../k5_cdefg/render_g_aruco_detection.json | 76 +++++------ .../k5_cdefg/render_g_camera_pose.json | 2 +- .../Scene10/k5_cdefg/robot_state.eval.json | 4 +- .../Scene10/k5_cdefg/robot_state.json | 2 +- .../Scene10/k6_abcdef/aruco_marker_poses.json | 2 +- .../k6_abcdef/aruco_positions_initial.json | 2 +- .../k6_abcdef/aruco_positions_optimized.json | 2 +- .../k6_abcdef/render_a_aruco_detection.json | 54 ++++---- .../k6_abcdef/render_a_camera_pose.json | 2 +- .../k6_abcdef/render_b_aruco_detection.json | 74 +++++----- .../k6_abcdef/render_b_camera_pose.json | 2 +- .../k6_abcdef/render_c_aruco_detection.json | 34 ++--- .../k6_abcdef/render_c_camera_pose.json | 2 +- .../k6_abcdef/render_d_aruco_detection.json | 32 ++--- .../k6_abcdef/render_d_camera_pose.json | 2 +- .../k6_abcdef/render_e_aruco_detection.json | 26 ++-- .../k6_abcdef/render_e_camera_pose.json | 2 +- .../k6_abcdef/render_f_aruco_detection.json | 68 +++++----- .../k6_abcdef/render_f_camera_pose.json | 2 +- .../Scene10/k6_abcdef/robot_state.eval.json | 4 +- .../Scene10/k6_abcdef/robot_state.json | 2 +- .../Scene10/k6_abcdeg/aruco_marker_poses.json | 2 +- .../k6_abcdeg/aruco_positions_initial.json | 2 +- .../k6_abcdeg/aruco_positions_optimized.json | 2 +- .../k6_abcdeg/render_a_aruco_detection.json | 54 ++++---- .../k6_abcdeg/render_a_camera_pose.json | 2 +- .../k6_abcdeg/render_b_aruco_detection.json | 74 +++++----- .../k6_abcdeg/render_b_camera_pose.json | 2 +- .../k6_abcdeg/render_c_aruco_detection.json | 34 ++--- .../k6_abcdeg/render_c_camera_pose.json | 2 +- .../k6_abcdeg/render_d_aruco_detection.json | 32 ++--- .../k6_abcdeg/render_d_camera_pose.json | 2 +- .../k6_abcdeg/render_e_aruco_detection.json | 26 ++-- .../k6_abcdeg/render_e_camera_pose.json | 2 +- .../k6_abcdeg/render_g_aruco_detection.json | 76 +++++------ .../k6_abcdeg/render_g_camera_pose.json | 2 +- .../Scene10/k6_abcdeg/robot_state.eval.json | 4 +- .../Scene10/k6_abcdeg/robot_state.json | 2 +- .../Scene10/k6_abcdfg/aruco_marker_poses.json | 2 +- .../k6_abcdfg/aruco_positions_initial.json | 2 +- .../k6_abcdfg/aruco_positions_optimized.json | 2 +- .../k6_abcdfg/render_a_aruco_detection.json | 54 ++++---- .../k6_abcdfg/render_a_camera_pose.json | 2 +- .../k6_abcdfg/render_b_aruco_detection.json | 74 +++++----- .../k6_abcdfg/render_b_camera_pose.json | 2 +- .../k6_abcdfg/render_c_aruco_detection.json | 34 ++--- .../k6_abcdfg/render_c_camera_pose.json | 2 +- .../k6_abcdfg/render_d_aruco_detection.json | 32 ++--- .../k6_abcdfg/render_d_camera_pose.json | 2 +- .../k6_abcdfg/render_f_aruco_detection.json | 68 +++++----- .../k6_abcdfg/render_f_camera_pose.json | 2 +- .../k6_abcdfg/render_g_aruco_detection.json | 76 +++++------ .../k6_abcdfg/render_g_camera_pose.json | 2 +- .../Scene10/k6_abcdfg/robot_state.eval.json | 4 +- .../Scene10/k6_abcdfg/robot_state.json | 2 +- .../Scene10/k6_abcefg/aruco_marker_poses.json | 2 +- .../k6_abcefg/aruco_positions_initial.json | 2 +- .../k6_abcefg/aruco_positions_optimized.json | 2 +- .../k6_abcefg/render_a_aruco_detection.json | 54 ++++---- .../k6_abcefg/render_a_camera_pose.json | 2 +- .../k6_abcefg/render_b_aruco_detection.json | 74 +++++----- .../k6_abcefg/render_b_camera_pose.json | 2 +- .../k6_abcefg/render_c_aruco_detection.json | 34 ++--- .../k6_abcefg/render_c_camera_pose.json | 2 +- .../k6_abcefg/render_e_aruco_detection.json | 26 ++-- .../k6_abcefg/render_e_camera_pose.json | 2 +- .../k6_abcefg/render_f_aruco_detection.json | 68 +++++----- .../k6_abcefg/render_f_camera_pose.json | 2 +- .../k6_abcefg/render_g_aruco_detection.json | 76 +++++------ .../k6_abcefg/render_g_camera_pose.json | 2 +- .../Scene10/k6_abcefg/robot_state.eval.json | 4 +- .../Scene10/k6_abcefg/robot_state.json | 2 +- .../Scene10/k6_abdefg/aruco_marker_poses.json | 2 +- .../k6_abdefg/aruco_positions_initial.json | 2 +- .../k6_abdefg/aruco_positions_optimized.json | 2 +- .../k6_abdefg/render_a_aruco_detection.json | 54 ++++---- .../k6_abdefg/render_a_camera_pose.json | 2 +- .../k6_abdefg/render_b_aruco_detection.json | 74 +++++----- .../k6_abdefg/render_b_camera_pose.json | 2 +- .../k6_abdefg/render_d_aruco_detection.json | 32 ++--- .../k6_abdefg/render_d_camera_pose.json | 2 +- .../k6_abdefg/render_e_aruco_detection.json | 26 ++-- .../k6_abdefg/render_e_camera_pose.json | 2 +- .../k6_abdefg/render_f_aruco_detection.json | 68 +++++----- .../k6_abdefg/render_f_camera_pose.json | 2 +- .../k6_abdefg/render_g_aruco_detection.json | 76 +++++------ .../k6_abdefg/render_g_camera_pose.json | 2 +- .../Scene10/k6_abdefg/robot_state.eval.json | 4 +- .../Scene10/k6_abdefg/robot_state.json | 2 +- .../Scene10/k6_acdefg/aruco_marker_poses.json | 2 +- .../k6_acdefg/aruco_positions_initial.json | 2 +- .../k6_acdefg/aruco_positions_optimized.json | 2 +- .../k6_acdefg/render_a_aruco_detection.json | 54 ++++---- .../k6_acdefg/render_a_camera_pose.json | 2 +- .../k6_acdefg/render_c_aruco_detection.json | 34 ++--- .../k6_acdefg/render_c_camera_pose.json | 2 +- .../k6_acdefg/render_d_aruco_detection.json | 32 ++--- .../k6_acdefg/render_d_camera_pose.json | 2 +- .../k6_acdefg/render_e_aruco_detection.json | 26 ++-- .../k6_acdefg/render_e_camera_pose.json | 2 +- .../k6_acdefg/render_f_aruco_detection.json | 68 +++++----- .../k6_acdefg/render_f_camera_pose.json | 2 +- .../k6_acdefg/render_g_aruco_detection.json | 76 +++++------ .../k6_acdefg/render_g_camera_pose.json | 2 +- .../Scene10/k6_acdefg/robot_state.eval.json | 4 +- .../Scene10/k6_acdefg/robot_state.json | 2 +- .../Scene10/k6_bcdefg/aruco_marker_poses.json | 2 +- .../k6_bcdefg/aruco_positions_initial.json | 2 +- .../k6_bcdefg/aruco_positions_optimized.json | 2 +- .../k6_bcdefg/render_b_aruco_detection.json | 74 +++++----- .../k6_bcdefg/render_b_camera_pose.json | 2 +- .../k6_bcdefg/render_c_aruco_detection.json | 34 ++--- .../k6_bcdefg/render_c_camera_pose.json | 2 +- .../k6_bcdefg/render_d_aruco_detection.json | 32 ++--- .../k6_bcdefg/render_d_camera_pose.json | 2 +- .../k6_bcdefg/render_e_aruco_detection.json | 26 ++-- .../k6_bcdefg/render_e_camera_pose.json | 2 +- .../k6_bcdefg/render_f_aruco_detection.json | 68 +++++----- .../k6_bcdefg/render_f_camera_pose.json | 2 +- .../k6_bcdefg/render_g_aruco_detection.json | 76 +++++------ .../k6_bcdefg/render_g_camera_pose.json | 2 +- .../Scene10/k6_bcdefg/robot_state.eval.json | 4 +- .../Scene10/k6_bcdefg/robot_state.json | 2 +- .../k7_abcdefg/aruco_marker_poses.json | 2 +- .../k7_abcdefg/aruco_positions_initial.json | 2 +- .../k7_abcdefg/aruco_positions_optimized.json | 2 +- .../k7_abcdefg/render_a_aruco_detection.json | 54 ++++---- .../k7_abcdefg/render_a_camera_pose.json | 2 +- .../k7_abcdefg/render_b_aruco_detection.json | 74 +++++----- .../k7_abcdefg/render_b_camera_pose.json | 2 +- .../k7_abcdefg/render_c_aruco_detection.json | 34 ++--- .../k7_abcdefg/render_c_camera_pose.json | 2 +- .../k7_abcdefg/render_d_aruco_detection.json | 32 ++--- .../k7_abcdefg/render_d_camera_pose.json | 2 +- .../k7_abcdefg/render_e_aruco_detection.json | 26 ++-- .../k7_abcdefg/render_e_camera_pose.json | 2 +- .../k7_abcdefg/render_f_aruco_detection.json | 68 +++++----- .../k7_abcdefg/render_f_camera_pose.json | 2 +- .../k7_abcdefg/render_g_aruco_detection.json | 76 +++++------ .../k7_abcdefg/render_g_camera_pose.json | 2 +- .../Scene10/k7_abcdefg/robot_state.eval.json | 4 +- .../Scene10/k7_abcdefg/robot_state.json | 2 +- .../Scene11/k3_acd/aruco_marker_poses.json | 2 +- .../k3_acd/aruco_positions_initial.json | 2 +- .../k3_acd/aruco_positions_optimized.json | 2 +- .../k3_acd/render_a_aruco_detection.json | 34 ++--- .../Scene11/k3_acd/render_a_camera_pose.json | 2 +- .../k3_acd/render_c_aruco_detection.json | 22 +-- .../Scene11/k3_acd/render_c_camera_pose.json | 2 +- .../k3_acd/render_d_aruco_detection.json | 34 ++--- .../Scene11/k3_acd/render_d_camera_pose.json | 2 +- .../Scene11/k3_acd/robot_state.eval.json | 4 +- .../Scene11/k3_acd/robot_state.json | 2 +- .../Scene11/k3_ace/aruco_marker_poses.json | 2 +- .../k3_ace/aruco_positions_initial.json | 2 +- .../k3_ace/aruco_positions_optimized.json | 2 +- .../k3_ace/render_a_aruco_detection.json | 34 ++--- .../Scene11/k3_ace/render_a_camera_pose.json | 2 +- .../k3_ace/render_c_aruco_detection.json | 22 +-- .../Scene11/k3_ace/render_c_camera_pose.json | 2 +- .../k3_ace/render_e_aruco_detection.json | 46 +++---- .../Scene11/k3_ace/render_e_camera_pose.json | 2 +- .../Scene11/k3_ace/robot_state.eval.json | 4 +- .../Scene11/k3_ace/robot_state.json | 2 +- .../Scene11/k3_acg/aruco_marker_poses.json | 2 +- .../k3_acg/aruco_positions_initial.json | 2 +- .../k3_acg/aruco_positions_optimized.json | 2 +- .../k3_acg/render_a_aruco_detection.json | 34 ++--- .../Scene11/k3_acg/render_a_camera_pose.json | 2 +- .../k3_acg/render_c_aruco_detection.json | 22 +-- .../Scene11/k3_acg/render_c_camera_pose.json | 2 +- .../k3_acg/render_g_aruco_detection.json | 62 ++++----- .../Scene11/k3_acg/render_g_camera_pose.json | 2 +- .../Scene11/k3_acg/robot_state.eval.json | 4 +- .../Scene11/k3_acg/robot_state.json | 2 +- .../Scene11/k3_adg/aruco_marker_poses.json | 2 +- .../k3_adg/aruco_positions_initial.json | 2 +- .../k3_adg/aruco_positions_optimized.json | 2 +- .../k3_adg/render_a_aruco_detection.json | 34 ++--- .../Scene11/k3_adg/render_a_camera_pose.json | 2 +- .../k3_adg/render_d_aruco_detection.json | 34 ++--- .../Scene11/k3_adg/render_d_camera_pose.json | 2 +- .../k3_adg/render_g_aruco_detection.json | 62 ++++----- .../Scene11/k3_adg/render_g_camera_pose.json | 2 +- .../Scene11/k3_adg/robot_state.eval.json | 4 +- .../Scene11/k3_adg/robot_state.json | 2 +- .../Scene11/k3_bde/aruco_marker_poses.json | 2 +- .../k3_bde/aruco_positions_initial.json | 2 +- .../k3_bde/aruco_positions_optimized.json | 2 +- .../k3_bde/render_b_aruco_detection.json | 44 +++--- .../Scene11/k3_bde/render_b_camera_pose.json | 2 +- .../k3_bde/render_d_aruco_detection.json | 34 ++--- .../Scene11/k3_bde/render_d_camera_pose.json | 2 +- .../k3_bde/render_e_aruco_detection.json | 46 +++---- .../Scene11/k3_bde/render_e_camera_pose.json | 2 +- .../Scene11/k3_bde/robot_state.eval.json | 4 +- .../Scene11/k3_bde/robot_state.json | 2 +- .../Scene11/k3_bfg/aruco_marker_poses.json | 2 +- .../k3_bfg/aruco_positions_initial.json | 2 +- .../k3_bfg/aruco_positions_optimized.json | 2 +- .../k3_bfg/render_b_aruco_detection.json | 44 +++--- .../Scene11/k3_bfg/render_b_camera_pose.json | 2 +- .../k3_bfg/render_f_aruco_detection.json | 34 ++--- .../Scene11/k3_bfg/render_f_camera_pose.json | 2 +- .../k3_bfg/render_g_aruco_detection.json | 62 ++++----- .../Scene11/k3_bfg/render_g_camera_pose.json | 2 +- .../Scene11/k3_bfg/robot_state.eval.json | 4 +- .../Scene11/k3_bfg/robot_state.json | 2 +- .../Scene11/k3_cde/aruco_marker_poses.json | 2 +- .../k3_cde/aruco_positions_initial.json | 2 +- .../k3_cde/aruco_positions_optimized.json | 2 +- .../k3_cde/render_c_aruco_detection.json | 22 +-- .../Scene11/k3_cde/render_c_camera_pose.json | 2 +- .../k3_cde/render_d_aruco_detection.json | 34 ++--- .../Scene11/k3_cde/render_d_camera_pose.json | 2 +- .../k3_cde/render_e_aruco_detection.json | 46 +++---- .../Scene11/k3_cde/render_e_camera_pose.json | 2 +- .../Scene11/k3_cde/robot_state.eval.json | 4 +- .../Scene11/k3_cde/robot_state.json | 2 +- .../Scene11/k3_cdg/aruco_marker_poses.json | 2 +- .../k3_cdg/aruco_positions_initial.json | 2 +- .../k3_cdg/aruco_positions_optimized.json | 2 +- .../k3_cdg/render_c_aruco_detection.json | 22 +-- .../Scene11/k3_cdg/render_c_camera_pose.json | 2 +- .../k3_cdg/render_d_aruco_detection.json | 34 ++--- .../Scene11/k3_cdg/render_d_camera_pose.json | 2 +- .../k3_cdg/render_g_aruco_detection.json | 62 ++++----- .../Scene11/k3_cdg/render_g_camera_pose.json | 2 +- .../Scene11/k3_cdg/robot_state.eval.json | 4 +- .../Scene11/k3_cdg/robot_state.json | 2 +- .../Scene11/k3_cfg/aruco_marker_poses.json | 2 +- .../k3_cfg/aruco_positions_initial.json | 2 +- .../k3_cfg/aruco_positions_optimized.json | 2 +- .../k3_cfg/render_c_aruco_detection.json | 22 +-- .../Scene11/k3_cfg/render_c_camera_pose.json | 2 +- .../k3_cfg/render_f_aruco_detection.json | 34 ++--- .../Scene11/k3_cfg/render_f_camera_pose.json | 2 +- .../k3_cfg/render_g_aruco_detection.json | 62 ++++----- .../Scene11/k3_cfg/render_g_camera_pose.json | 2 +- .../Scene11/k3_cfg/robot_state.eval.json | 4 +- .../Scene11/k3_cfg/robot_state.json | 2 +- .../Scene11/k3_efg/aruco_marker_poses.json | 2 +- .../k3_efg/aruco_positions_initial.json | 2 +- .../k3_efg/aruco_positions_optimized.json | 2 +- .../k3_efg/render_e_aruco_detection.json | 46 +++---- .../Scene11/k3_efg/render_e_camera_pose.json | 2 +- .../k3_efg/render_f_aruco_detection.json | 34 ++--- .../Scene11/k3_efg/render_f_camera_pose.json | 2 +- .../k3_efg/render_g_aruco_detection.json | 62 ++++----- .../Scene11/k3_efg/render_g_camera_pose.json | 2 +- .../Scene11/k3_efg/robot_state.eval.json | 4 +- .../Scene11/k3_efg/robot_state.json | 2 +- .../Scene11/k4_abcf/aruco_marker_poses.json | 2 +- .../k4_abcf/aruco_positions_initial.json | 2 +- .../k4_abcf/aruco_positions_optimized.json | 2 +- 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+++--- .../k5_abdef/render_b_camera_pose.json | 2 +- .../k5_abdef/render_d_aruco_detection.json | 34 ++--- .../k5_abdef/render_d_camera_pose.json | 2 +- .../k5_abdef/render_e_aruco_detection.json | 46 +++---- .../k5_abdef/render_e_camera_pose.json | 2 +- .../k5_abdef/render_f_aruco_detection.json | 34 ++--- .../k5_abdef/render_f_camera_pose.json | 2 +- .../Scene11/k5_abdef/robot_state.eval.json | 4 +- .../Scene11/k5_abdef/robot_state.json | 2 +- .../Scene11/k5_abdeg/aruco_marker_poses.json | 2 +- .../k5_abdeg/aruco_positions_initial.json | 2 +- .../k5_abdeg/aruco_positions_optimized.json | 2 +- .../k5_abdeg/render_a_aruco_detection.json | 34 ++--- .../k5_abdeg/render_a_camera_pose.json | 2 +- .../k5_abdeg/render_b_aruco_detection.json | 44 +++--- .../k5_abdeg/render_b_camera_pose.json | 2 +- .../k5_abdeg/render_d_aruco_detection.json | 34 ++--- .../k5_abdeg/render_d_camera_pose.json | 2 +- .../k5_abdeg/render_e_aruco_detection.json | 46 +++---- .../k5_abdeg/render_e_camera_pose.json | 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| 2 +- .../k5_acdfg/aruco_positions_initial.json | 2 +- .../k5_acdfg/aruco_positions_optimized.json | 2 +- .../k5_acdfg/render_a_aruco_detection.json | 34 ++--- .../k5_acdfg/render_a_camera_pose.json | 2 +- .../k5_acdfg/render_c_aruco_detection.json | 22 +-- .../k5_acdfg/render_c_camera_pose.json | 2 +- .../k5_acdfg/render_d_aruco_detection.json | 34 ++--- .../k5_acdfg/render_d_camera_pose.json | 2 +- .../k5_acdfg/render_f_aruco_detection.json | 34 ++--- .../k5_acdfg/render_f_camera_pose.json | 2 +- .../k5_acdfg/render_g_aruco_detection.json | 62 ++++----- .../k5_acdfg/render_g_camera_pose.json | 2 +- .../Scene11/k5_acdfg/robot_state.eval.json | 4 +- .../Scene11/k5_acdfg/robot_state.json | 2 +- .../Scene11/k5_bcdeg/aruco_marker_poses.json | 2 +- .../k5_bcdeg/aruco_positions_initial.json | 2 +- .../k5_bcdeg/aruco_positions_optimized.json | 2 +- .../k5_bcdeg/render_b_aruco_detection.json | 44 +++--- .../k5_bcdeg/render_b_camera_pose.json | 2 +- .../k5_bcdeg/render_c_aruco_detection.json | 22 +-- .../k5_bcdeg/render_c_camera_pose.json | 2 +- .../k5_bcdeg/render_d_aruco_detection.json | 34 ++--- .../k5_bcdeg/render_d_camera_pose.json | 2 +- .../k5_bcdeg/render_e_aruco_detection.json | 46 +++---- .../k5_bcdeg/render_e_camera_pose.json | 2 +- .../k5_bcdeg/render_g_aruco_detection.json | 62 ++++----- .../k5_bcdeg/render_g_camera_pose.json | 2 +- .../Scene11/k5_bcdeg/robot_state.eval.json | 4 +- .../Scene11/k5_bcdeg/robot_state.json | 2 +- .../Scene11/k5_bcefg/aruco_marker_poses.json | 2 +- .../k5_bcefg/aruco_positions_initial.json | 2 +- .../k5_bcefg/aruco_positions_optimized.json | 2 +- .../k5_bcefg/render_b_aruco_detection.json | 44 +++--- .../k5_bcefg/render_b_camera_pose.json | 2 +- .../k5_bcefg/render_c_aruco_detection.json | 22 +-- .../k5_bcefg/render_c_camera_pose.json | 2 +- .../k5_bcefg/render_e_aruco_detection.json | 46 +++---- .../k5_bcefg/render_e_camera_pose.json | 2 +- .../k5_bcefg/render_f_aruco_detection.json | 34 ++--- 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.../Scene12/k3_bcf/render_b_camera_pose.json | 2 +- .../k3_bcf/render_c_aruco_detection.json | 16 +-- .../Scene12/k3_bcf/render_c_camera_pose.json | 2 +- .../k3_bcf/render_f_aruco_detection.json | 60 ++++----- .../Scene12/k3_bcf/render_f_camera_pose.json | 2 +- .../Scene12/k3_bcf/robot_state.eval.json | 4 +- .../Scene12/k3_bcf/robot_state.json | 2 +- .../Scene12/k3_bde/aruco_marker_poses.json | 2 +- .../k3_bde/aruco_positions_initial.json | 2 +- .../k3_bde/aruco_positions_optimized.json | 2 +- .../k3_bde/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k3_bde/render_b_camera_pose.json | 2 +- .../k3_bde/render_d_aruco_detection.json | 26 ++-- .../Scene12/k3_bde/render_d_camera_pose.json | 2 +- .../k3_bde/render_e_aruco_detection.json | 18 +-- .../Scene12/k3_bde/render_e_camera_pose.json | 2 +- .../Scene12/k3_bde/robot_state.eval.json | 4 +- .../Scene12/k3_bde/robot_state.json | 2 +- .../Scene12/k3_bdf/aruco_marker_poses.json | 2 +- .../k3_bdf/aruco_positions_initial.json | 2 +- .../k3_bdf/aruco_positions_optimized.json | 2 +- .../k3_bdf/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k3_bdf/render_b_camera_pose.json | 2 +- .../k3_bdf/render_d_aruco_detection.json | 26 ++-- .../Scene12/k3_bdf/render_d_camera_pose.json | 2 +- .../k3_bdf/render_f_aruco_detection.json | 60 ++++----- .../Scene12/k3_bdf/render_f_camera_pose.json | 2 +- .../Scene12/k3_bdf/robot_state.eval.json | 4 +- .../Scene12/k3_bdf/robot_state.json | 2 +- .../Scene12/k3_bef/aruco_marker_poses.json | 2 +- .../k3_bef/aruco_positions_initial.json | 2 +- .../k3_bef/aruco_positions_optimized.json | 2 +- .../k3_bef/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k3_bef/render_b_camera_pose.json | 2 +- .../k3_bef/render_e_aruco_detection.json | 18 +-- .../Scene12/k3_bef/render_e_camera_pose.json | 2 +- .../k3_bef/render_f_aruco_detection.json | 60 ++++----- .../Scene12/k3_bef/render_f_camera_pose.json | 2 +- .../Scene12/k3_bef/robot_state.eval.json | 4 +- .../Scene12/k3_bef/robot_state.json | 2 +- .../Scene12/k3_beg/aruco_marker_poses.json | 2 +- .../k3_beg/aruco_positions_initial.json | 2 +- .../k3_beg/aruco_positions_optimized.json | 2 +- .../k3_beg/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k3_beg/render_b_camera_pose.json | 2 +- .../k3_beg/render_e_aruco_detection.json | 18 +-- .../Scene12/k3_beg/render_e_camera_pose.json | 2 +- .../k3_beg/render_g_aruco_detection.json | 58 ++++---- .../Scene12/k3_beg/render_g_camera_pose.json | 2 +- .../Scene12/k3_beg/robot_state.eval.json | 4 +- .../Scene12/k3_beg/robot_state.json | 2 +- .../Scene12/k3_deg/aruco_marker_poses.json | 2 +- .../k3_deg/aruco_positions_initial.json | 2 +- .../k3_deg/aruco_positions_optimized.json | 2 +- .../k3_deg/render_d_aruco_detection.json | 26 ++-- .../Scene12/k3_deg/render_d_camera_pose.json | 2 +- .../k3_deg/render_e_aruco_detection.json | 18 +-- .../Scene12/k3_deg/render_e_camera_pose.json | 2 +- .../k3_deg/render_g_aruco_detection.json | 58 ++++---- .../Scene12/k3_deg/render_g_camera_pose.json | 2 +- .../Scene12/k3_deg/robot_state.eval.json | 4 +- .../Scene12/k3_deg/robot_state.json | 2 +- .../Scene12/k4_abef/aruco_marker_poses.json | 2 +- .../k4_abef/aruco_positions_initial.json | 2 +- .../k4_abef/aruco_positions_optimized.json | 2 +- .../k4_abef/render_a_aruco_detection.json | 64 ++++----- .../Scene12/k4_abef/render_a_camera_pose.json | 2 +- .../k4_abef/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k4_abef/render_b_camera_pose.json | 2 +- .../k4_abef/render_e_aruco_detection.json | 18 +-- .../Scene12/k4_abef/render_e_camera_pose.json | 2 +- .../k4_abef/render_f_aruco_detection.json | 60 ++++----- .../Scene12/k4_abef/render_f_camera_pose.json | 2 +- .../Scene12/k4_abef/robot_state.eval.json | 4 +- .../Scene12/k4_abef/robot_state.json | 2 +- .../Scene12/k4_acde/aruco_marker_poses.json | 2 +- .../k4_acde/aruco_positions_initial.json | 2 +- .../k4_acde/aruco_positions_optimized.json | 2 +- .../k4_acde/render_a_aruco_detection.json | 64 ++++----- .../Scene12/k4_acde/render_a_camera_pose.json | 2 +- .../k4_acde/render_c_aruco_detection.json | 16 +-- .../Scene12/k4_acde/render_c_camera_pose.json | 2 +- .../k4_acde/render_d_aruco_detection.json | 26 ++-- .../Scene12/k4_acde/render_d_camera_pose.json | 2 +- .../k4_acde/render_e_aruco_detection.json | 18 +-- .../Scene12/k4_acde/render_e_camera_pose.json | 2 +- .../Scene12/k4_acde/robot_state.eval.json | 4 +- .../Scene12/k4_acde/robot_state.json | 2 +- .../Scene12/k4_adeg/aruco_marker_poses.json | 2 +- .../k4_adeg/aruco_positions_initial.json | 2 +- .../k4_adeg/aruco_positions_optimized.json | 2 +- .../k4_adeg/render_a_aruco_detection.json | 64 ++++----- .../Scene12/k4_adeg/render_a_camera_pose.json | 2 +- .../k4_adeg/render_d_aruco_detection.json | 26 ++-- .../Scene12/k4_adeg/render_d_camera_pose.json | 2 +- .../k4_adeg/render_e_aruco_detection.json | 18 +-- .../Scene12/k4_adeg/render_e_camera_pose.json | 2 +- .../k4_adeg/render_g_aruco_detection.json | 58 ++++---- .../Scene12/k4_adeg/render_g_camera_pose.json | 2 +- .../Scene12/k4_adeg/robot_state.eval.json | 4 +- .../Scene12/k4_adeg/robot_state.json | 2 +- .../Scene12/k4_bcde/aruco_marker_poses.json | 2 +- .../k4_bcde/aruco_positions_initial.json | 2 +- .../k4_bcde/aruco_positions_optimized.json | 2 +- .../k4_bcde/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k4_bcde/render_b_camera_pose.json | 2 +- .../k4_bcde/render_c_aruco_detection.json | 16 +-- .../Scene12/k4_bcde/render_c_camera_pose.json | 2 +- .../k4_bcde/render_d_aruco_detection.json | 26 ++-- .../Scene12/k4_bcde/render_d_camera_pose.json | 2 +- .../k4_bcde/render_e_aruco_detection.json | 18 +-- .../Scene12/k4_bcde/render_e_camera_pose.json | 2 +- .../Scene12/k4_bcde/robot_state.eval.json | 4 +- .../Scene12/k4_bcde/robot_state.json | 2 +- .../Scene12/k4_bcdf/aruco_marker_poses.json | 2 +- .../k4_bcdf/aruco_positions_initial.json | 2 +- .../k4_bcdf/aruco_positions_optimized.json | 2 +- .../k4_bcdf/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k4_bcdf/render_b_camera_pose.json | 2 +- .../k4_bcdf/render_c_aruco_detection.json | 16 +-- .../Scene12/k4_bcdf/render_c_camera_pose.json | 2 +- .../k4_bcdf/render_d_aruco_detection.json | 26 ++-- .../Scene12/k4_bcdf/render_d_camera_pose.json | 2 +- .../k4_bcdf/render_f_aruco_detection.json | 60 ++++----- .../Scene12/k4_bcdf/render_f_camera_pose.json | 2 +- .../Scene12/k4_bcdf/robot_state.eval.json | 4 +- .../Scene12/k4_bcdf/robot_state.json | 2 +- .../Scene12/k4_bcdg/aruco_marker_poses.json | 2 +- .../k4_bcdg/aruco_positions_initial.json | 2 +- .../k4_bcdg/aruco_positions_optimized.json | 2 +- .../k4_bcdg/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k4_bcdg/render_b_camera_pose.json | 2 +- .../k4_bcdg/render_c_aruco_detection.json | 16 +-- .../Scene12/k4_bcdg/render_c_camera_pose.json | 2 +- .../k4_bcdg/render_d_aruco_detection.json | 26 ++-- .../Scene12/k4_bcdg/render_d_camera_pose.json | 2 +- .../k4_bcdg/render_g_aruco_detection.json | 58 ++++---- .../Scene12/k4_bcdg/render_g_camera_pose.json | 2 +- .../Scene12/k4_bcdg/robot_state.eval.json | 4 +- .../Scene12/k4_bcdg/robot_state.json | 2 +- .../Scene12/k4_bceg/aruco_marker_poses.json | 2 +- .../k4_bceg/aruco_positions_initial.json | 2 +- .../k4_bceg/aruco_positions_optimized.json | 2 +- .../k4_bceg/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k4_bceg/render_b_camera_pose.json | 2 +- .../k4_bceg/render_c_aruco_detection.json | 16 +-- .../Scene12/k4_bceg/render_c_camera_pose.json | 2 +- .../k4_bceg/render_e_aruco_detection.json | 18 +-- .../Scene12/k4_bceg/render_e_camera_pose.json | 2 +- .../k4_bceg/render_g_aruco_detection.json | 58 ++++---- .../Scene12/k4_bceg/render_g_camera_pose.json | 2 +- .../Scene12/k4_bceg/robot_state.eval.json | 4 +- .../Scene12/k4_bceg/robot_state.json | 2 +- .../Scene12/k4_befg/aruco_marker_poses.json | 2 +- .../k4_befg/aruco_positions_initial.json | 2 +- .../k4_befg/aruco_positions_optimized.json | 2 +- .../k4_befg/render_b_aruco_detection.json | 98 +++++++------- .../Scene12/k4_befg/render_b_camera_pose.json | 2 +- .../k4_befg/render_e_aruco_detection.json | 18 +-- .../Scene12/k4_befg/render_e_camera_pose.json | 2 +- .../k4_befg/render_f_aruco_detection.json | 60 ++++----- .../Scene12/k4_befg/render_f_camera_pose.json | 2 +- .../k4_befg/render_g_aruco_detection.json | 58 ++++---- .../Scene12/k4_befg/render_g_camera_pose.json | 2 +- .../Scene12/k4_befg/robot_state.eval.json | 4 +- .../Scene12/k4_befg/robot_state.json | 2 +- .../Scene12/k4_cdeg/aruco_marker_poses.json | 2 +- .../k4_cdeg/aruco_positions_initial.json | 2 +- .../k4_cdeg/aruco_positions_optimized.json | 2 +- .../k4_cdeg/render_c_aruco_detection.json | 16 +-- .../Scene12/k4_cdeg/render_c_camera_pose.json | 2 +- .../k4_cdeg/render_d_aruco_detection.json | 26 ++-- .../Scene12/k4_cdeg/render_d_camera_pose.json | 2 +- .../k4_cdeg/render_e_aruco_detection.json | 18 +-- .../Scene12/k4_cdeg/render_e_camera_pose.json | 2 +- .../k4_cdeg/render_g_aruco_detection.json | 58 ++++---- .../Scene12/k4_cdeg/render_g_camera_pose.json | 2 +- .../Scene12/k4_cdeg/robot_state.eval.json | 4 +- .../Scene12/k4_cdeg/robot_state.json | 2 +- .../Scene12/k4_cefg/aruco_marker_poses.json | 2 +- .../k4_cefg/aruco_positions_initial.json | 2 +- .../k4_cefg/aruco_positions_optimized.json | 2 +- .../k4_cefg/render_c_aruco_detection.json | 16 +-- .../Scene12/k4_cefg/render_c_camera_pose.json | 2 +- .../k4_cefg/render_e_aruco_detection.json | 18 +-- .../Scene12/k4_cefg/render_e_camera_pose.json | 2 +- .../k4_cefg/render_f_aruco_detection.json | 60 ++++----- .../Scene12/k4_cefg/render_f_camera_pose.json | 2 +- .../k4_cefg/render_g_aruco_detection.json | 58 ++++---- .../Scene12/k4_cefg/render_g_camera_pose.json | 2 +- .../Scene12/k4_cefg/robot_state.eval.json | 4 +- .../Scene12/k4_cefg/robot_state.json | 2 +- .../Scene12/k5_abcdf/aruco_marker_poses.json | 2 +- .../k5_abcdf/aruco_positions_initial.json | 2 +- .../k5_abcdf/aruco_positions_optimized.json | 2 +- .../k5_abcdf/render_a_aruco_detection.json | 64 ++++----- .../k5_abcdf/render_a_camera_pose.json | 2 +- .../k5_abcdf/render_b_aruco_detection.json | 98 +++++++------- .../k5_abcdf/render_b_camera_pose.json | 2 +- .../k5_abcdf/render_c_aruco_detection.json | 16 +-- .../k5_abcdf/render_c_camera_pose.json | 2 +- .../k5_abcdf/render_d_aruco_detection.json | 26 ++-- .../k5_abcdf/render_d_camera_pose.json | 2 +- .../k5_abcdf/render_f_aruco_detection.json | 60 ++++----- .../k5_abcdf/render_f_camera_pose.json | 2 +- .../Scene12/k5_abcdf/robot_state.eval.json | 4 +- .../Scene12/k5_abcdf/robot_state.json | 2 +- .../k5_abceg/render_a_aruco_detection.json | 64 ++++----- .../k5_abceg/render_b_aruco_detection.json | 98 +++++++------- .../k5_abceg/render_c_aruco_detection.json | 16 +-- .../k5_abceg/render_e_aruco_detection.json | 18 +-- .../Scene12/k5_abdeg/aruco_marker_poses.json | 2 +- .../k5_abdeg/aruco_positions_initial.json | 2 +- .../k5_abdeg/aruco_positions_optimized.json | 2 +- .../k5_abdeg/render_a_aruco_detection.json | 64 ++++----- .../k5_abdeg/render_a_camera_pose.json | 2 +- .../k5_abdeg/render_b_aruco_detection.json | 98 +++++++------- .../k5_abdeg/render_b_camera_pose.json | 2 +- .../k5_abdeg/render_d_aruco_detection.json | 26 ++-- .../k5_abdeg/render_d_camera_pose.json | 2 +- .../k5_abdeg/render_e_aruco_detection.json | 18 +-- .../k5_abdeg/render_e_camera_pose.json | 2 +- .../k5_abdeg/render_g_aruco_detection.json | 58 ++++---- .../k5_abdeg/render_g_camera_pose.json | 2 +- .../Scene12/k5_abdeg/robot_state.eval.json | 4 +- .../Scene12/k5_abdeg/robot_state.json | 2 +- .../Scene12/k5_acdef/aruco_marker_poses.json | 2 +- .../k5_acdef/aruco_positions_initial.json | 2 +- .../k5_acdef/aruco_positions_optimized.json | 2 +- .../k5_acdef/render_a_aruco_detection.json | 64 ++++----- .../k5_acdef/render_a_camera_pose.json | 2 +- .../k5_acdef/render_c_aruco_detection.json | 16 +-- .../k5_acdef/render_c_camera_pose.json | 2 +- .../k5_acdef/render_d_aruco_detection.json | 26 ++-- .../k5_acdef/render_d_camera_pose.json | 2 +- .../k5_acdef/render_e_aruco_detection.json | 18 +-- .../k5_acdef/render_e_camera_pose.json | 2 +- .../k5_acdef/render_f_aruco_detection.json | 60 ++++----- .../k5_acdef/render_f_camera_pose.json | 2 +- .../Scene12/k5_acdef/robot_state.eval.json | 4 +- .../Scene12/k5_acdef/robot_state.json | 2 +- .../Scene12/k5_acdfg/aruco_marker_poses.json | 2 +- .../k5_acdfg/aruco_positions_initial.json | 2 +- .../k5_acdfg/aruco_positions_optimized.json | 2 +- .../k5_acdfg/render_a_aruco_detection.json | 64 ++++----- .../k5_acdfg/render_a_camera_pose.json | 2 +- .../k5_acdfg/render_c_aruco_detection.json | 16 +-- .../k5_acdfg/render_c_camera_pose.json | 2 +- .../k5_acdfg/render_d_aruco_detection.json | 26 ++-- .../k5_acdfg/render_d_camera_pose.json | 2 +- .../k5_acdfg/render_f_aruco_detection.json | 60 ++++----- .../k5_acdfg/render_f_camera_pose.json | 2 +- .../k5_acdfg/render_g_aruco_detection.json | 58 ++++---- .../k5_acdfg/render_g_camera_pose.json | 2 +- .../Scene12/k5_acdfg/robot_state.eval.json | 4 +- .../Scene12/k5_acdfg/robot_state.json | 2 +- .../Scene12/k5_bdefg/aruco_marker_poses.json | 2 +- .../k5_bdefg/aruco_positions_initial.json | 2 +- .../k5_bdefg/aruco_positions_optimized.json | 2 +- .../k5_bdefg/render_b_aruco_detection.json | 98 +++++++------- .../k5_bdefg/render_b_camera_pose.json | 2 +- .../k5_bdefg/render_d_aruco_detection.json | 26 ++-- .../k5_bdefg/render_d_camera_pose.json | 2 +- .../k5_bdefg/render_e_aruco_detection.json | 18 +-- .../k5_bdefg/render_e_camera_pose.json | 2 +- .../k5_bdefg/render_f_aruco_detection.json | 60 ++++----- .../k5_bdefg/render_f_camera_pose.json | 2 +- .../k5_bdefg/render_g_aruco_detection.json | 58 ++++---- .../k5_bdefg/render_g_camera_pose.json | 2 +- .../Scene12/k5_bdefg/robot_state.eval.json | 4 +- .../Scene12/k5_bdefg/robot_state.json | 2 +- .../Scene12/k5_cdefg/aruco_marker_poses.json | 2 +- .../k5_cdefg/aruco_positions_initial.json | 2 +- .../k5_cdefg/aruco_positions_optimized.json | 2 +- .../k5_cdefg/render_c_aruco_detection.json | 16 +-- .../k5_cdefg/render_c_camera_pose.json | 2 +- .../k5_cdefg/render_d_aruco_detection.json | 26 ++-- .../k5_cdefg/render_d_camera_pose.json | 2 +- .../k5_cdefg/render_e_aruco_detection.json | 18 +-- .../k5_cdefg/render_e_camera_pose.json | 2 +- .../k5_cdefg/render_f_aruco_detection.json | 60 ++++----- .../k5_cdefg/render_f_camera_pose.json | 2 +- .../k5_cdefg/render_g_aruco_detection.json | 58 ++++---- .../k5_cdefg/render_g_camera_pose.json | 2 +- .../Scene12/k5_cdefg/robot_state.eval.json | 4 +- .../Scene12/k5_cdefg/robot_state.json | 2 +- doc/camera_number_roadmap.md | 20 +++ 1397 files changed, 11773 insertions(+), 11317 deletions(-) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..dbdd4c2 --- /dev/null +++ b/.gitignore @@ -0,0 +1,28 @@ +# ── Python ── +__pycache__/ +*.py[cod] +*.egg-info/ +.pytest_cache/ + +# ── Virtuelle Umgebung ── +.venv/ +venv/ + +# ── Generierte Studien-Ergebnisse ── +# Zwischenergebnisse der Kamera-Studie (groß, jederzeit reproduzierbar). +# Hinweis: bereits getrackte Dateien bleiben getrackt, bis sie mit +# git rm -r --cached data/camera_study +# aus dem Index genommen werden. +data/camera_study/ + +# Generierte Auswertungs-Outputs (JSON/CSV/PNG), Ordner aber behalten. +benchmark/camera_count/results/* +!benchmark/camera_count/results/.gitkeep + +# Optional: Pipeline-Zwischenergebnisse sind ebenfalls reproduzierbar. +# Aktuell noch getrackt — bei Bedarf die nächste Zeile aktivieren. +# data/evaluations/ + +# ── OS ── +.DS_Store +Thumbs.db diff --git a/README.md b/README.md index 2b3dd5e..7b623e7 100644 --- a/README.md +++ b/README.md @@ -167,6 +167,11 @@ cd run .\run_pipeline.bat ..\data\simulation\Scene8 ``` +Nur eine Teilmenge der Kameras verwenden (für Experimente / die Kamera-Studie): +```bash +python pipeline/run_pipeline.py data/simulation/Scene8 --cameras a,c,f +``` + **Einzelne Stufen** (zum Experimentieren): ```bash python pipeline/3b_corner_marker_poses.py --evalDir data/evaluations/Scene8 --robot data/robot/robot.json @@ -176,11 +181,20 @@ python pipeline/pose_estimation.py data/evaluations/Scene8/aruco_marker_poses.js **Validierung & Benchmark:** ```bash -python benchmark/eval_pose.py data/evaluations/Scene8/robot_state.json data/simulation/Scene8/pose.json +python benchmark/eval_pose.py data/evaluations/Scene8/robot_state.json data/simulation/Scene8/pose.json --robot data/robot/robot.json python benchmark/run_benchmark.py --scenes 4 5 6 7 8 9 9a 9b 11 12 python benchmark/stage0_corner_normals.py --evalDir data/evaluations/Scene5 --gt data/simulation/Scene5/render_a.json python pipeline/9_evaluateMarker.py data/evaluations/Scene8/aruco_marker_poses.json data/simulation/Scene8/render_a.json ``` +Mit `--robot` ergänzt `eval_pose.py` FK-basierte Positionsfehler in mm (Handgelenk +und Finger getrennt; unbeobachtbare Punkte werden als unbekannt gewertet). + +**Kamera-Anzahl-Studie** (Wie viele Kameras braucht es? — eigener Unterordner): +```bash +run\run_camera_study.bat # alle Szenen, k = 3..alle +python benchmark/camera_count/analyze.py # Tabelle + Boxplot (mm) +``` +Details: [`benchmark/camera_count/README.md`](benchmark/camera_count/README.md). **Szenengenerator** (Blender → Bilder + npz + Grundwahrheit): ```bat @@ -196,8 +210,9 @@ Normale, eingefärbt nach Abweichung zur Modellnormale (grün <2° / gelb 2–5 | Pfad | Inhalt | |---|---| -| `pipeline/` | Pipeline-Stufen 1–4, `robot_fk.py`, `pose_estimation.py` | +| `pipeline/` | Pipeline-Stufen 1–4, `robot_fk.py`, `pose_estimation.py`, `run_pipeline.py` (mit `--cameras`) | | `benchmark/` | `stage0_corner_normals.py`, `eval_pose.py`, `run_benchmark.py` | +| `benchmark/camera_count/` | Kamera-Anzahl-Studie (`run_camera_study.py`, `analyze.py`, eigene README) | | `run/` | `.bat`-Starter, `robot_viewer.html` | | `setup/generateSets/` | Blender-Szenengenerator (`render_Loop.py`, `render_robot.py`) | | `data/robot/robot.json` | Modell + Konfiguration | diff --git a/benchmark/camera_count/README.md b/benchmark/camera_count/README.md index 1473d38..6408050 100644 --- a/benchmark/camera_count/README.md +++ b/benchmark/camera_count/README.md @@ -1,7 +1,8 @@ # Kamera-Anzahl-Studie Untersucht, wie sich die Pose-Schätzgenauigkeit verändert, wenn weniger Kameras -verwendet werden. Ergebnis ist eine Kurve **k Kameras → mittlerer Gelenkwinkelfehler (°)**. +verwendet werden. Hauptergebnis ist eine Kurve **k Kameras → Positionsfehler in mm** +an zwei Punkten des Roboters (Handgelenk und Finger). Hintergrundfrage und Entscheidungslogik: [`doc/camera_number_roadmap.md`](../../doc/camera_number_roadmap.md) @@ -19,6 +20,39 @@ Pro Szene müssen vorhanden sein: | `data/robot/robot.json` | Robotermodell | Neue Szenen werden **automatisch erkannt** — kein Skript anpassen nötig. +Für die Plots zusätzlich `matplotlib` (`pip install matplotlib`); ohne läuft +alles, nur das PNG entfällt. + +--- + +## Metriken + +Pro Kamera-Subset werden zwei Positionsfehler per Vorwärtskinematik berechnet — +der euklidische Abstand zwischen geschätzter und wahrer Position eines Punktes: + +| Metrik | Punkt | Hängt ab von | Bedeutung | +|---|---|---|---| +| `wrist_error_mm` | Hand-Ursprung | Armgelenke `x,y,z,a` | Wie genau ist der Arm bis zum Handgelenk? | +| `finger_error_mm` | FingerA-Spitze | volle Kette `x..e` | Wie genau ist die ganze Pose inkl. Hand/Finger? | + +**Unbeobachtbare Gelenke → leerer Wert (n/a).** Sieht ein Subset z. B. die Hand +nicht, ist `b/c/e` unbeobachtbar — dann ist die *wahre* Fingerposition schlicht +unbekannt und `finger_error_mm` bleibt **leer** (statt mit einer falschen 0 +gefüllt zu werden). Das Handgelenk hängt nur von den Armgelenken ab und ist +deshalb meist auch mit wenigen Kameras bestimmbar. + +Welche Gelenke einen Punkt bewegen, wird **numerisch** ermittelt (kleine +Auslenkung je Gelenk) — funktioniert daher auch, wenn sich das Robotermodell ändert. + +Zusätzliche Spalten: + +- `n_unobservable` — Anzahl der 7 Gelenke, die in diesem Subset unbeobachtbar waren. +- `mean_abs_deg` / `max_abs_deg` — Gelenkwinkelfehler (nur **beobachtbare** Gelenke). +- `mean_abs_mm` / `max_abs_mm` — Lineargelenkfehler (`x`, `e`). + +> Hinweis: Winkelfehler zählen unbeobachtbare Gelenke **nicht** mit, die +> mm-Positionsfehler lassen sie als n/a aus. Beide blenden also dieselben Fälle +> aus — die `n/a`-Spalte zeigt, wie oft das passiert. --- @@ -43,11 +77,14 @@ run\run_camera_study.bat --k-min 3 --k-max 5 REM Weniger Samples — schneller, weniger repräsentativ run\run_camera_study.bat --samples 3 -REM Existierende Ergebnisse überschreiben +REM Pipeline für vorhandene Subsets erneut laufen lassen run\run_camera_study.bat --force -REM Alles kombinierbar -run\run_camera_study.bat --scenes Scene7 --k-min 3 --k-max 5 --samples 5 --force +REM VOLLSTÄNDIGER Neustart: alles löschen und neu rechnen +run\run_camera_study.bat --clean + +REM Nur eine re-gerenderte Szene komplett neu rechnen (Rest bleibt erhalten) +run\run_camera_study.bat --clean --scenes Scene10 ``` Oder direkt über Python (z. B. in einer Linux-Umgebung / Docker): @@ -56,44 +93,58 @@ Oder direkt über Python (z. B. in einer Linux-Umgebung / Docker): python benchmark/camera_count/run_camera_study.py --samples 10 ``` -**Laufzeit:** Pro Kamera-Subset läuft die volle Pipeline (Schritt 1–4). -Bei 3 Szenen × 5 k-Werte × 10 Samples = 150 Läufe — je nach Hardware mehrere Minuten. +**Laufzeit & Wiederholläufe:** Pro Kamera-Subset läuft die volle Pipeline +(Schritt 1–4). Bereits gerechnete Subsets werden **übersprungen** (kein `--force` +nötig für Fortsetzung) — die mm-Auswertung wird dabei trotzdem frisch berechnet, +ein erneuter Lauf ohne `--force` ist also schnell. -Bereits gerechnete Subsets werden **übersprungen** (kein `--force` nötig für Fortsetzung). +**Drei Stufen der Wiederholung:** + +| Flag | Wirkung | +|---|---| +| *(kein Flag)* | Vorhandene `robot_state.json` werden wiederverwendet, nur die Auswertung neu gerechnet. Schnell. | +| `--force` | Pipeline läuft erneut, überschreibt `robot_state.json`. Für geänderte Pipeline-Logik. | +| `--clean` | Löscht Zwischenergebnisse vorher komplett. **Nötig nach Re-Rendering.** Ohne `--scenes` wird alles inkl. Ergebnisdateien zurückgesetzt; mit `--scenes` nur die genannten Szenen. | + +**Merge:** Ein Lauf über einzelne Szenen (`--scenes`) aktualisiert nur deren +Zeilen in `camera_study.json/.csv` — die übrigen Szenen bleiben erhalten. Du +kannst also eine re-gerenderte Szene neu rechnen, ohne die Gesamtauswertung zu verlieren. --- ## Schritt 2 — Auswertung ```bash -python benchmark/camera_count/analyze.py +python benchmark/camera_count/analyze.py # finger_error_mm (Standard) +python benchmark/camera_count/analyze.py --metric wrist_error_mm +python benchmark/camera_count/analyze.py --metric mean_abs_deg ``` -Ausgabe auf der Konsole: +Beispielausgabe (nur Scene10): ``` -Kamera-Anzahl vs. mean_abs_deg - k | n | Mittel | Median | Std | Min | Max ------------------------------------------------------------------ - 3 | 30 | 0.842 | 0.731 | 0.312 | 0.251 | 1.843 - 4 | 30 | 0.563 | 0.521 | 0.198 | 0.252 | 1.102 - ... +Kamera-Anzahl vs. finger_error_mm + k | n | n/a | Mittel | Median | Std | Min | Max +-------------------------------------------------------------------------- + 3 | 4 | 6 | 1.775 | 1.583 | 0.986 | 0.710 | 3.225 + 4 | 10 | 0 | 1.955 | 2.034 | 0.696 | 0.503 | 3.317 + 5 | 10 | 0 | 1.391 | 1.322 | 0.646 | 0.614 | 2.468 + 6 | 7 | 0 | 1.306 | 1.288 | 0.389 | 0.697 | 1.992 + 7 | 1 | 0 | 1.251 | 1.251 | 0.000 | 1.251 | 1.251 -Beste / schlechteste Subsets je k: - k=3: best [Scene7] ace (0.251°) worst [Scene9] bdf (1.843°) + n/a = Subsets, bei denen dieser Punkt unbeobachtbar war (nicht eingerechnet). + +Beste / schlechteste Subsets je k (finger_error_mm): + k=3: best [Scene10] bcd (0.710) worst [Scene10] acf (3.225) ... ``` -Zusätzlich wird ein Boxplot gespeichert: -`benchmark/camera_count/results/camera_count_vs_error.png` +Hier sieht man sofort: bei **k=3 konnten 6 von 10 Subsets den Finger gar nicht +sehen** (n/a=6). Das ist die eigentliche Aussage — nicht „der Fehler ist klein", +sondern „die meisten 3-Kamera-Anordnungen verlieren die Hand komplett". -**Andere Metrik:** - -```bash -python benchmark/camera_count/analyze.py --metric max_abs_deg -``` - -Verfügbare Metriken: `finger_error_mm` (Standard), `mean_abs_deg`, `max_abs_deg`, `mean_abs_mm`, `max_abs_mm` +Verfügbare Metriken: `finger_error_mm` (Standard), `wrist_error_mm`, +`mean_abs_deg`, `max_abs_deg`, `mean_abs_mm`, `max_abs_mm`. --- @@ -101,9 +152,9 @@ Verfügbare Metriken: `finger_error_mm` (Standard), `mean_abs_deg`, `max_abs_deg | Pfad | Inhalt | |---|---| -| `benchmark/camera_count/results/camera_study.json` | Alle Einzelergebnisse (Szene, k, Subset, Fehler) | -| `benchmark/camera_count/results/camera_study.csv` | Dasselbe als CSV — Spalten inkl. `finger_error_mm` | -| `benchmark/camera_count/results/camera_count_vs_error.png` | Boxplot | +| `benchmark/camera_count/results/camera_study.json` | Alle Einzelergebnisse | +| `benchmark/camera_count/results/camera_study.csv` | Dasselbe als CSV (Spalten inkl. `wrist_error_mm`, `finger_error_mm`, `n_unobservable`) | +| `benchmark/camera_count/results/camera_count_.png` | Boxplot je Metrik | | `data/camera_study/SceneX/k3_abc/` | Pipeline-Zwischenergebnisse pro Subset | Die Zwischenergebnisse in `data/camera_study/` sind groß — nicht committen. @@ -112,18 +163,22 @@ Die Zwischenergebnisse in `data/camera_study/` sind groß — nicht committen. ## Ergebnis interpretieren -Die Studie beantwortet drei Fragen: +Die Studie beantwortet vier Fragen: -1. **Ab welchem k wird der Fehler stabil?** +1. **Wird die Hand überhaupt gesehen?** + → `n/a`-Spalte bei `finger_error_mm`. Viele n/a bei k=3 heißt: zu wenige + Kameras verlieren die Hand systematisch. + +2. **Ab welchem k wird der Fehler stabil?** → Knick in der Kurve zeigt den Sättigungspunkt. -2. **Welche Kamera-Kombination ist bei k=3 am besten?** +3. **Welche Kamera-Kombination ist bei kleinem k am besten?** → `analyze.py` gibt beste und schlechteste Subsets aus. -3. **Gibt es Szenen / Posen, bei denen wenige Kameras systematisch scheitern?** - → CSV öffnen, nach `scene` gruppieren. +4. **Arm vs. Hand getrennt:** Das Handgelenk (`wrist_error_mm`) ist meist schon + mit 3 Kameras gut bestimmt — der kritische Teil ist die Hand/Finger-Orientierung. Eine praktische Entscheidungsregel: 3 Kameras gelten als ausreichend, wenn -`mean_abs_deg` bei k=3 nicht mehr als ~20 % schlechter ist als beim Maximum, -und `max_abs_deg` keine kritischen Ausreißer zeigt. +(a) der Finger in fast allen Subsets beobachtbar ist (wenig n/a) **und** +(b) `finger_error_mm` bei k=3 nicht wesentlich schlechter ist als beim Maximum. (Schwellwert je nach Anwendung anpassen.) diff --git a/benchmark/camera_count/analyze.py b/benchmark/camera_count/analyze.py index 5c33658..fc36628 100644 --- a/benchmark/camera_count/analyze.py +++ b/benchmark/camera_count/analyze.py @@ -4,13 +4,21 @@ benchmark/camera_count/analyze.py =================================== Liest camera_study.json und erstellt: - Konsolentabelle: k → Mittelwert / Median / Std / Min / Max des Fehlers + (inkl. n/a-Spalte: Subsets, bei denen der Punkt unbeobachtbar war) - Beste und schlechteste Kamera-Subsets je k - - Boxplot: Anzahl Kameras vs. Gelenkwinkelfehler (PNG) + - Boxplot: Anzahl Kameras vs. Fehler (PNG) + +Metriken: + finger_error_mm (Standard) — Fingerposition in mm (volle Kette x..e). + Leer, wenn Hand/Palm/Finger unbeobachtbar. + wrist_error_mm — Handgelenkposition in mm (nur Armgelenke x,y,z,a). + mean_abs_deg / max_abs_deg — Gelenkwinkelfehler in Grad (nur beobachtbare Gelenke). + mean_abs_mm / max_abs_mm — Lineargelenkfehler (x, e) in mm. Aufruf: python benchmark/camera_count/analyze.py - python benchmark/camera_count/analyze.py --input benchmark/camera_count/results/camera_study.json - python benchmark/camera_count/analyze.py --metric max_abs_deg + python benchmark/camera_count/analyze.py --metric wrist_error_mm + python benchmark/camera_count/analyze.py --metric mean_abs_deg """ from __future__ import annotations @@ -29,28 +37,39 @@ def load(path: str) -> list[dict]: return data -def group_by_k(data: list[dict], metric: str) -> dict[int, list[float]]: +def group_by_k(data: list[dict], metric: str) -> tuple[dict[int, list[float]], dict[int, int]]: + """Werte je k (None übersprungen) plus Anzahl der n/a-Fälle je k.""" by_k: dict[int, list[float]] = {} + na_by_k: dict[int, int] = {} for row in data: + k = row["k"] v = row.get(metric) if v is None: + na_by_k[k] = na_by_k.get(k, 0) + 1 continue - by_k.setdefault(row["k"], []).append(v) - return by_k + by_k.setdefault(k, []).append(v) + return by_k, na_by_k -def print_table(by_k: dict[int, list[float]], metric: str) -> None: +def print_table(by_k: dict[int, list[float]], na_by_k: dict[int, int], metric: str) -> None: print(f"\nKamera-Anzahl vs. {metric}") - print(f"{'k':>4} | {'n':>5} | {'Mittel':>8} | {'Median':>8} | " + print(f"{'k':>4} | {'n':>5} | {'n/a':>5} | {'Mittel':>8} | {'Median':>8} | " f"{'Std':>8} | {'Min':>8} | {'Max':>8}") - print("-" * 65) - for k in sorted(by_k): - vals = by_k[k] - med = statistics.median(vals) - std = statistics.pstdev(vals) - print(f"{k:>4} | {len(vals):>5} | " - f"{statistics.mean(vals):8.3f} | {med:8.3f} | " - f"{std:8.3f} | {min(vals):8.3f} | {max(vals):8.3f}") + print("-" * 74) + all_ks = sorted(set(by_k) | set(na_by_k)) + for k in all_ks: + na = na_by_k.get(k, 0) + vals = by_k.get(k, []) + if not vals: + print(f"{k:>4} | {0:>5} | {na:>5} | {'—':>8} | {'—':>8} | " + f"{'—':>8} | {'—':>8} | {'—':>8}") + continue + print(f"{k:>4} | {len(vals):>5} | {na:>5} | " + f"{statistics.mean(vals):8.3f} | {statistics.median(vals):8.3f} | " + f"{statistics.pstdev(vals):8.3f} | {min(vals):8.3f} | {max(vals):8.3f}") + if any(na_by_k.values()): + print("\n n/a = Subsets, bei denen dieser Punkt unbeobachtbar war " + "(Position unbekannt, nicht eingerechnet).") def print_best_worst(data: list[dict], metric: str) -> None: @@ -59,6 +78,7 @@ def print_best_worst(data: list[dict], metric: str) -> None: for k in ks: rows_k = [r for r in data if r["k"] == k and r.get(metric) is not None] if not rows_k: + print(f" k={k}: keine beobachtbaren Werte") continue best = min(rows_k, key=lambda r: r[metric]) worst = max(rows_k, key=lambda r: r[metric]) @@ -67,7 +87,8 @@ def print_best_worst(data: list[dict], metric: str) -> None: f"worst [{worst['scene']}] {worst['subset']} ({worst[metric]:.3f})") -def plot(by_k: dict[int, list[float]], metric: str, out_path: str) -> None: +def plot(by_k: dict[int, list[float]], na_by_k: dict[int, int], + metric: str, out_path: str) -> None: try: import matplotlib.pyplot as plt except ImportError: @@ -75,14 +96,25 @@ def plot(by_k: dict[int, list[float]], metric: str, out_path: str) -> None: return ks = sorted(by_k) + if not ks: + print("\n[INFO] Keine Werte zum Plotten (alle unbeobachtbar).") + return data_plot = [by_k[k] for k in ks] fig, ax = plt.subplots(figsize=(8, 5)) ax.boxplot(data_plot, labels=[str(k) for k in ks], patch_artist=True) ax.set_xlabel("Anzahl Kameras") - ax.set_ylabel(f"{metric}") + ax.set_ylabel(metric) ax.set_title("Anzahl Kameras vs. Pose-Schätzfehler") ax.grid(True, axis="y", alpha=0.35) + + # n und n/a je k über den Boxen annotieren + ymax = max(max(v) for v in data_plot) + for i, k in enumerate(ks, start=1): + na = na_by_k.get(k, 0) + note = f"n={len(by_k[k])}" + (f"\nn/a={na}" if na else "") + ax.text(i, ymax * 1.02, note, ha="center", va="bottom", fontsize=8, color="gray") + fig.tight_layout() fig.savefig(out_path, dpi=150) print(f"\n[INFO] Plot gespeichert: {out_path}") @@ -92,26 +124,29 @@ def main() -> None: ap = argparse.ArgumentParser(description="Auswertung der Kamera-Anzahl-Studie") ap.add_argument("--input", default=str(RESULTS_DIR / "camera_study.json")) ap.add_argument("--metric", - choices=["mean_abs_deg", "max_abs_deg", "mean_abs_mm", "max_abs_mm", - "finger_error_mm"], + choices=["finger_error_mm", "wrist_error_mm", + "mean_abs_deg", "max_abs_deg", "mean_abs_mm", "max_abs_mm"], default="finger_error_mm", help="Metrik für Tabelle und Plot (Standard: finger_error_mm)") ap.add_argument("--out-plot", - default=str(RESULTS_DIR / "camera_count_vs_error.png")) + default=None, + help="Plot-Pfad (Standard: results/camera_count_.png)") args = ap.parse_args() data = load(args.input) if not data: return - by_k = group_by_k(data, args.metric) - if not by_k: + by_k, na_by_k = group_by_k(data, args.metric) + if not by_k and not na_by_k: print(f"[ERROR] Keine Werte für Metrik '{args.metric}' gefunden.") return - print_table(by_k, args.metric) + out_plot = args.out_plot or str(RESULTS_DIR / f"camera_count_{args.metric}.png") + + print_table(by_k, na_by_k, args.metric) print_best_worst(data, args.metric) - plot(by_k, args.metric, args.out_plot) + plot(by_k, na_by_k, args.metric, out_plot) if __name__ == "__main__": diff --git a/benchmark/camera_count/run_camera_study.py b/benchmark/camera_count/run_camera_study.py index 2564660..6746a55 100644 --- a/benchmark/camera_count/run_camera_study.py +++ b/benchmark/camera_count/run_camera_study.py @@ -26,6 +26,7 @@ import itertools import json import random import re +import shutil import subprocess import sys from pathlib import Path @@ -101,7 +102,10 @@ def main() -> None: ap.add_argument("--seed", type=int, default=42) ap.add_argument("--robot", default=str(ROOT / "data" / "robot" / "robot.json")) ap.add_argument("--force", action="store_true", - help="Existierende robot_state.json überschreiben") + help="Vorhandene robot_state.json neu rechnen (Pipeline erneut laufen)") + ap.add_argument("--clean", action="store_true", + help="Zwischenergebnisse vorher löschen und komplett neu rechnen. " + "Mit --scenes nur diese Szenen, ohne --scenes alles (inkl. Ergebnisdateien).") ap.add_argument("--out", default=str(RESULTS_DIR / "camera_study.json")) ap.add_argument("--csv", default=str(RESULTS_DIR / "camera_study.csv")) args = ap.parse_args() @@ -110,6 +114,7 @@ def main() -> None: RESULTS_DIR.mkdir(parents=True, exist_ok=True) sim_dir = ROOT / "data" / "simulation" + study_root = ROOT / "data" / "camera_study" scenes = discover_scenes(sim_dir) if args.scenes: want = {s if s.startswith("Scene") else f"Scene{s}" for s in args.scenes} @@ -118,6 +123,25 @@ def main() -> None: print("[ERROR] Keine Szenen mit pose.json und render_*.png gefunden.") sys.exit(1) + # --clean: Zwischenergebnisse (und bei vollem Reset auch die Aggregat-Dateien) entfernen. + if args.clean: + if args.scenes: + for s in scenes: + d = study_root / s + if d.exists(): + shutil.rmtree(d) + print(f"[CLEAN] entfernt {d}") + else: + if study_root.exists(): + shutil.rmtree(study_root) + print(f"[CLEAN] entfernt {study_root}") + for f in (Path(args.out), Path(args.csv)): + if f.exists(): + f.unlink() + print(f"[CLEAN] entfernt {f}") + # Nach dem Löschen muss die Pipeline zwangsläufig neu laufen. + args.force = True + print(f"[INFO] Szenen: {scenes}") print(f"[INFO] Seed={args.seed} Samples/k={args.samples}\n") @@ -168,32 +192,51 @@ def main() -> None: "max_abs_deg": s.get("max_abs_deg"), "mean_abs_mm": s.get("mean_abs_mm"), "max_abs_mm": s.get("max_abs_mm"), + "wrist_error_mm": s.get("wrist_error_mm"), "finger_error_mm": s.get("finger_error_mm"), + "n_unobservable": s.get("n_unobservable"), } all_results.append(row) errs.append(row["mean_abs_deg"] or 0.0) - fe = row["finger_error_mm"] - fe_str = f" finger={fe:.2f}mm" if fe is not None else "" - print(f" {label}: mean={row['mean_abs_deg']:.3f}° max={row['max_abs_deg']:.3f}°{fe_str}") + we, fe = row["wrist_error_mm"], row["finger_error_mm"] + we_str = f"{we:.2f}mm" if we is not None else "n/a" + fe_str = f"{fe:.2f}mm" if fe is not None else "n/a" + print(f" {label}: mean={row['mean_abs_deg']:.3f}° " + f"wrist={we_str} finger={fe_str} unobs={row['n_unobservable']}") if errs: print(f" k={k} Zusammenfassung: mean={mean(errs):.3f}° " f"min={min(errs):.3f}° max={max(errs):.3f}°") - # Ergebnisse schreiben - Path(args.out).write_text(json.dumps(all_results, indent=2), encoding="utf-8") + # Ergebnisse schreiben — andere Szenen erhalten (mergen statt überschreiben), + # damit ein Lauf über einzelne Szenen die übrigen nicht aus der Aggregat-Datei kippt. + out_path = Path(args.out) + processed = set(scenes) + merged: list[dict] = [] + if out_path.exists(): + try: + existing = json.loads(out_path.read_text(encoding="utf-8")) + merged = [r for r in existing if r.get("scene") not in processed] + except (json.JSONDecodeError, OSError): + merged = [] + merged.extend(all_results) + merged.sort(key=lambda r: (r["scene"], r["k"], r["subset"])) + out_path.write_text(json.dumps(merged, indent=2), encoding="utf-8") with open(args.csv, "w", encoding="utf-8") as f: - f.write("scene,k,subset,mean_abs_deg,max_abs_deg,mean_abs_mm,max_abs_mm,finger_error_mm\n") - for r in all_results: + f.write("scene,k,subset,mean_abs_deg,max_abs_deg,mean_abs_mm,max_abs_mm," + "wrist_error_mm,finger_error_mm,n_unobservable\n") + for r in merged: f.write(f"{r['scene']},{r['k']},{r['subset']}," f"{r['mean_abs_deg'] or ''}," f"{r['max_abs_deg'] or ''}," f"{r['mean_abs_mm'] or ''}," f"{r['max_abs_mm'] or ''}," - f"{r['finger_error_mm'] or ''}\n") + f"{r['wrist_error_mm'] if r['wrist_error_mm'] is not None else ''}," + f"{r['finger_error_mm'] if r['finger_error_mm'] is not None else ''}," + f"{r['n_unobservable'] if r['n_unobservable'] is not None else ''}\n") - print(f"\n[DONE] {len(all_results)} Ergebnisse -> {args.out}") + print(f"\n[DONE] {len(all_results)} neu, {len(merged)} gesamt -> {args.out}") if __name__ == "__main__": diff --git a/benchmark/eval_pose.py b/benchmark/eval_pose.py index 064acb9..db9f6bb 100644 --- a/benchmark/eval_pose.py +++ b/benchmark/eval_pose.py @@ -9,6 +9,15 @@ Per-joint error: revolute (y,z,a,b,c): angular error in degrees, wrap-aware (179 vs -179 = 2deg) linear (x,e): error in millimetres +With --robot, additionally computes FK-based position errors (mm) at the points +in TRACK_POINTS — the euclidean distance between estimated and true world +position of a point on the robot: + wrist_error_mm : Hand origin (depends only on arm joints x,y,z,a) + finger_error_mm : FingerA tip (depends on the full chain x..e) +A point whose chain contains an UNOBSERVABLE joint yields None (the true +position is simply unknown) rather than a misleading value. n_unobservable +counts how many of the 7 joints were unobservable. + Prints a table and optionally writes a JSON summary. Returns nonzero if any observable joint exceeds a tolerance (for scripted regression checks). """ @@ -27,7 +36,14 @@ from robot_fk import RobotFK # noqa: E402 LINEAR = {"x", "e"} JOINTS = ["x", "y", "z", "a", "b", "c", "e"] -FINGER_LINK = "FingerA" + +# Messpunkte entlang der Kette: name -> (link, lokaler Offset in mm). +# wrist = Hand-Ursprung (hängt nur von den Armgelenken x,y,z,a ab) +# finger = FingerA-Skelettspitze (hängt von der ganzen Kette ab) +TRACK_POINTS = { + "wrist": ("Hand", [0.0, 0.0, 0.0]), + "finger": ("FingerA", [0.0, -60.0, 0.0]), +} def load_estimate(path: str) -> Dict[str, Dict[str, Any]]: @@ -58,18 +74,45 @@ def joint_error(v: str, est: float, gt: float) -> float: return abs(((est - gt + 180.0) % 360.0) - 180.0) -def finger_error_mm(est: Dict[str, Any], gt: Dict[str, float], - robot_path: Optional[str]) -> Optional[float]: - """Euklidischer Abstand der FingerA-Position (FK) zwischen Schätzung und GT.""" - if not robot_path: +def _point_world(fk: RobotFK, vals: Dict[str, float], + link: str, local: list) -> np.ndarray: + """Weltposition eines lokalen Punktes auf einem Link (mm).""" + T = fk.compute(vals) + h = np.array([local[0], local[1], local[2], 1.0]) + return (T[link] @ h)[:3] + + +def _dependent_joints(fk: RobotFK, gt_vals: Dict[str, float], + link: str, local: list, + eps: float = 5.0, thresh: float = 1e-6) -> set: + """Gelenke, die diesen Punkt bewegen — numerisch per Perturbation am GT-Zustand. + + Robust für beliebige Robotermodelle: ein Gelenk zählt als abhängig, wenn + eine kleine Auslenkung den Punkt messbar verschiebt. Die eigene Drehung des + Handgelenks z.B. bewegt den Hand-Ursprung nicht und wird korrekt ausgelassen. + """ + base = _point_world(fk, gt_vals, link, local) + deps = set() + for j in JOINTS: + v = dict(gt_vals) + v[j] = v[j] + eps + if float(np.linalg.norm(_point_world(fk, v, link, local) - base)) > thresh: + deps.add(j) + return deps + + +def point_error_mm(fk: RobotFK, est_vals: Dict[str, float], gt_vals: Dict[str, float], + observable: Dict[str, bool], link: str, local: list) -> Optional[float]: + """Euklidischer Positionsfehler eines Punktes (mm). + + Gibt None zurück, wenn irgendein Gelenk, von dem der Punkt abhängt, + unbeobachtbar ist — dann ist die wahre Position schlicht unbekannt. + """ + deps = _dependent_joints(fk, gt_vals, link, local) + if any(not observable.get(j, False) for j in deps): return None - fk = RobotFK.from_file(robot_path) - est_vals = {v: est[v]["value"] for v in JOINTS} - gt_vals = {v: gt.get(v, 0.0) for v in JOINTS} - t_est = fk.compute(est_vals) - t_gt = fk.compute(gt_vals) - p_est = t_est[FINGER_LINK][:3, 3] - p_gt = t_gt[FINGER_LINK][:3, 3] + p_est = _point_world(fk, est_vals, link, local) + p_gt = _point_world(fk, gt_vals, link, local) return float(np.linalg.norm(p_est - p_gt)) @@ -97,8 +140,19 @@ def evaluate(estimate_path: str, gt_path: str, "max_abs_deg": max(ang_errs) if ang_errs else None, "mean_abs_mm": (sum(lin_errs) / len(lin_errs)) if lin_errs else None, "max_abs_mm": max(lin_errs) if lin_errs else None, - "finger_error_mm": finger_error_mm(est, gt, robot_path), + "n_unobservable": sum(1 for v in JOINTS if not est.get(v, {}).get("observable", False)), } + + # FK-basierte Positionsfehler (mm) je Messpunkt — nur wenn robot.json gegeben + if robot_path: + fk = RobotFK.from_file(robot_path) + est_vals = {v: est[v]["value"] for v in JOINTS} + gt_vals = {v: gt.get(v, 0.0) for v in JOINTS} + observable = {v: bool(est.get(v, {}).get("observable", False)) for v in JOINTS} + for name, (link, local) in TRACK_POINTS.items(): + summary[f"{name}_error_mm"] = point_error_mm( + fk, est_vals, gt_vals, observable, link, local) + return {"rows": rows, "summary": summary} @@ -128,9 +182,11 @@ def main() -> int: mm = f"{s['mean_abs_mm']:.2f}" if s["mean_abs_mm"] is not None else "-" xm = f"{s['max_abs_mm']:.2f}" if s["max_abs_mm"] is not None else "-" print(f"angles: mean {md}deg / max {xd}deg | linear: mean {mm}mm / max {xm}mm") - fe = s.get("finger_error_mm") - if fe is not None: - print(f"finger ({FINGER_LINK}) position error: {fe:.2f} mm") + print(f"unobservable joints: {s.get('n_unobservable', 0)}") + for name in TRACK_POINTS: + pe = s.get(f"{name}_error_mm") + txt = f"{pe:.2f} mm" if pe is not None else "n/a (Gelenk unbeobachtbar)" + print(f"{name:>6} position error: {txt}") if args.out: json.dump(res, open(args.out, "w", encoding="utf-8"), indent=2) diff --git a/data/camera_study/Scene10/k3_abd/aruco_marker_poses.json b/data/camera_study/Scene10/k3_abd/aruco_marker_poses.json index cc77d2a..a4fa3c8 100644 --- a/data/camera_study/Scene10/k3_abd/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_abd/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:18:17Z", + "created_utc": "2026-06-02T22:34:42Z", "summary": { "num_cameras": 3, "num_markers": 23 diff --git a/data/camera_study/Scene10/k3_abd/aruco_positions_initial.json b/data/camera_study/Scene10/k3_abd/aruco_positions_initial.json index 9630bbd..d62a3e4 100644 --- a/data/camera_study/Scene10/k3_abd/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_abd/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:18:16Z", + "created_utc": "2026-06-02T22:34:41Z", "summary": { "num_cameras": 3, "num_markers": 23, diff --git a/data/camera_study/Scene10/k3_abd/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_abd/aruco_positions_optimized.json index e673754..9899e27 100644 --- a/data/camera_study/Scene10/k3_abd/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_abd/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:18:16Z", + "created_utc": "2026-06-02T22:34:42Z", "summary": { "num_cameras": 3, "num_markers": 23, diff --git a/data/camera_study/Scene10/k3_abd/render_a_aruco_detection.json b/data/camera_study/Scene10/k3_abd/render_a_aruco_detection.json index 6eda1d8..2e87b9f 100644 --- a/data/camera_study/Scene10/k3_abd/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k3_abd/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:13Z", + "created_utc": "2026-06-02T22:34:38Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c16c33ae-956f-494e-88e9-c332a7d2181f", + "observation_id": "dfbd001f-af8d-41ac-b994-f7fd133a8930", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "898e927f-cab3-42e1-b3e6-a082a165941f", + "observation_id": "3f8e89fa-9c0a-4754-b489-db15f0874268", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "5d0c1501-a6e1-4653-9152-0534c2a69d3c", + "observation_id": "1c6c8504-dcf5-4a85-9512-a147e54a5e80", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "192788d8-3678-4738-a4f4-4b0de984cef9", + "observation_id": "0145ac9a-d9e4-4f7e-8ff6-5ff60c3f85c1", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "92df4393-1f7e-4f2f-b3da-35924c6678d0", + "observation_id": "7a45c0d5-91f0-4600-ae26-56dd93a98887", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "83e6c754-d40a-40d7-9246-361b1ae3e786", + "observation_id": "c5c35313-979e-44cd-b4db-728b0de1dd56", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "3ebe41d9-26ca-4b79-a412-e1ef65f65642", + "observation_id": "3188768c-2b5f-4d7b-a9ae-b9773a3aa7e7", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "b7a09f7b-0816-4d3c-92ec-97532bd75c9d", + "observation_id": "a2513085-2f72-45db-aed7-87a0462048ed", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "cdaec92a-02e8-4392-a51a-821faa355d43", + "observation_id": "ab4c61dc-9eba-4345-ab46-6f34b52dddee", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "b17ca62b-d5bc-4bf1-9aaa-a3f29ba3c9af", + "observation_id": "64933396-066f-4143-8a0d-82ea40c9cf65", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "90b2f396-6789-44db-be87-6ef80d5d1eb4", + "observation_id": "b7453868-bf85-4de5-8c38-a514426bc4d3", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "b34b73aa-e057-4cf0-b0e8-185e435a061e", + "observation_id": "5f47df3b-b495-4a38-a163-7234003a92af", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "7cf9b5fd-1191-488c-9d1e-b115bdcdb653", + "observation_id": "36133076-c470-4739-8c0a-3e334e696e0a", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "572910c1-1001-4312-ae6e-21c35b909a6a", + "observation_id": "59a3d76b-7f14-476a-a085-c33c28b20f96", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "4adc78e9-40d5-4b4b-95ec-e826743004bb", + "observation_id": "1e5fad4e-3a39-4ff6-9ec3-16d7b96f54bb", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "25b1973d-1442-4b8a-9dcc-edad04a0c8b1", + "observation_id": "e7b1c068-79a5-4b43-9d43-909e9b73f9b5", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "9eabfab2-361d-4528-8324-3bbb2c99795a", + "observation_id": "880a918b-2190-4560-b4cc-a3d2d72fbb37", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "135faad4-ec17-4f3b-a679-81e70ea5b20f", + "observation_id": "aa3de33c-7711-4280-9461-bf90c4ecfe68", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "8734945d-b564-4813-8a3e-67858f896404", + "observation_id": "7e5acc33-2e42-4ede-bfbb-c96b3a9a4fa3", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "ac7c16a9-905d-4e03-b939-e68a9a1483fa", + "observation_id": "364a24a1-cf89-41f0-a8d9-1b1b73a7b1ba", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "263189e3-75f3-4cd6-9640-3aa8d51b3870", + "observation_id": "d5a485b8-094b-43df-8ad7-8f961cff5a5e", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "17ebfa5b-4fe1-4dd0-a46d-27ede1de3f99", + "observation_id": "5e693f55-71ae-430a-8bcc-cfc8bcded5e2", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "1733e0e3-b895-472a-94e7-8d8311db8a7b", + "observation_id": "59fc3aea-5c9e-4d11-86af-39f35ba8136b", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "32ecfa9d-c39b-4d1d-aecc-bc3a1a6cb4c6", + "observation_id": "a2e79a7a-985f-42e0-a409-4068df7aaf69", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "65bf7a7c-f238-4462-9ff2-945ed668f100", + "observation_id": "271b6cfb-8890-4d4c-8fc0-043fbd8a53f5", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "a66cbab7-ce4c-4e54-9105-20acdbbe050d", + "observation_id": "eff8d933-c0ad-475a-8f36-76502cded333", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_abd/render_a_camera_pose.json b/data/camera_study/Scene10/k3_abd/render_a_camera_pose.json index 3afbfb6..1db6edd 100644 --- a/data/camera_study/Scene10/k3_abd/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k3_abd/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:15Z", + "created_utc": "2026-06-02T22:34:40Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_abd\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_abd/render_b_aruco_detection.json b/data/camera_study/Scene10/k3_abd/render_b_aruco_detection.json index db6e1bf..83afc87 100644 --- a/data/camera_study/Scene10/k3_abd/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k3_abd/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:14Z", + "created_utc": "2026-06-02T22:34:39Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "55353536-65b2-41e3-b723-5361da0da008", + "observation_id": "f956e0ca-934e-4bce-b2bb-e6c5ff28e0ce", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "1579a3e3-a934-484c-9f45-f07dcca77edd", + "observation_id": "7e0be682-dc61-4e5f-9d27-1f3f0eb6b0ad", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "0f8a9616-24a0-4789-9cb0-ee8da80b664c", + "observation_id": "20c2a84d-6526-440c-be3b-13e5f1af7a78", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "65268d31-48ba-485c-bdbc-29b5243fa1f8", + "observation_id": "93288ccd-e5f9-4edd-b6a8-e1c582be5582", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "c69cb384-3ef7-445c-8af7-a0ddb00cb950", + "observation_id": "c26ecb96-2871-4430-b9a2-00d62d18611f", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "89ca90dd-228b-4b54-8669-4cf1fe341a64", + "observation_id": "8d8e1c81-7ca5-4542-b725-a6825cf335b1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "de98ba69-f905-4389-8afd-36b7647f2590", + "observation_id": "ef507fe5-d231-44a2-afcb-9e8d67009407", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "0ec6c25d-1ce9-4ef4-821f-d1418baed99a", + "observation_id": "c9a207a5-7279-430d-b3d7-0aefe6198bb8", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "10d5908f-ddec-45ea-8d44-c3d9c3d5d68c", + "observation_id": "f930c55e-ecab-432e-8912-166d11bbcfec", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "3903472d-e708-423c-8e52-a2fa6055b8cb", + "observation_id": "7122a8cc-421b-4bed-841c-5fb24b3ecaad", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "3f72cde5-f5ba-4059-996f-e201c2977b2a", + "observation_id": "581a3643-611d-404e-984e-49d8b373a2f7", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "b7b70a65-13d1-44b0-80b8-f07934f81b6f", + "observation_id": "c5f91ce9-6d3a-4cdb-8971-9656f31cfc1a", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "0cad6650-e25a-4352-9559-17d496ed7f6a", + "observation_id": "b78d63d3-92e7-4bf5-b9e7-aaa4d74eb00c", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "c9ca3e70-715c-4308-8d25-46fb16181637", + "observation_id": "98b038a1-dc83-48e1-ab9b-6a7784dc575e", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "c4df62c7-01eb-4fb4-8024-97cce07a3415", + "observation_id": "aecd1f8a-0239-4be0-90f0-0f8cbdaac07a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "8c871dd1-8f07-4448-bb4d-15867386a675", + "observation_id": "462208a6-8abe-4f8b-8f72-471769b5d039", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "9a1af132-6145-431c-941e-b14b38a87e4a", + "observation_id": "d4ebf542-62ae-47eb-817d-5b68b09dbfa2", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "62eb8e0b-4ab6-46c4-9a47-729ad61bac6b", + "observation_id": "e3cda406-88bd-4ec5-816d-ecd8f58c3a81", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "190c152c-e478-4c7f-b830-0606ef137a26", + "observation_id": "927ba3dc-9a97-4634-bb72-f3bdb447aaa3", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "06c14363-095c-4525-a04d-048f2c225cc2", + "observation_id": "98d9028c-911b-42f0-b5c8-03aa16f75dbe", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "ceeb155e-d6c6-4cb4-9847-5e3ff99de4a3", + "observation_id": "f5ea1abd-4d16-43ba-81be-2465f4fa0fc9", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "e3493ba0-a30e-4b7e-a51f-1b222a6e9bf1", + "observation_id": "8962da97-b11e-44d8-a170-92303fdf7c4f", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "8278ad18-694c-4275-abe6-69e297614e68", + "observation_id": "2cba6cdc-c80b-4d74-90f3-d1c0ebc9bac1", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "8350fdf5-4362-4e6a-a86e-03a4004981a2", + "observation_id": "a7bbc867-43da-40b6-94f2-83c2703d7fa7", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "fc5cea1a-20e6-4587-867b-564c2b8f0b3f", + "observation_id": "c9694694-b8a4-4bef-aabf-2e2f78f098d7", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "342de3f1-b4d1-4d0f-a6d5-657a0fc32e76", + "observation_id": "8747fdef-3f31-44c9-929b-ab2e482c0bae", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "dafbadde-9df6-4cf7-a763-c41b9468874c", + "observation_id": "8f0221dd-8d26-47d1-8888-17e369d49380", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "c3a6477d-5afd-4ed0-842d-a75839ef5812", + "observation_id": "26d8ba77-ad14-4069-a4e6-c28c475bc98f", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "f3f5ccc7-a2d2-458f-bf45-0fc7e92664d8", + "observation_id": "369fdef9-7f76-4bfc-bef4-46d8c2befa2d", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "fc3f471a-94da-4371-ac75-f1c9f51af70a", + "observation_id": "81ed7258-8104-4077-9152-6b717c32f53f", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "16bd6e04-da03-40ba-b3e4-e3b16aaaafe8", + "observation_id": "a43510bf-f1e5-419d-9d88-0d017e2d6fdf", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "c71a3ba6-b970-4477-b366-c65067bcbed8", + "observation_id": "eeaa7241-6464-4f99-90ef-4250b7ad17bf", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "fa99faa5-b6d2-48a1-9258-facaa6a5ec32", + "observation_id": "4f5de4e8-959b-4729-899d-df3dcffe3695", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "5167fe10-b13f-42ed-a77d-b51d6a2fad20", + "observation_id": "3e681956-7516-45bd-aef4-de1da12b1d80", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "12b031c3-ae23-4786-a541-a75d20c9f6e6", + "observation_id": "ccdad225-994e-4b2e-83e2-4293c13f0f9b", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "f67e1e6e-8f92-4086-ba47-7ed0c55e2047", + "observation_id": "6ee31fd1-9b74-4dca-9606-28bde8bbf0a5", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_abd/render_b_camera_pose.json b/data/camera_study/Scene10/k3_abd/render_b_camera_pose.json index 83042c2..59d65de 100644 --- a/data/camera_study/Scene10/k3_abd/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k3_abd/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:15Z", + "created_utc": "2026-06-02T22:34:40Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_abd\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_abd/render_d_aruco_detection.json b/data/camera_study/Scene10/k3_abd/render_d_aruco_detection.json index b93c290..af6ff06 100644 --- a/data/camera_study/Scene10/k3_abd/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k3_abd/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:14Z", + "created_utc": "2026-06-02T22:34:40Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "86486685-00a6-44a4-8304-e4d8b82385a8", + "observation_id": "3d601579-9d0b-4c07-b246-fe8149866f76", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "dbdfcea8-339f-4f57-8954-3dfda9438376", + "observation_id": "b1c389e5-eb84-4ade-945b-8aab1fcc0edb", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "241fd690-d5f9-4406-94f4-aa963b818692", + "observation_id": "cd035799-3515-48a7-a912-bd2539f13dff", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "ad80f33d-95af-4e58-bdfa-b7a2cc22b8a8", + "observation_id": "8ebdba16-e069-4419-83a5-1179b704b98d", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "b8212dae-b247-4b55-b42b-22174c6d438c", + "observation_id": "a4944819-db74-4ef3-a4d3-7efcb6bc30cf", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "1fc40eff-c66c-4a78-a691-6508a496201b", + "observation_id": "764ce8ca-dde5-4da8-a481-e4a5f3c46483", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "65bde22c-031c-4c17-b028-17e58cefd215", + "observation_id": "7c30a6df-28af-4ff0-9ec8-fd35507ab8af", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "2a3cdff1-d776-49c4-bdde-5c02463f1ceb", + "observation_id": "0e5305bb-f14d-44d3-89ad-13938e0bf8f2", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "62171c41-9b80-4bd0-bd09-d7ea97b158e9", + "observation_id": "d355c1ae-7e65-455b-bf4a-38e3056e76ea", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "2f1cf657-64c5-413d-ba59-826e4a726d8f", + "observation_id": "984f4ad6-d897-4c4a-bbf0-c6f83bbf882f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "e8f3503c-e22d-4daa-9ce9-af1d6655bc2e", + "observation_id": "befbe101-fbe8-4b42-8d41-9b9786e6a3b5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "06e02606-960a-4a87-a897-0bba5ba739b1", + "observation_id": "935a4132-38c8-4c49-ae67-a21dccf079b0", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "48309f68-17dd-4c70-9ee4-edca58713678", + "observation_id": "17301f95-18b4-42e4-b844-83dfb5daff6c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "009eb78b-977c-4156-a59a-23f004ecae3b", + "observation_id": "79d8713f-6425-4935-a6d4-4855bd90b69d", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "e90524e0-2d00-432c-8f13-df0d2ad854f0", + "observation_id": "855502f6-94b7-4003-a894-65e6b29be282", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_abd/render_d_camera_pose.json b/data/camera_study/Scene10/k3_abd/render_d_camera_pose.json index 51e2cc7..2cc8c98 100644 --- a/data/camera_study/Scene10/k3_abd/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k3_abd/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:15Z", + "created_utc": "2026-06-02T22:34:41Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_abd\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_abd/robot_state.eval.json b/data/camera_study/Scene10/k3_abd/robot_state.eval.json index 9507af6..fadd739 100644 --- a/data/camera_study/Scene10/k3_abd/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_abd/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.1297115382134848, "mean_abs_mm": 1.697760489870919, "max_abs_mm": 2.4775095672900767, - "finger_error_mm": 1.8941913285861787 + "n_unobservable": 0, + "wrist_error_mm": 1.0696919370008462, + "finger_error_mm": 2.120240562958996 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_abd/robot_state.json b/data/camera_study/Scene10/k3_abd/robot_state.json index ab89fd9..7f9032e 100644 --- a/data/camera_study/Scene10/k3_abd/robot_state.json +++ b/data/camera_study/Scene10/k3_abd/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:19Z", + "created_utc": "2026-06-02T22:34:44Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k3_abf/aruco_marker_poses.json b/data/camera_study/Scene10/k3_abf/aruco_marker_poses.json index 489d138..a556a44 100644 --- a/data/camera_study/Scene10/k3_abf/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_abf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:18:59Z", + "created_utc": "2026-06-02T22:35:26Z", "summary": { "num_cameras": 3, "num_markers": 26 diff --git a/data/camera_study/Scene10/k3_abf/aruco_positions_initial.json b/data/camera_study/Scene10/k3_abf/aruco_positions_initial.json index 8e87381..e181ac7 100644 --- a/data/camera_study/Scene10/k3_abf/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_abf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:18:57Z", + "created_utc": "2026-06-02T22:35:24Z", "summary": { "num_cameras": 3, "num_markers": 26, diff --git a/data/camera_study/Scene10/k3_abf/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_abf/aruco_positions_optimized.json index afb6aaf..52e50f4 100644 --- a/data/camera_study/Scene10/k3_abf/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_abf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:18:58Z", + "created_utc": "2026-06-02T22:35:26Z", "summary": { "num_cameras": 3, "num_markers": 26, diff --git a/data/camera_study/Scene10/k3_abf/render_a_aruco_detection.json b/data/camera_study/Scene10/k3_abf/render_a_aruco_detection.json index 942c367..bb7a4f6 100644 --- a/data/camera_study/Scene10/k3_abf/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k3_abf/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:54Z", + "created_utc": "2026-06-02T22:35:22Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d8c9f7dd-3f56-48e1-a728-6d85ac837deb", + "observation_id": "2efdcb79-d63b-4549-866f-1633a97793be", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "48f77480-99de-40f8-8214-178ff586ac55", + "observation_id": "15085fc9-1116-4d51-812f-4439b439e1c0", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "8dce85af-41a9-499a-abbd-995e0c79669d", + "observation_id": "e8927c31-1488-422c-9365-036b55d995d6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "d3bcbd34-99a3-4561-9093-566c32601ff9", + "observation_id": "5b6d83ea-43b6-4cef-8e34-315d35348814", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "eef4ef99-542f-4680-bed0-fc032d187cd1", + "observation_id": "9125f3c3-af0c-4f51-8842-e3cc13ed717f", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "ddb61545-7e30-4018-8aea-268c1101bcd8", + "observation_id": "e30fec38-9a2c-4bcb-866a-fed9d3a81d30", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "0ab976d6-f1fd-4004-bd10-51993475b20b", + "observation_id": "927c3da6-a0a4-4d2f-999c-6cb4f8b1cdfe", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "9a6d95d0-19f8-46c6-92fd-da080d825db2", + "observation_id": "00a1e41a-1745-4013-b577-53bf98957a74", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "49aa5c84-5e75-43ca-983a-4bd9798be95c", + "observation_id": "3cd7fa90-3d13-4309-b9e5-bfda31ee0c58", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "6c6070a9-c5e9-4ed9-9cf9-7cee155d9055", + "observation_id": "3b3e79a8-77cf-4d05-8f25-5dfc0e0075a9", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "72dba5e6-989d-4259-8980-5d427855ff4f", + "observation_id": "277d5bc4-2f70-47b6-afab-e33d36d45312", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "476b88a1-8734-460d-9ce3-8c4b71344f21", + "observation_id": "8fc44e63-2607-44b1-9423-819bbe97a980", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "e66496ef-a03b-45bc-a9d3-312f596f2d2b", + "observation_id": "15dbd301-b5fa-4779-b06a-70401d8ffe61", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "f986abda-e863-4eff-83f2-7e656a4f8be2", + "observation_id": "9301b9af-4ae0-40a1-9842-e0c1ed911255", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "96a30b04-4a4c-47bf-b184-46d12d04d72c", + "observation_id": "3e2695ba-9336-464b-9cfe-a1389ad993cc", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "c5558330-35de-4a1f-811a-07de050c1a57", + "observation_id": "cea161a4-4a82-4e13-9f10-3488ae3bdb0f", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "57885f2b-31fc-4254-8cd9-3915c89e001a", + "observation_id": "08ad5e38-4438-4e0b-aa6a-0352d6214ef5", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "393335f9-31c3-44ff-8c7e-e48d1ce7b99e", + "observation_id": "1055882b-5a9c-4d08-b6cf-ab5c119fcfb2", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "502e5be4-b566-4f8f-802e-d4a51c071aad", + "observation_id": "39b46775-a59a-48c0-aad6-5839c3bde398", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "1d251664-77cc-470e-8533-a694951eaf60", + "observation_id": "f06e6464-954d-4191-ab23-68b9d1cfd094", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "be7378d3-b619-4a5a-8e73-d76b8e65e13c", + "observation_id": "55ec46b4-ca65-4712-80ab-5cbb7182b0ce", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "f11c43de-f8b2-4eca-97e3-940d62624055", + "observation_id": "b755de71-2387-4789-95ad-ea59c95dc4f4", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "6b8306b7-468c-4e11-b6a7-3467f205f487", + "observation_id": "b26f6e38-246f-4524-815b-5eca744905dc", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "ebf123f8-a03d-4546-b831-a5c78f860cba", + "observation_id": "5159471b-060d-44a1-827f-e5590b4ea719", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "a1de844f-55a9-4576-8de0-8c1867deccc6", + "observation_id": "a435f1a5-a2c8-4c0e-89be-cceb5fa3424d", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "10a88355-8526-4dbf-bdc9-3db1d49dc35d", + "observation_id": "bfcf4af6-ddce-4d1a-bc5d-abc55daeaf01", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_abf/render_a_camera_pose.json b/data/camera_study/Scene10/k3_abf/render_a_camera_pose.json index 49ced0a..7a0ba35 100644 --- a/data/camera_study/Scene10/k3_abf/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k3_abf/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:56Z", + "created_utc": "2026-06-02T22:35:24Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_abf\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_abf/render_b_aruco_detection.json b/data/camera_study/Scene10/k3_abf/render_b_aruco_detection.json index e403d2b..fff4c71 100644 --- a/data/camera_study/Scene10/k3_abf/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k3_abf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:55Z", + "created_utc": "2026-06-02T22:35:23Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9ecf18f5-7bbc-4559-8e7c-761966d4120e", + "observation_id": "5a099342-27c6-4c44-9369-72f8816d5942", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "9c9abd61-a6b2-4978-b8e4-456121ab698b", + "observation_id": "b1104bf2-af02-4374-b1a1-0d4cf62feff2", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "7b464317-9222-4524-80c2-a5e91f4fae6b", + "observation_id": "a835279f-6d0d-4ea3-b91f-5be5ea89fe0e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "b4af9167-a2ad-4b5a-86e6-ae6249b6bd20", + "observation_id": "953a837e-c7ce-4534-90e6-d055a5a88cff", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "76616ff2-a49b-47f7-a756-fbb8bdc2d5ab", + "observation_id": "56961985-b9ca-4714-b402-2575aa46496f", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "adbd4d8a-bff1-4a78-a49c-00f21c6e5c2b", + "observation_id": "990106fc-5dc8-42d1-9572-32e00a18ef81", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "102df3f5-df28-4ef2-98a7-9ef849ef0507", + "observation_id": "e46cf0e9-b96e-4de1-bdd3-c78ee2640357", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "b925f79a-2754-4160-a57f-7eb4fff512aa", + "observation_id": "bb0e25f0-7571-417d-94ba-d19c33c9f036", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "73b43377-b54f-4355-bb69-ec55d644c713", + "observation_id": "52ac3cc4-6e09-4cd6-84e0-76abe6243886", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - 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"observation_id": "c4ec466f-7d89-464c-b661-afc132fb21b0", + "observation_id": "76961394-e19c-40df-927d-9633a3142eb6", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "b29f47c7-ab6a-4c16-8670-60bea1ff2c32", + "observation_id": "7f48332d-9c69-4654-89bc-4af83e57904d", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "a5e17f5d-0510-41a4-824d-b973e6b3d232", + "observation_id": "91bbf242-f34b-4d3e-8965-555febb17d89", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "452a86be-ea01-4790-b1de-cc070d8a4aea", + "observation_id": "ffa63548-b256-40ff-bb94-c5bee6bfaf6e", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "b2e58a87-acc1-4b73-9156-08a31ea89cb8", + "observation_id": "fceb069f-48e9-4638-9edf-38daa76850d4", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "27c50813-0432-49ba-a715-c40123bb8beb", + "observation_id": "47789537-415f-4667-921d-ae36d04f1009", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "1717ce51-f683-4d4f-8d12-daa3d84fd0c4", + "observation_id": "67f64cc0-5f33-41a8-99a1-56fcf0e73096", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "8f3e8e52-7fb1-4ad8-ac69-b8f7f1c7727e", + "observation_id": "f5298dfa-cb42-4edc-a9d4-0f06fec37525", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "e2abcc0f-dfa4-422c-adb1-ecffaf85018e", + "observation_id": "19730f92-2c1c-4f66-aae6-526c46a0ded8", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "c41abec0-c71a-48bc-ad82-3d89ee986e20", + "observation_id": "696719a5-0a11-4215-9b09-ea6087926258", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "a1234927-da92-41c5-b0d2-652a87069f80", + "observation_id": "0d20de7e-75be-4e09-a63f-2d7a0f1eab31", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "c33696fd-e5a7-4796-abed-438a13c5299f", + "observation_id": "aeb79998-cac3-4750-a131-247b7e67108c", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_abf/render_b_camera_pose.json b/data/camera_study/Scene10/k3_abf/render_b_camera_pose.json index a01932c..245043f 100644 --- a/data/camera_study/Scene10/k3_abf/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k3_abf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:56Z", + "created_utc": "2026-06-02T22:35:24Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_abf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_abf/render_f_aruco_detection.json b/data/camera_study/Scene10/k3_abf/render_f_aruco_detection.json index fb364a5..787b2d7 100644 --- a/data/camera_study/Scene10/k3_abf/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k3_abf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:56Z", + "created_utc": "2026-06-02T22:35:23Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "7e6037e6-af27-4d4d-ac1f-77f8ee894314", + "observation_id": "790713a5-140c-4ed3-be34-6989d16e61f8", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "43c9f17f-c1d9-42e2-b86f-e61da8f437a6", + "observation_id": "5402afed-c7c6-43d9-b0bd-11f2625cc183", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "9e9e0cbf-2955-48ea-a97e-26f959152375", + "observation_id": "bbb4a2ed-dd95-4500-ac1d-665bd27a54a0", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "58aa22af-e450-4a7c-bb1e-1637d877c689", + "observation_id": "9d8b54fe-5e12-4fa7-86cd-2340a7a4160d", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "8c346ea3-7097-4b9b-9552-4bfb758b46fd", + "observation_id": "67313260-c518-47a4-b672-3bc1e6857b20", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "3a4073b6-cf85-44ce-aa0b-b955eaab246f", + "observation_id": "c0b7bc91-c703-41e8-827c-c72930185668", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "d17e407e-b7c8-4f73-9754-2f29f1ec0d3c", + "observation_id": "f39a3123-549c-4166-9d41-62522cce8b5d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "dec3a7c3-bf32-42d7-9fba-3a6adbdfc210", + "observation_id": "9a9c3912-a520-4bd7-9eaf-12f7c80091bb", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "ae347f68-0910-480b-afe9-9094a55116fc", + "observation_id": "3fdb3dd7-3bd7-4056-8e09-e9a320c1bdf5", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "9583409b-3a97-40bf-8110-6ef40ee57166", + "observation_id": "af85e0bb-341d-42f3-9ce3-ef3235372146", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "c275f64f-fb88-46fa-a09d-e218eb5f0d0d", + "observation_id": "e81a022e-9db9-40b7-928c-9668e1f885ce", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "3ccaa829-35a2-44a2-a941-b357fdcd7ab4", + "observation_id": "c18c6508-b126-46f8-bfc2-84110779a5f4", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "feaf7066-fef3-4bb9-b3dd-721488b3dcc9", + "observation_id": "fb8d6600-0ad8-4c11-92c3-17aa467f2f6c", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "030a2fa4-6eeb-47d5-99ee-bc3618bd4b24", + "observation_id": "93c97640-5c1c-4936-993c-72abdec2c88f", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "be16265c-2d0f-494a-8323-da51564a7b0c", + "observation_id": "3604ac58-82bb-4a0d-9582-e81835edaf48", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "a87ae32b-274d-4db8-9e40-3a790b9f0153", + "observation_id": "688433de-1fe4-444b-9599-1e521a9217c0", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "e023e2ab-67a9-4b50-b5f4-b76b33831442", + "observation_id": "68ca500d-4003-47e1-b783-7fcc118577af", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "59b5065f-de9d-4091-81a6-253ad062162b", + "observation_id": "3bba3d5f-6315-404e-8ebb-e05f7a70ac29", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "64c6e264-dcb5-475b-86a4-e9a045fa1b1d", + "observation_id": "0fc086e0-4775-47eb-b263-0335f68f02ec", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "75f7e706-a787-4f2a-8a37-ab50fd0204a9", + "observation_id": "59a654d6-07e6-4e3a-a549-6e2638962aa3", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "a168e9a2-66cd-4dfa-acba-e7933fc047d1", + "observation_id": "254d924b-9aa5-474f-95eb-3fb7014f4ddb", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "6d603be3-7363-495c-a983-8bf90423900b", + "observation_id": "f5d057b4-48eb-45f2-bba5-a933b6fc5250", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "c3f6d69c-10c5-4ba4-a854-466dc62ba45e", + "observation_id": "db5f6633-5ecf-402f-b3be-5f40c490dd48", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "b600cc44-de9b-48d1-a6c3-0b56c809df9a", + "observation_id": "5f94f960-8728-4cd0-8a26-389d6d3ed1ad", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "b1a4f502-0b31-49c1-80b7-114bda78cbf2", + "observation_id": "48b638e7-f182-403c-bcab-88a623261ec6", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "bf05cfd3-4755-4d34-ad19-02c3764b68ed", + "observation_id": "3fb05926-3342-4842-b1d1-bc05b912b0e6", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "cd24b5b9-290e-430b-a82f-9b7fb42117fc", + "observation_id": "dcdd1083-d59e-4343-b75c-564845e3f4a2", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "fb03dc12-f81c-4440-8b36-eec1ee8bd679", + "observation_id": "2baca3c8-acf5-4d37-a0e9-eda9b9420e35", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "955ba8f4-8c72-4aca-8218-ba8142c9aae2", + "observation_id": "bab24404-c946-492a-87d6-b435d62d3300", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "52ba2771-97af-4649-8162-279052d6df7c", + "observation_id": "833e9c8e-b4b1-4f03-8747-eca40088c219", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "c5f95c22-1342-4792-ad82-4062910d518c", + "observation_id": "8a00b368-8b8c-4f73-b3ca-5b0ba9eda9d2", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "852edd62-6a7a-4ec5-b701-156ad6e9f250", + "observation_id": "affc846f-b882-4322-bf9b-dec1ca99fb11", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "85faa1cb-362f-4cd8-b8e0-f74f8d251837", + "observation_id": "35918c43-d50b-408b-893e-ef31fcecc135", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_abf/render_f_camera_pose.json b/data/camera_study/Scene10/k3_abf/render_f_camera_pose.json index b28c1a7..c51fd62 100644 --- a/data/camera_study/Scene10/k3_abf/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k3_abf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:57Z", + "created_utc": "2026-06-02T22:35:24Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_abf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_abf/robot_state.eval.json b/data/camera_study/Scene10/k3_abf/robot_state.eval.json index 6daf6dd..5ef4cb7 100644 --- a/data/camera_study/Scene10/k3_abf/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_abf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.18415265273941372, "mean_abs_mm": 1.020822464033401, "max_abs_mm": 1.020822464033401, - "finger_error_mm": 22.14853698078265 + "n_unobservable": 3, + "wrist_error_mm": 1.2145625862969662, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_abf/robot_state.json b/data/camera_study/Scene10/k3_abf/robot_state.json index 9f7d63e..fe1b885 100644 --- a/data/camera_study/Scene10/k3_abf/robot_state.json +++ b/data/camera_study/Scene10/k3_abf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:00Z", + "created_utc": "2026-06-02T22:35:28Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k3_abg/aruco_marker_poses.json b/data/camera_study/Scene10/k3_abg/aruco_marker_poses.json index 7043bd7..baf3ded 100644 --- a/data/camera_study/Scene10/k3_abg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_abg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:18:45Z", + "created_utc": "2026-06-02T22:35:13Z", "summary": { "num_cameras": 3, "num_markers": 31 diff --git a/data/camera_study/Scene10/k3_abg/aruco_positions_initial.json b/data/camera_study/Scene10/k3_abg/aruco_positions_initial.json index 31eaa13..81053a2 100644 --- a/data/camera_study/Scene10/k3_abg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_abg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:18:43Z", + "created_utc": "2026-06-02T22:35:10Z", "summary": { "num_cameras": 3, "num_markers": 31, diff --git a/data/camera_study/Scene10/k3_abg/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_abg/aruco_positions_optimized.json index aafae63..95da39a 100644 --- a/data/camera_study/Scene10/k3_abg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_abg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:18:45Z", + "created_utc": "2026-06-02T22:35:12Z", "summary": { "num_cameras": 3, "num_markers": 31, diff --git a/data/camera_study/Scene10/k3_abg/render_a_aruco_detection.json b/data/camera_study/Scene10/k3_abg/render_a_aruco_detection.json index f577fe5..1e64ad1 100644 --- a/data/camera_study/Scene10/k3_abg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k3_abg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:40Z", + "created_utc": "2026-06-02T22:35:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "749c5d2a-7d9d-4b69-83ee-5969ca3b413b", + "observation_id": "8354c505-d96e-45f0-9744-4f2fb7035edd", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "f822928c-ffe1-498b-b0b4-2915ac1ea6bf", + "observation_id": "e1b36a97-81b0-478d-8c93-5dcc0532d2b0", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "ad308358-9a30-4309-8ca8-04ffe5e7991f", + "observation_id": "d8916ec1-c0e8-4da5-9609-868ba63fa7be", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "2877737b-5724-439d-aeb6-b58199fae712", + "observation_id": "f967f0b1-5ef9-46c1-a367-80b4eeea48f3", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "8b2668ad-6374-427f-9a51-6573fd0bfb92", + "observation_id": "283e5c00-383a-44c0-bca9-15a354bf7f00", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "23371f68-dfdd-46fa-80a5-0f447e227bbf", + "observation_id": "596fcd99-e5c7-4c94-b01d-d618a2a8ee20", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "33256df9-4ca3-48a1-8430-523e1b96eaae", + "observation_id": "75b2df06-4490-4ffe-8658-8d6205e5bd1a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - 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"observation_id": "e620de36-1fff-4db2-b477-3ca98d596c08", + "observation_id": "6a416776-1f09-45fb-9f7d-b7ea0099d85b", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "d97a86ae-3a86-4f47-ac53-3269de0c2e76", + "observation_id": "f6858217-e12a-4a53-96f7-4e8727e948c1", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "36eed4bf-46ce-449e-8b2d-1860302ed06a", + "observation_id": "411a8ad8-7b91-45d4-bf0b-cef13a1e6822", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "1aba9975-f6ad-4d8b-8246-4c592a340fa6", + "observation_id": "2cfaac46-6846-468b-9aa3-4b66ac72231a", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "02c5d28b-159e-4947-88fe-adb1c3a41cf1", + "observation_id": "5342979a-0a19-4efd-a539-b74e3dd9b23e", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "be1ec681-52dc-4e74-9431-c465dee588cf", + "observation_id": "9fdff0d1-331c-4a0e-ba1b-208c0a7f633f", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "0b687358-7e88-479b-90d4-817660103332", + "observation_id": "df9b95b2-d486-4938-9ac0-24390e50365a", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "6e19a38b-8842-461e-8545-19a928ac5536", + "observation_id": "17d1c55c-9387-4441-adc2-9fe51020242c", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "5ba65709-8979-46c2-9b18-05eeaeea1e00", + "observation_id": "641b8653-e993-4a64-9e25-cf508ae0babf", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "6fec2a06-5a95-46d0-908d-2ad94c8c72f9", + "observation_id": "744768cb-d975-43d0-b52b-0ab91b1a3c1f", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "f6d9266d-6e14-4174-af6b-72dd950cda56", + "observation_id": "14de1338-ae3e-4385-8266-023fee1354b4", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "95870cb1-88b5-4543-b1a6-c5c33c690014", + "observation_id": "64a06bf9-25f8-4228-8ec3-1df1be260582", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "9ab61cd4-bdab-4b79-a4c0-d1becbc7a5eb", + "observation_id": "d9b04544-b9dc-4f7d-b795-6adb1b2159d7", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "4c68b828-30b1-42de-a000-99f551e02fc5", + "observation_id": "52e62597-7475-4e03-ab47-bb3050edbabc", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_abg/render_a_camera_pose.json b/data/camera_study/Scene10/k3_abg/render_a_camera_pose.json index 8e33923..1a335b2 100644 --- a/data/camera_study/Scene10/k3_abg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k3_abg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:42Z", + "created_utc": "2026-06-02T22:35:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_abg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_abg/render_b_aruco_detection.json b/data/camera_study/Scene10/k3_abg/render_b_aruco_detection.json index a01b3b4..a440a4d 100644 --- a/data/camera_study/Scene10/k3_abg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k3_abg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:41Z", + "created_utc": "2026-06-02T22:35:08Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "1928234f-83d5-4e73-bcfb-2d15cf206d4c", + "observation_id": "4287820a-c531-45f2-b942-fb4aae17514c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "afdc31a4-eaf4-4e4a-8e27-c0ecbcd44c23", + "observation_id": "8cc914fe-3073-4712-a4f1-2f308c9d5ffa", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "fe8b3001-9b34-4e6e-a1ca-bfb21d9fda5e", + "observation_id": "33cb0c37-7498-4b91-9874-449b5b1c5d18", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "f172f2f4-5de8-48f1-988e-ac51306c9c19", + "observation_id": "f32b1d23-f1f1-4b11-a7ac-662c2e0eff4f", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "7a58ed34-deaa-41c0-a52d-768218b3b618", + "observation_id": "08f0abda-dd05-460d-8511-8efaa589566a", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "f4dc0c39-e243-4fe3-ad74-5e25012da3b8", + "observation_id": "e69d15f6-b0aa-4796-a7d7-51f908f0c061", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - 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"observation_id": "eaee5beb-a7be-47a1-bc2f-721fb39de0c5", + "observation_id": "54f9a860-1b9e-45ed-a5ba-0f1739deb895", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "298aa091-b988-4aba-84f6-2528d83bb7ae", + "observation_id": "1d1ae42e-7b38-44c6-9053-eccccd325b23", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "5f631654-4fc4-45ff-ada1-7608e85f3b76", + "observation_id": "5cf6ca58-8260-41ae-8b61-38d56638ea97", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "b9c5a0a3-f2b3-40b1-80a0-11b6ce1b0a31", + "observation_id": "84deb262-41a2-4297-a83f-2e39ab61430d", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "cceadef3-b534-4018-93e5-2d5d3aaa3629", + "observation_id": "5035a39d-c42c-4c06-bee9-8765fd3f1759", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "32d97dbe-1310-458b-b868-bf983f08290d", + "observation_id": "a1d43b43-b93b-449f-a5e1-649ea856a969", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "61855009-9dc8-472a-bb68-01826c17a092", + "observation_id": "f9ad23cf-b31a-4273-be89-ee85eaaaa59d", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "3aecbfd9-5679-4994-82a3-0bdebf388a21", + "observation_id": "c60c1168-eebc-4e47-aa1f-d86337e5d823", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "2c6f38dd-0bde-401b-af4c-105db40d2d1d", + "observation_id": "3e7aabfe-7df8-458b-a799-0525e482f142", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "219d6d91-d08e-4e60-8130-08ea7e7ecfec", + "observation_id": "3de2a8dd-5d09-44bc-af2a-904e8be6ae9d", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_abg/render_b_camera_pose.json b/data/camera_study/Scene10/k3_abg/render_b_camera_pose.json index 33a5f6e..10631dc 100644 --- a/data/camera_study/Scene10/k3_abg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k3_abg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:42Z", + "created_utc": "2026-06-02T22:35:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_abg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_abg/render_g_aruco_detection.json b/data/camera_study/Scene10/k3_abg/render_g_aruco_detection.json index a64809b..1604f60 100644 --- a/data/camera_study/Scene10/k3_abg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k3_abg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:41Z", + "created_utc": "2026-06-02T22:35:09Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a4f7e020-32d6-4448-88bf-6ba35c72c520", + "observation_id": "cf1d5ce3-a40e-4853-93bc-43b620a33cc4", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "b3efb023-bcb1-4379-a47d-29f2aa78f317", + "observation_id": "755ab91f-ed3b-48be-9898-487bf8aa1c03", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "41c2f084-c4e6-4f0c-8df9-7fd181f784fc", + "observation_id": "58d37d8c-3a22-4c3c-9dd7-50d90824fae6", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "640312bf-39b6-420d-a6ab-d7dfd3c0ae42", + "observation_id": "31646745-1066-423d-a8f0-58dad15b96dd", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "2938cea0-d51c-442a-9068-33e4852b17c0", + "observation_id": "cf60dd43-0894-4e29-8f57-b7cf4a84b004", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "5439983a-f0dd-4e66-83bb-cc32bb319298", + "observation_id": "9048151a-41c5-4531-99aa-742b26239f41", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - 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"observation_id": "f6e30520-9590-4322-a23e-7e17928cd722", + "observation_id": "dc610cfc-e5df-4cb7-8e7c-0b53f45d07cf", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "7b38edaf-37d0-46b5-b2cf-578bf2c0e8af", + "observation_id": "dad02966-8e9c-4be6-8a51-d289c7f19eac", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "e7bb981f-f06d-4804-868b-d603c1fae77d", + "observation_id": "33a0634f-1565-411e-b920-fc94fb289aab", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "e1eba7e9-40fb-436b-8068-2dacc28f74ac", + "observation_id": "35b01cad-13ab-46b9-b131-7db0acd105b9", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "e5ed5277-45ed-4499-af33-873356481702", + "observation_id": "9148ddcd-3c8f-4184-9d89-5300c688d8fc", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "ce60a5ab-f54c-4785-8cb9-39ba3a08e10a", + "observation_id": "f9070d71-79a8-4340-9cf2-272484adbe08", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "7a268a1a-7be6-4667-893f-c649af55440c", + "observation_id": "af1d4ec0-d8dd-4a7e-97ac-9b6fa2b072d8", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "4d5210f6-93df-4104-af25-1726629990ea", + "observation_id": "cc463305-2da0-46c5-b90a-a989d363b18c", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "dddbee13-c188-4a32-9b09-0aee444b83a0", + "observation_id": "9e858fa4-b2c9-4ba4-b549-c4745bb95a9d", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "c597a400-1124-454b-b7fc-7e89a82acca6", + "observation_id": "7a1a0857-b157-4f24-b5e2-2bb2f04d3763", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "0a487f0d-fb3a-4d97-bf68-348fea791b9c", + "observation_id": "979af7eb-d450-487b-b4ef-93f4fdfb3dc0", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "041a5ac3-344b-438d-a547-c7cc20195712", + "observation_id": "cb0804da-f7fb-4a18-a9b5-8c99081ded66", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "7b989d2e-fbc3-4513-a9b4-4adc8ec25db9", + "observation_id": "9df82d9e-faab-42e3-86ca-5f4dd7393379", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "b438bccc-563b-41cf-87c5-35daaaf9b365", + "observation_id": "caee8da2-c235-480a-ace9-fdba3ec42a16", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "3e64db03-8bad-4fb0-a7f7-7976bc7e4228", + "observation_id": "5123a2c5-67de-438c-abcf-1a6f83ed8a16", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "15d7ffaf-d67e-49c1-94fb-ea2600b66730", + "observation_id": "64a8d354-f457-4107-93a6-bf19c7f14b32", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "e1c4474b-3fba-4df1-85c7-17a62ed3801c", + "observation_id": "245e1c88-2c3c-4545-90f1-d879e9f164c5", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "99de7f68-41cb-41ff-a821-ca37b6f50be7", + "observation_id": "991d9b16-016e-4450-b7db-4c5a20c3cb13", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "ca832274-bdcf-4fd9-8424-45c5cbdc286c", + "observation_id": "6b740ce7-4a49-4104-be49-64952ce5b929", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "2849c088-1a84-47a2-bb97-9ec3dd534f5d", + "observation_id": "0a7463c0-a282-40c6-be6e-1573b9dd178a", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "fa4fa37d-07d6-438d-ad60-97b28f7ee556", + "observation_id": "4ee7bb0a-9899-4b18-a709-7a3eee45684d", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_abg/render_g_camera_pose.json b/data/camera_study/Scene10/k3_abg/render_g_camera_pose.json index 2f66d3b..dfe1723 100644 --- a/data/camera_study/Scene10/k3_abg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k3_abg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:42Z", + "created_utc": "2026-06-02T22:35:10Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_abg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_abg/robot_state.eval.json b/data/camera_study/Scene10/k3_abg/robot_state.eval.json index ca1586e..16f58b8 100644 --- a/data/camera_study/Scene10/k3_abg/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_abg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.1690843775486428, "mean_abs_mm": 0.7004397363298693, "max_abs_mm": 0.7004397363298693, - "finger_error_mm": 21.62327615291857 + "n_unobservable": 3, + "wrist_error_mm": 1.001363316176743, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_abg/robot_state.json b/data/camera_study/Scene10/k3_abg/robot_state.json index d57b953..e73a1c1 100644 --- a/data/camera_study/Scene10/k3_abg/robot_state.json +++ b/data/camera_study/Scene10/k3_abg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:46Z", + "created_utc": "2026-06-02T22:35:14Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k3_acf/aruco_marker_poses.json b/data/camera_study/Scene10/k3_acf/aruco_marker_poses.json index 6301248..a24b38d 100644 --- a/data/camera_study/Scene10/k3_acf/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_acf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:18:11Z", + "created_utc": "2026-06-02T22:34:35Z", "summary": { "num_cameras": 3, "num_markers": 20 diff --git a/data/camera_study/Scene10/k3_acf/aruco_positions_initial.json b/data/camera_study/Scene10/k3_acf/aruco_positions_initial.json index b63b17f..568b3fa 100644 --- a/data/camera_study/Scene10/k3_acf/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_acf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:18:03Z", + "created_utc": "2026-06-02T22:34:28Z", "summary": { "num_cameras": 3, "num_markers": 20, diff --git a/data/camera_study/Scene10/k3_acf/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_acf/aruco_positions_optimized.json index 7e3e8f9..373f628 100644 --- a/data/camera_study/Scene10/k3_acf/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_acf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:18:10Z", + "created_utc": "2026-06-02T22:34:35Z", "summary": { "num_cameras": 3, "num_markers": 20, diff --git a/data/camera_study/Scene10/k3_acf/render_a_aruco_detection.json b/data/camera_study/Scene10/k3_acf/render_a_aruco_detection.json index e5640ae..869ee9f 100644 --- a/data/camera_study/Scene10/k3_acf/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k3_acf/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:00Z", + "created_utc": "2026-06-02T22:34:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f3d5ce78-925c-4118-b0d7-742dddacbbac", + "observation_id": "5c33f757-db83-4054-8496-b34644a4aac6", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "dd937aff-2ead-45a0-b973-09ffd11c95bc", + "observation_id": "9b74e882-93e0-4f66-8c3a-f66a96e7ffa2", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "7556cdf1-e00b-4f2a-af2f-388a4e1862ae", + "observation_id": "653d0333-c82d-4ff9-9a75-11e9b6d8168d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "0ac149e7-baef-47fc-9fe3-84fab571ef57", + "observation_id": "2c5daddb-99c7-4618-9c59-291d00417835", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "37c6d259-e536-4f73-b9b2-ff19cd7bc4bc", + "observation_id": "f353d39e-e5aa-4208-96f9-1615ba229a6b", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "0b914548-ce08-4e21-b6d6-fdcd329b60c4", + "observation_id": "2cacd836-447a-4e8d-8cbe-4b1a21b40920", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "368f84e8-a1bf-4e56-89ec-f58a9ba26d84", + "observation_id": "6b438e87-d5ef-41af-87fc-e9dbce383bdd", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "3a04e689-f96f-46d0-b961-a7ca4e01536e", + "observation_id": "768cfd0b-3b62-4960-a6e8-7574f9c9ea0e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "69221731-a651-48e9-935e-c1a706f0cd5f", + "observation_id": "f495fd22-1a13-4d55-9579-e22a26f9a69e", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "fc4b2943-423b-4b64-9a70-b6726d6288d8", + "observation_id": "ea649f9d-4a2f-4328-9e29-a1cf29a14d02", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "6947743f-dc37-4621-933e-8bb314ebc122", + "observation_id": "03fca771-277f-40da-9400-a2c79148ff40", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "81b0dfa3-7864-4ecf-b619-a65e04d2e6e9", + "observation_id": "afaca623-4ed6-4ced-ab19-8bcdfe99c9d3", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "a3d92225-ae4d-4c8c-b4dc-324817b2a4b9", + "observation_id": "f1e25749-e64f-4287-a429-46c041dd7d53", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "f40ee2c5-89a9-4fce-af76-f538e9028015", + "observation_id": "ca753843-0a99-47b3-aee7-46c734e56496", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "76cbaddd-cd5f-46c1-a588-d0abe0c351d0", + "observation_id": "eb8e155c-6608-49a5-a00f-d49e75b78875", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "69d507f0-ba4d-4455-8bcd-ba0533e13f54", + "observation_id": "89dfda69-e2df-43c2-8606-d780ff575c68", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "9d3ec64a-a4f8-4eaa-944e-1d4ca6b08a0f", + "observation_id": "e63ad9b7-76f9-4da0-94a9-59f541835226", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "9ec69173-18bf-4b97-bf02-961717ff0613", + "observation_id": "808881db-638e-4338-9470-c23fbd29fdba", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "a9da83ee-ab0c-4dc5-a09a-6af347390fcb", + "observation_id": "623f8780-9b81-42bb-92d4-b61c57300225", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "37339460-ab70-4c24-b9b2-50788608b9aa", + "observation_id": "d332557f-313f-4f5e-b1b3-d31e068bb7e1", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "60c9933e-3138-4e62-9162-27f934e38d38", + "observation_id": "29018c57-d570-4774-856b-d62921bc9c0c", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "4088b0a6-2a82-455a-b4ef-065ab4ee15d3", + "observation_id": "98b722f1-1ca3-40a6-920a-f81bff7edd3a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "920359ba-120e-4d8a-bf42-9b537717258d", + "observation_id": "b900e462-5082-4a84-bcab-2596f54a81bc", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "ec362e55-af3b-467a-a890-8ecc7446ccd3", + "observation_id": "62abc3ea-a4b8-493d-9d01-c0f9c65515ec", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "fa643a9e-f3f2-4d69-ba46-2f725ce86074", + "observation_id": "61631b9b-49b4-495e-ae3e-da5f8c7170cc", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "d6a756eb-0a8a-4ad6-b40d-d7dd1c8e9822", + "observation_id": "8df6d0ab-6c4e-4874-a71d-40e8ab3720b8", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_acf/render_a_camera_pose.json b/data/camera_study/Scene10/k3_acf/render_a_camera_pose.json index 4201a1a..39d0c3f 100644 --- a/data/camera_study/Scene10/k3_acf/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k3_acf/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:02Z", + "created_utc": "2026-06-02T22:34:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_acf\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_acf/render_c_aruco_detection.json b/data/camera_study/Scene10/k3_acf/render_c_aruco_detection.json index a979728..1a94e45 100644 --- a/data/camera_study/Scene10/k3_acf/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k3_acf/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:01Z", + "created_utc": "2026-06-02T22:34:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "50c3d235-4fff-4d64-96b0-0e9ac2f9904d", + "observation_id": "130f0beb-b524-4945-a4d0-005ae4dcf14c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "632bca85-2aca-4a19-83a6-aab5e1ebb0a6", + "observation_id": "13539b15-5727-49e5-899e-0c0a2253497d", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "8fdb05e0-f5eb-4858-81ad-be376e0eed92", + "observation_id": "c306f2c8-84b0-4ea3-9cad-66bde03f364f", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "6fe77033-f9da-4d46-84fa-14dae125f7dc", + "observation_id": "ce88163b-33b2-4330-b750-300917652330", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "8d1d822a-9f5c-437b-9357-aff9931b81f6", + "observation_id": "42bb9fc0-5e38-453c-aa68-03657e2fee56", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "00fb0394-bb3f-42fc-858b-d4418b3addff", + "observation_id": "c63ba456-cdab-4492-a73c-b7c6267cfaa2", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "63b98197-c8d3-4ca1-8c57-d0c4adee56c4", + "observation_id": "ae8231d5-e98d-4272-8d9d-6fae9b64f1d4", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "6b1b9892-badc-42b2-a77d-92ee96c0612b", + "observation_id": "2a02d601-3626-4092-a68a-64a698142d1d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "7a06864d-7d6b-4320-95ad-366c5f76a468", + "observation_id": "421022b3-0759-422c-9d07-0e733962139d", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "26ed4dab-241d-438a-99ae-df5d0d0f5371", + "observation_id": "7c5f7a0d-e3ab-4d87-94d5-260dd5334459", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "667de41e-b80a-4107-8f9c-6d700c168a19", + "observation_id": "bcc4622a-445a-442a-99f2-393f8ece42f1", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "90088f90-8f70-4452-88c6-8eb55376e26e", + "observation_id": "3e8b996d-8beb-49bc-b79d-c40b4ba6c2b3", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "e5b6f1c6-c3e1-4bd7-b712-4a8a6e29e802", + "observation_id": "72260286-24ee-4823-b4bd-a21bf9f2cfff", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "9f0c7c20-7bef-41d0-8292-1dfb8e3cec47", + "observation_id": "4b65a194-6cb5-4030-a301-f006c6345662", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "df46923b-bb1a-46da-b3e8-9c56914d25e9", + "observation_id": "131b8bcc-52eb-4b67-8486-225cf41e8555", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "c694c920-49ad-4e80-afb6-5b71d3b649ff", + "observation_id": "f712b3d1-4da8-4e6b-8dd4-c34385263184", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_acf/render_c_camera_pose.json b/data/camera_study/Scene10/k3_acf/render_c_camera_pose.json index 62d0a2b..82613be 100644 --- a/data/camera_study/Scene10/k3_acf/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k3_acf/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:02Z", + "created_utc": "2026-06-02T22:34:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_acf\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_acf/render_f_aruco_detection.json b/data/camera_study/Scene10/k3_acf/render_f_aruco_detection.json index fe4b720..08c1f09 100644 --- a/data/camera_study/Scene10/k3_acf/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k3_acf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:01Z", + "created_utc": "2026-06-02T22:34:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ea4e5dac-035d-4ee0-bdd3-c37ffb3cbd2b", + "observation_id": "758b7f9c-c500-4c58-8109-a7866de8e766", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "3785273e-886f-45a3-b3cb-1632cf4215ba", + "observation_id": "eef1070d-fbe0-4a0a-9812-27c52c93e40d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "b6c817a7-7ae0-4970-bfde-d09bbe28a401", + "observation_id": "e17f2f5d-136d-4177-9fae-66c8dd3c443a", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "2a25aa64-afcd-4155-8b46-27f6371b5048", + "observation_id": "b1b2cc2c-bc15-4f03-8c2d-3716e2d5d489", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "fe0e1b39-2a14-4329-abbb-da0c15632ce0", + "observation_id": "d8b50b94-90f9-42e0-96a1-50c1dc8e556e", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "70c3f081-849b-46fa-bc7c-75f96063224d", + "observation_id": "7e688ca9-8914-4b44-b9f1-6157d6ac33f5", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "cc1dd0d8-306a-4587-acb4-48ccb08469d7", + "observation_id": "814a9b20-28ab-444c-b8f4-e967e8d6f723", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "5377c220-5dca-4b73-a1e1-28e728d1031b", + "observation_id": "ec2d25f8-9a45-455f-b12c-5bc00b728ebe", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "95589e0d-f361-4590-8d9e-da023b7a3cb0", + "observation_id": "3a27f475-937b-4729-8f29-f18f84dc58c6", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "4ee44b93-b349-4d0d-a56b-b52631f33504", + "observation_id": "5a10bc71-7b60-45bf-a33e-14d649bfafc2", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "9eb4cdf0-0f85-4cea-8380-eb0a86e8cc61", + "observation_id": "7a724d3a-5335-4f00-bb73-5829c52db602", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "22dcf120-1c9a-4662-bd7f-f8b515a55747", + "observation_id": "3255ed5e-1881-4a4b-9634-2315d3902183", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "c3eb6f75-cdc7-4636-8066-79ac7a0a74ae", + "observation_id": "2cce9336-9507-48d6-a36a-c056b120d9f8", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "3494c183-caf1-43cc-83e0-8e9edb247655", + "observation_id": "739fc8fb-4f1f-41cd-8da9-7528839326b9", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "506ffe74-36e6-4287-94ab-0b9ddf6f9d3f", + "observation_id": "77666091-82ee-43bb-9f62-4159e42b56fb", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "81bbf6b2-0080-45b0-8421-55e693811659", + "observation_id": "971e99a1-c458-4b57-a495-75d93c06c97d", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "06c28b9c-e7e7-4ce4-9b3d-2f9f3baa056a", + "observation_id": "3d831cd9-9b96-4410-b73d-e2c1a78d751d", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "41f27052-7e81-46ee-8967-5f8178e39251", + "observation_id": "a95f5108-2d41-43ed-a579-f80b32ef406d", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "144c60c8-13f1-4bb1-aa29-1423eaa2695a", + "observation_id": "bd251a51-6973-4021-888c-71fd86fd2d08", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "fdea897c-0d3c-42e3-9fae-19f2d81d2374", + "observation_id": "c50a94af-5e98-4c2c-88ee-7852d6fe25a7", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "dd3d395e-cd4b-499f-b29b-639030dc10fe", + "observation_id": "3dd7d89c-b630-4b57-8785-760ec275dff9", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "36c1713a-ec65-4ffe-b50b-f85b73d51d7c", + "observation_id": "295834f9-983a-48f5-93ae-90404edc6093", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "3eb86f32-638b-4cd5-8323-5bc1d7b7c6fd", + "observation_id": "86fcaa16-1c2f-4c82-a6d0-3f5977c032d4", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "fa558d89-8a73-450c-a280-b57857f7f405", + "observation_id": "e55fdc2c-2384-451d-825c-eb89a90bc887", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "e6acceac-7525-4176-9a1c-f65c0202b32c", + "observation_id": "f0abe0d3-e6b2-4d1b-8c5f-e50c2aa10d95", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "28b8a7c9-e4eb-4961-b6f2-02c12d971d5b", + "observation_id": "1738a460-ad78-4fe7-8a19-4afef1125818", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "3bac2b33-42f1-4cad-99c5-2a6895f2124f", + "observation_id": "0d07ff50-70b1-4cca-8ccd-329a1ea3bfb3", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "2a0ee34e-8c10-433b-8591-c00c7c6d46c1", + "observation_id": "4d9feadf-5211-4482-b8fa-265408c8e032", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "1ab41443-2df9-482b-8880-1d76a215413f", + "observation_id": "c6528787-3d4f-42db-af79-60dd3adc879e", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "376acab0-4f46-4743-a215-fabcd2ac9bba", + "observation_id": "8d7541a2-f24d-403c-8da7-15f62c5007e8", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "e71580ef-0560-4ef1-af74-25aa89cbddc1", + "observation_id": "d45d640c-7206-4988-9ab8-8b9c01c7b444", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "d85914c2-b52a-4a27-924f-94b521b83479", + "observation_id": "08ce25fd-56ab-45d7-a33a-5581b262d573", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "345ec1d2-5e84-447a-a8f3-770578cd8f02", + "observation_id": "08131415-eca7-4583-ad5d-61316dab23b9", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_acf/render_f_camera_pose.json b/data/camera_study/Scene10/k3_acf/render_f_camera_pose.json index fe85aca..81e68c8 100644 --- a/data/camera_study/Scene10/k3_acf/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k3_acf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:02Z", + "created_utc": "2026-06-02T22:34:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_acf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_acf/robot_state.eval.json b/data/camera_study/Scene10/k3_acf/robot_state.eval.json index c3cc84e..7a397ab 100644 --- a/data/camera_study/Scene10/k3_acf/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_acf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.7053083413869672, "mean_abs_mm": 0.7123088865029938, "max_abs_mm": 1.0468517294190427, - "finger_error_mm": 1.9024884136423874 + "n_unobservable": 0, + "wrist_error_mm": 0.9482131103290125, + "finger_error_mm": 3.2250202637586636 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_acf/robot_state.json b/data/camera_study/Scene10/k3_acf/robot_state.json index f91be23..e435e81 100644 --- a/data/camera_study/Scene10/k3_acf/robot_state.json +++ b/data/camera_study/Scene10/k3_acf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:12Z", + "created_utc": "2026-06-02T22:34:37Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k3_bcd/aruco_marker_poses.json b/data/camera_study/Scene10/k3_bcd/aruco_marker_poses.json index b0a011b..30d218c 100644 --- a/data/camera_study/Scene10/k3_bcd/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_bcd/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:18:30Z", + "created_utc": "2026-06-02T22:34:56Z", "summary": { "num_cameras": 3, "num_markers": 18 diff --git a/data/camera_study/Scene10/k3_bcd/aruco_positions_initial.json b/data/camera_study/Scene10/k3_bcd/aruco_positions_initial.json index 61aa8a4..5f30d8a 100644 --- a/data/camera_study/Scene10/k3_bcd/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_bcd/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:18:29Z", + "created_utc": "2026-06-02T22:34:56Z", "summary": { "num_cameras": 3, "num_markers": 18, diff --git a/data/camera_study/Scene10/k3_bcd/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_bcd/aruco_positions_optimized.json index 2b48cea..2284aa1 100644 --- a/data/camera_study/Scene10/k3_bcd/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_bcd/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:18:29Z", + "created_utc": "2026-06-02T22:34:56Z", "summary": { "num_cameras": 3, "num_markers": 18, diff --git a/data/camera_study/Scene10/k3_bcd/render_b_aruco_detection.json b/data/camera_study/Scene10/k3_bcd/render_b_aruco_detection.json index d09023c..19478b7 100644 --- a/data/camera_study/Scene10/k3_bcd/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k3_bcd/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:26Z", + "created_utc": "2026-06-02T22:34:53Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c3991217-d249-4f2e-8618-c5b0d0589f03", + "observation_id": "707b813b-8f30-4205-adaa-08c5391e7561", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "d4332b5c-26e7-44e9-858e-958721cb7e04", + "observation_id": "a5db1f16-6cc8-4935-ae00-a03732fdff2f", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "ebb3e9a7-1ac3-4387-bc61-857a734943f4", + "observation_id": "a7bc4011-2663-4a26-8748-5e14521212e2", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "bafc7ae7-1140-404f-92ff-7b7f58100881", + "observation_id": "ec4343a6-9f0c-4cad-b9bb-523a2eef2983", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "fbaec36b-a5c4-4031-b8f0-644612070b0b", + "observation_id": "5f972324-5868-46d8-a407-981e8d698f6f", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "f5726359-39a7-4b08-97b9-6dbb82b93bc4", + "observation_id": "75feee04-c49a-4e5d-bdb3-b4f750597947", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "3ae1969d-49e5-4ab1-8d1b-1eca3e5b2db7", + "observation_id": "b0f15b37-0067-4897-a804-c91d5e8b4ae4", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "e016f3b3-3486-4115-9b3a-3d222b64292d", + "observation_id": "eb2404d3-d55e-4cb2-a48e-90b612ab63b4", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "017c063f-5172-4cfe-8044-46e60b575556", + "observation_id": "3b41abf4-b1b3-46de-9809-b1aea1f377ab", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "c2a00048-264a-4759-bff4-300ceb3b7b01", + "observation_id": "118cf53a-8129-4a11-a25f-60beb0f10946", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "09d2e5a3-5371-4ac0-9c49-ae9baeebd549", + "observation_id": "6a04b786-e660-48ff-8cd4-04a25ce83480", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "e1a116d6-a270-40e2-8989-9ccbda3f2a89", + "observation_id": "3d4b0d4e-a040-476c-bc23-565d3c726b6e", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "4f480a05-9e82-40ca-b6be-78d93f81156d", + "observation_id": "23df16fb-cba4-4d9e-97f5-dcde15fcae6e", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "22634536-1ec6-4a03-a009-dfc6430e5267", + "observation_id": "67e4bdf1-060d-451f-9527-32c8212ffd3a", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "6cffeb91-4658-4afa-a08a-54bcc96a0fa4", + "observation_id": "17255a17-de38-4ff9-af32-97b9788a41b7", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "b3c317d0-3c19-48cf-a664-3d636ca45a26", + "observation_id": "9b05e982-42f2-40ff-ae08-c5a2a66c9fce", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "b75e5ba7-b481-4d30-91e8-499b3775f4f6", + "observation_id": "84ddf2c1-4f53-4e06-a9a5-7aea17dbb8af", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "a0a041dd-7813-40a8-9889-7977f36b5f6e", + "observation_id": "4f753bc0-9686-406e-acea-19472b493f27", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "c4743e5a-9627-44fe-8bda-b473100f8b78", + "observation_id": "2f7d0f4e-2fa3-438e-bc5d-006f356a06af", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "5593ada7-d33b-4d9d-ba0d-9a33218e4ed1", + "observation_id": "33d0cd4a-84a1-4d7e-800a-18ca2ea26024", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "295539bd-cc8f-49ef-81f2-e37a341ab5cb", + "observation_id": "9092ed53-5dbe-46f9-9a0d-932cef0ddb1c", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "538750b5-d2f0-4d10-801f-f57fdb437253", + "observation_id": "fdb5517c-170d-4c7c-9f4a-85a666e01505", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "43f7ea08-cd67-41c5-abd9-800d0b8dce59", + "observation_id": "0813a656-78fd-468b-9490-e3e83edf1ab3", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "2ad56344-1c71-46b5-8686-e885a2b5b1e9", + "observation_id": "6e52acfe-c1d0-47b8-b3d2-b45b57dc6cc3", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "038f2788-5dc1-4191-a5e1-b1a5f6ae938b", + "observation_id": "c6590968-65f3-4d18-a0e2-a16e73b4221b", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "49976598-ef27-47c7-8683-6da7d553ebe1", + "observation_id": "5ea88c0e-36e6-41c2-862b-e2ea4141ce01", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "9f28737f-466a-4ce5-9ba3-c5571a850121", + "observation_id": "e5f15919-b4f9-4131-8033-d9387f35bc53", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "20c713e2-69b6-43e7-a5bc-0f3a77d30c43", + "observation_id": "685e9be8-23fa-4766-a510-0c2a37e6f647", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "aebaa7cf-9d8f-4773-9bb9-7424bc6c72d1", + "observation_id": "1a8a2d16-9d42-4d61-803a-4311bb201283", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "85821920-572c-4ee8-b7cd-8985f2142635", + "observation_id": "2dc3a45f-abd3-445b-8726-5edec48bd226", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "35135202-f5af-461a-bbba-a3b40b735ae5", + "observation_id": "76db0762-058b-4ec1-86de-bc18ad17be56", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "235f34ac-5247-4b87-a9dd-d493ceebaf43", + "observation_id": "a390fda8-23f9-48a7-8c45-e4d9c887ef9e", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "33c0a568-00b0-4eb6-9c86-1aee954ed016", + "observation_id": "a2660538-8c6a-41f7-aae4-282954c98d01", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "ea913662-c3e7-43ff-9b67-69a8a368f4fa", + "observation_id": "72535554-fd8f-4b9c-8770-d65ea9a96c34", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "2313a8bb-7a91-4804-b1b1-08a3b1d4c8bb", + "observation_id": "a7f263c7-b625-4cf2-af61-c925573c9a10", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "922e8d04-bfe1-425a-ba5d-02beaacfceaa", + "observation_id": "e3a7ab1b-6b40-46da-9998-4bd3e11c09b3", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_bcd/render_b_camera_pose.json b/data/camera_study/Scene10/k3_bcd/render_b_camera_pose.json index 4cf4303..b5c25e9 100644 --- a/data/camera_study/Scene10/k3_bcd/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k3_bcd/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:28Z", + "created_utc": "2026-06-02T22:34:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bcd\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_bcd/render_c_aruco_detection.json b/data/camera_study/Scene10/k3_bcd/render_c_aruco_detection.json index 471a972..96c5847 100644 --- a/data/camera_study/Scene10/k3_bcd/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k3_bcd/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:27Z", + "created_utc": "2026-06-02T22:34:54Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "5160414d-907c-4323-9f67-fb7299d0f610", + "observation_id": "6cf5cdc6-712b-4994-a9bd-0a30a8dcd41c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "01a969cd-90e5-4858-ae34-53f2ceb8ecbf", + "observation_id": "6f5d68d3-4cd4-4927-931d-cb134feb8022", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "3bd4694b-f2ba-4a71-aa51-3f55ebdff2f6", + "observation_id": "c10a900b-1bf3-4629-869e-470c1f961453", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "2364d694-4493-40c3-84a9-e79eef94e7f3", + "observation_id": "0ba034d7-0eeb-482f-abc6-eaf707eeadc4", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "52c9d28a-d4eb-4218-b5ec-17498e520a1a", + "observation_id": "edd70e40-6d9a-4fe2-8455-0cfdd9fe43f6", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "4ad8ef85-3eb7-408f-8a4f-0296d836a864", + "observation_id": "f1621fad-a245-4130-9e87-be427a4bf3f8", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "3dcf846c-e0ec-4375-b354-94328c2d59e8", + "observation_id": "608ad3ef-6577-421a-8423-b96cab023a30", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "49d72220-2670-43ca-b642-7d932c50aad4", + "observation_id": "f37953a4-d506-458a-aae8-c5af77123379", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "83e2691a-dd44-4993-9e1a-50a7d5082dfc", + "observation_id": "b697162a-556c-408f-93ae-763e2d001a3e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "eacaf946-b4fa-42c2-8218-9f68e655d775", + "observation_id": "b98aef75-9006-4359-a67c-33b10c114003", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "f25f6947-0c4b-42c5-bb15-16b3d062b896", + "observation_id": "f1ecff45-f5f1-4e57-8f86-60f063e77ca7", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "3be216bb-0bdb-4e34-b3ee-158d38beaa97", + "observation_id": "681bb749-060d-4703-8fb9-3872b0d268fe", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "e7ba6ae7-1de6-424b-9734-153a97e97145", + "observation_id": "5b7e4ad0-4b92-45a7-9e87-94318a06af42", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "ba5254de-ab98-414e-86f6-b6bfdcb59aad", + "observation_id": "aeeabab7-b92a-4f6e-b861-9ce0557d713b", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "63236c81-aaf1-4577-b309-8dcf53a91fe0", + "observation_id": "19837e0a-a228-47ab-87c0-eca8ab27daef", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "ca3f88b6-49b5-4f4f-b3a6-9bedf46bc413", + "observation_id": "fa8a9873-3c62-475a-9055-cef4c28a874e", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_bcd/render_c_camera_pose.json b/data/camera_study/Scene10/k3_bcd/render_c_camera_pose.json index 541621a..3254060 100644 --- a/data/camera_study/Scene10/k3_bcd/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k3_bcd/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:28Z", + "created_utc": "2026-06-02T22:34:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bcd\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_bcd/render_d_aruco_detection.json b/data/camera_study/Scene10/k3_bcd/render_d_aruco_detection.json index 6bf5f2f..fc04cbd 100644 --- a/data/camera_study/Scene10/k3_bcd/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k3_bcd/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:27Z", + "created_utc": "2026-06-02T22:34:54Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "16a3a5ed-3a54-4f4a-bf57-94105b8dcdab", + "observation_id": "68078a18-e5ff-4dc3-9333-7a750bd71339", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "1ccff371-105e-4aa2-9e4a-bb2a0cf2064f", + "observation_id": "ef2db92b-61ff-4414-89d9-39373f868d76", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "ba12b12c-f2b5-4519-9013-08ee36ddb06d", + "observation_id": "1b5d9e39-70e1-42fc-abd4-0e1ba146989d", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "01f2274f-06f5-4684-9496-b9d7e2b0f925", + "observation_id": "d8f6b4dd-2a08-4b6d-a355-bbfa5dcdda2f", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "d2504a53-9a2a-418c-b67a-2b17dc45b032", + "observation_id": "15a3e7bf-98c6-4a9a-94bd-749a167ee3bb", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "9f02c92b-4377-4e1d-8a3a-20a52391fe6d", + "observation_id": "defd7054-b009-4675-adce-f06bf6c1d144", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "3bbbc001-8955-4ea3-a1e7-b0e4136a29c7", + "observation_id": "22fcae67-ac3d-4b7a-ac93-a72f4898f539", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "ad699b36-9959-4f2c-96e0-9af96905b7da", + "observation_id": "05650b98-4cc2-4fcb-8d8f-e4bdafc65114", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "f062fb57-cf66-4c96-8a48-8e34e13ab1d7", + "observation_id": "d8507550-3dd1-4437-a0b6-d2b05d908e5d", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "033f1b15-5d4d-4251-9215-6a848dea4c75", + "observation_id": "ff794f52-000e-493d-9433-dcfe262f6600", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "2050d15b-7e4a-4394-a59c-9409a373fb00", + "observation_id": "5c241cba-fa42-4af2-a150-00b6b187b21b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "0894d85d-d48a-49f9-b1d0-bffc26d89dbb", + "observation_id": "6c7d7007-6b33-4c07-83d5-f123df5478fe", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "94acbaa1-b943-42a3-92f3-542a7f981c74", + "observation_id": "e881f56f-406a-438d-a9fb-bd618a925c1e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "57e28479-5aea-41b6-8dde-09713b923382", + "observation_id": "53f02e3f-737e-47ba-888c-730d3a734b60", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "6b5b5677-addf-4058-a25f-c52de9344dcf", + "observation_id": "6b7269b5-148a-4a10-b8ec-f153b4f45ab0", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_bcd/render_d_camera_pose.json b/data/camera_study/Scene10/k3_bcd/render_d_camera_pose.json index 34a3cc0..3a4c758 100644 --- a/data/camera_study/Scene10/k3_bcd/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k3_bcd/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:28Z", + "created_utc": "2026-06-02T22:34:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bcd\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_bcd/robot_state.eval.json b/data/camera_study/Scene10/k3_bcd/robot_state.eval.json index 279e7aa..21f7b56 100644 --- a/data/camera_study/Scene10/k3_bcd/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_bcd/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.4451210347628205, "mean_abs_mm": 1.1018251518777897, "max_abs_mm": 1.2713416077475443, - "finger_error_mm": 0.8035402916614178 + "n_unobservable": 0, + "wrist_error_mm": 1.6366306798267454, + "finger_error_mm": 0.7098079328100667 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_bcd/robot_state.json b/data/camera_study/Scene10/k3_bcd/robot_state.json index 36795ad..33af057 100644 --- a/data/camera_study/Scene10/k3_bcd/robot_state.json +++ b/data/camera_study/Scene10/k3_bcd/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:32Z", + "created_utc": "2026-06-02T22:34:58Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k3_bcf/aruco_marker_poses.json b/data/camera_study/Scene10/k3_bcf/aruco_marker_poses.json index cd46439..1b9fb37 100644 --- a/data/camera_study/Scene10/k3_bcf/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_bcf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:18:24Z", + "created_utc": "2026-06-02T22:34:50Z", "summary": { "num_cameras": 3, "num_markers": 21 diff --git a/data/camera_study/Scene10/k3_bcf/aruco_positions_initial.json b/data/camera_study/Scene10/k3_bcf/aruco_positions_initial.json index f174ba1..a8b1e0d 100644 --- a/data/camera_study/Scene10/k3_bcf/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_bcf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:18:22Z", + "created_utc": "2026-06-02T22:34:48Z", "summary": { "num_cameras": 3, "num_markers": 21, diff --git a/data/camera_study/Scene10/k3_bcf/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_bcf/aruco_positions_optimized.json index 718f937..8e2ec98 100644 --- a/data/camera_study/Scene10/k3_bcf/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_bcf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:18:23Z", + "created_utc": "2026-06-02T22:34:50Z", "summary": { "num_cameras": 3, "num_markers": 21, diff --git a/data/camera_study/Scene10/k3_bcf/render_b_aruco_detection.json b/data/camera_study/Scene10/k3_bcf/render_b_aruco_detection.json index 75855f6..fd6dbc5 100644 --- a/data/camera_study/Scene10/k3_bcf/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k3_bcf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:20Z", + "created_utc": "2026-06-02T22:34:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "010cbbd0-9e70-4038-9498-231de76ea374", + "observation_id": "57e8c267-c63c-4251-92dc-a4a4728351e1", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "13aafd33-c315-4d87-b5f0-bee266019db2", + "observation_id": "15a225b6-a623-4002-b858-e7d573d09f7f", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "dda51250-c0e7-4a48-9394-6ebfd618549b", + "observation_id": "8dd160a0-4b16-48cb-b96c-5ceedd808ff3", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "16f1bbde-e960-4fd1-9c0c-b1e8d50bf07d", + "observation_id": "3735ca98-6b13-4054-91aa-49c69141a9d6", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "ec33a2e1-4d31-407b-8687-d40ebf175b33", + "observation_id": "ffd3bb8d-bc1f-4268-999b-e5b2db234797", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "198129ad-b813-4549-b13d-594a82247473", + "observation_id": "76574bb9-72d0-4522-9a8b-2fbdcb16d8bf", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "2f102604-ea61-4f82-9ff6-06b0cac57cfd", + "observation_id": "f0d52e9c-4a13-4e02-a499-df46122a8d0f", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "f3deb6b7-c801-48f5-af75-5cb2da13b5cb", + "observation_id": "286cf8ee-2be6-4b9a-b0b1-16e182c1ef18", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "fe96c289-bb45-40c1-8e19-f2b7ea52ae60", + "observation_id": "1a555385-dd9a-4313-815c-37026ff74242", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "4754fbc0-3a66-415e-817b-78dc52523480", + "observation_id": "7d75f198-1d61-42d4-8460-d641b5b4fecb", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "0fc90252-ff62-4cea-a6db-771da05145f7", + "observation_id": "61289386-55ab-4d64-a063-26511d9b6cad", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "e5c867c4-ad21-4be1-9f3c-6eac6e816201", + "observation_id": "beb7f07c-ff9a-43d0-890b-a0929dc25d61", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "8806cd01-eab5-4b5e-9ec4-44459b28d234", + "observation_id": "8d7e1c64-defe-499f-956e-4472778a7fe1", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "dd4bd797-9bf6-4564-9330-114dcc200431", + "observation_id": "43903634-f799-4282-89f1-c2a57af7cf2b", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "a5c5cedb-67df-4dcf-b762-58478756daa8", + "observation_id": "11fd5503-08f8-4544-8d3e-c2fd2375ac56", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "ae716839-c558-4b81-b7c2-513d9e63ea5a", + "observation_id": "40e4d7a0-7622-490c-9814-70cdf0250b5a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "ad44a30a-f0f6-4a53-ba59-408b943dac2c", + "observation_id": "06d2beb8-fcad-484b-bdd5-fa025641ddd3", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "41accae8-6756-4d95-afde-0f5fbffd9bf7", + "observation_id": "96750c6e-fe6b-406f-83aa-3b0741d486d6", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "4c171c54-d126-4f47-90bb-aea2872eab77", + "observation_id": "7f4f110a-28dd-428f-b19c-154b03bae381", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "ad3b8bc5-fb79-4b25-bce2-e81f186ba0b5", + "observation_id": "a30b2a57-0c7c-4a73-931c-5471458507c2", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "a7e1bec1-93ba-4c76-8cf5-24b3ef2adb7c", + "observation_id": "7bb8c5e9-c125-413d-af42-0289cb8cc362", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "fad2fb6b-b3b8-4d26-93bd-c70b26ddea68", + "observation_id": "b10f0f12-eb3c-424d-b0e4-b0caba8d3333", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "826d3a70-3f4e-4a5d-abd3-7a6ee92f82fb", + "observation_id": "ba760a34-732b-46b9-b624-a72b65739839", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "336fdccc-1bd8-46dc-9b27-e169848e0acf", + "observation_id": "7b96ec41-8b83-4a18-b57d-91b84d9513ab", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "c8ea7e86-06e6-46ed-bae5-18c36068dd4d", + "observation_id": "7bdcb004-8f41-43c2-bc8f-1510a9380778", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "b1fec94a-e96a-49ee-9663-f03f0000da7b", + "observation_id": "ace35ac1-8a12-4f25-b0fb-a34aebe97dcd", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "3aa143be-0cc2-4167-845b-3954f45b1617", + "observation_id": "bc937aaa-3332-4e07-9122-33e09e17906e", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "4ade1c10-9e38-4b10-a73e-5441733fefd5", + "observation_id": "64af7d6e-c47d-4d82-a4c7-24f39074fe55", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "e9df2399-8cdf-494f-a240-8ea4fac0ea3b", + "observation_id": "09a1baac-4f20-4db0-88d7-8416ffe754be", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "f697c84e-65a0-4c42-bcaf-5d46f2349863", + "observation_id": "cdcde745-c2bb-449b-b628-350794d31b4f", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "377b91c3-c53a-4097-be4b-d45514ac6c63", + "observation_id": "4f56e3be-54b8-4f7d-a463-3587ebd56322", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "8200b15f-2ad3-4043-a77d-9ee26b364c92", + "observation_id": "c6462c3e-2a84-45fd-a4af-a5ec30da807a", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "5a96f958-9d3e-4902-9c73-8ffe900f3df5", + "observation_id": "5c53de78-d682-45f5-b7b5-f5725983d10c", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "58255c1f-6afd-44dc-8590-47a04cceac2d", + "observation_id": "bd35a904-10f6-4cd6-9c4c-f424571abfaf", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "72d11a5e-ff0a-420f-94c2-d5ecd02e86b2", + "observation_id": "7a2d7481-90f1-43d7-8a88-4bad139fe55f", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "91136373-be0f-4136-86ca-012db6902c27", + "observation_id": "de0ba089-e80e-4317-987b-e51b4ffbf3b6", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_bcf/render_b_camera_pose.json b/data/camera_study/Scene10/k3_bcf/render_b_camera_pose.json index 3bc99b5..9692264 100644 --- a/data/camera_study/Scene10/k3_bcf/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k3_bcf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:21Z", + "created_utc": "2026-06-02T22:34:47Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bcf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_bcf/render_c_aruco_detection.json b/data/camera_study/Scene10/k3_bcf/render_c_aruco_detection.json index 7b304f4..5f8490b 100644 --- a/data/camera_study/Scene10/k3_bcf/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k3_bcf/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:20Z", + "created_utc": "2026-06-02T22:34:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9d894d34-0498-4b72-95c1-3c8d7080d60b", + "observation_id": "adaac8b3-4c5d-4e1b-a142-aa58c3a3564f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "b1771db1-1cb4-4954-a124-42c58d912907", + "observation_id": "5824c959-eeac-41ec-a44a-56707269f404", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "a271a7fc-7a4a-43aa-81e4-a80e38212399", + "observation_id": "d95875d0-4f66-4e24-bfae-4ac50724de16", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "2093f4d1-f1cb-4248-8909-814fc958b55a", + "observation_id": "27edfcfe-0b0b-4bf2-af7f-bdf4f5e684c5", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "e54f9bd7-eedb-4878-aa36-a816b220817c", + "observation_id": "e2aa42fd-06e1-4e1f-9f06-58872cf4a871", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "deec846b-4cd4-42c2-b601-2ab93da9d391", + "observation_id": "c4fcad79-4b41-4bcc-a515-c3a31f874c78", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "2dbc157d-9263-4ab5-bb34-15960af53f06", + "observation_id": "4c58d15c-b327-489a-a811-3d53ec7f46b6", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "08dbfd78-4614-433f-87bf-6eee004623ff", + "observation_id": "1d366a0b-2cc6-4d6c-a7c4-7e082c927f35", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "c2ea288f-b945-4ec9-b804-98c3037edce2", + "observation_id": "bbf70bc1-f01f-4282-b19b-b25b98e8fed8", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "878f9ed6-05e4-45b2-b2a3-6cf055f58fef", + "observation_id": "6ba4e869-0588-42e1-8f8b-6ae8c8a5e457", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "2d1d265c-4041-4bf6-a8d9-d33e39fae152", + "observation_id": "c5a6b50d-d2d1-4602-aa16-6a1f9d2da1a1", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "08631c7f-4860-458a-9449-63f9f213534c", + "observation_id": "faff4ba4-dd24-49e0-a70c-87ff451d463e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "7cc290a9-576d-4c42-ba49-053345cd5fe2", + "observation_id": "5e20a2c0-5a20-4ead-98ef-d36587b4d0b2", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "6b19cee3-3a93-413e-b498-dabc606dace7", + "observation_id": "56a617b1-0c95-4320-89cd-3d95bc2c4184", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "22a4e903-e5be-4d55-bc1e-af2ea50d07ba", + "observation_id": "9689d156-d882-4370-af05-54431d1d2353", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "2522019d-fc73-4b51-bf27-c7627a88d475", + "observation_id": "22125904-57f0-4b05-b7ff-c018396b02b5", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_bcf/render_c_camera_pose.json b/data/camera_study/Scene10/k3_bcf/render_c_camera_pose.json index f470032..f4aa021 100644 --- a/data/camera_study/Scene10/k3_bcf/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k3_bcf/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:22Z", + "created_utc": "2026-06-02T22:34:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bcf\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_bcf/render_f_aruco_detection.json b/data/camera_study/Scene10/k3_bcf/render_f_aruco_detection.json index b71ff6b..8bd346a 100644 --- a/data/camera_study/Scene10/k3_bcf/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k3_bcf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:21Z", + "created_utc": "2026-06-02T22:34:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "22bd7300-8381-4967-84ba-017f0851caf5", + "observation_id": "8bf2c4ed-cc2a-4475-97ae-58419d738183", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "e3e4e108-1739-4f36-ae62-ba9c94228f1e", + "observation_id": "f668de6f-d5c1-46ac-8234-764ddbbd5d2a", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "84b623c9-91db-4680-8dce-2c3fb2c60082", + "observation_id": "13240de7-3399-4c7f-9459-fcd93fd116d8", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "39df8e0d-5371-4b6a-8ffd-a488f23e4edd", + "observation_id": "15642d26-7834-458b-a365-5d83302e2b24", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "46159ae8-d3bb-4625-968a-c7da18084f1d", + "observation_id": "bed212e8-67a9-4bc6-a097-2ccdd5efea79", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "428b8aae-2665-4c07-95eb-56df8d3e24e3", + "observation_id": "869597c7-bea0-4ce1-8941-549aeef8b2ba", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "f40f122e-bf9c-4d33-a55f-86d8dedf9a51", + "observation_id": "d5a141b6-7988-47fb-8cf3-99caebd150b4", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "038f1e7c-bfc4-40b2-9fb0-5d3d238e5afe", + "observation_id": "51e5b2ff-c3af-4746-b462-8e68b010d495", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "a7200454-efa7-4c61-919a-c817d630ec3e", + "observation_id": "3f0620de-e448-4861-91cd-ad7ff59cd795", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "75b8c0a5-7b49-4035-847b-29be57f69dfd", + "observation_id": "4c240640-226a-42ed-ada5-c0f6937b469f", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "05247d8f-58f0-4031-ac70-692c23d5ab34", + "observation_id": "ff131ba1-45f3-4ffc-b3b0-a2ba51d63e74", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "8dc6a9b8-87aa-455e-9ba8-74ab9e07a631", + "observation_id": "e310bd28-523b-4b29-93dd-a52c65fc48af", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "42f49ac5-feb5-4d59-973d-fbaf3360af7a", + "observation_id": "2b649d06-1ab2-4960-a9a3-d0730ea63e84", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "c787e96b-b620-4bf2-8b24-95f66ea6097d", + "observation_id": "ab10a258-58c0-4ff1-aed2-0c57d836feb7", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "dce0f5e2-dff7-487f-9862-40257295996e", + "observation_id": "7fff3ac7-ed26-4ec9-b600-75a6dfea5876", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "a56080cb-73d1-446f-b890-13e7b0db846a", + "observation_id": "6e3d9b23-d418-4a63-ae1f-30429464343c", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "c3b29dfd-0483-4285-862e-55aa5080f5a7", + "observation_id": "1341a97b-5e37-4b59-b54d-6dcbe1acb2ab", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "bef0b9f4-baff-4efa-b7d8-863299b07df7", + "observation_id": "694698e7-45f2-4d48-9f15-18a096330f84", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "07feba3f-7a10-4843-90dc-041f59a43246", + "observation_id": "9074f260-e22f-4946-a2e4-f7c2f09c0130", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "342bce7a-4547-4e8e-b446-3954a3bc8d54", + "observation_id": "96d3df44-7866-498e-a200-7047b922b1dd", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "5397550c-c648-46d7-a05c-00c1af104a7a", + "observation_id": "496f325d-4ff6-4dda-aa9c-b0c045b0c4f3", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "3d92ed0d-8be5-4bd1-874f-a527fb1c2987", + "observation_id": "1b05b1a1-d043-4d8b-8117-256dfc344a1e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "40c7811c-c972-4114-8318-935c27b99e22", + "observation_id": "262873bf-1b1f-4c1d-8670-0cc8a988e1f2", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "6fe50e0d-f6cc-4fec-b612-c2465237f544", + "observation_id": "1e4c7f2d-7796-4b38-b200-25b021015c3e", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "458ed9b3-74b8-4f05-b2f8-3de59d838c2f", + "observation_id": "b15c229b-c3da-4e2b-969a-3f7d1097ae8c", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "6c16ffbd-7862-4eea-9bc9-cc7f3672bbd1", + "observation_id": "b244a2cd-79e9-4f9f-ad7a-a7bed051c3e5", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "08e39b93-94f1-4901-afd7-8b2cfabbb5a6", + "observation_id": "964a6d19-a4e0-4cd8-a5f8-60e44d2870b6", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "dbbb740f-4d01-4449-8737-44d9acf4a7cd", + "observation_id": "4cb42662-d6f8-45fc-8713-0f9253487c25", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "637fc96a-a4e3-4a1a-aeef-2f078b23a7b6", + "observation_id": "e67640ed-133b-4191-87b2-dbaeb4cf2951", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "3acdcf7b-31f9-4db5-ab19-b6cb082c31dc", + "observation_id": "e149d30b-b1b2-4740-a5b7-8062fa02a128", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "f9d50d40-d75e-4206-91ef-adcb603d7743", + "observation_id": "83e3a9e7-d7a7-4560-84e7-2a0ff26dcbb1", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "d2a264e0-3bfb-4145-a74b-70f2d353ad12", + "observation_id": "83ff72c9-2932-4cde-b3cd-7dc5aeca0411", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "88a7806a-1a6a-4550-b5fa-401dd1df5f37", + "observation_id": "a579a93f-c858-4c25-818f-14182b35b261", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_bcf/render_f_camera_pose.json b/data/camera_study/Scene10/k3_bcf/render_f_camera_pose.json index d326f72..8b8872d 100644 --- a/data/camera_study/Scene10/k3_bcf/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k3_bcf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:22Z", + "created_utc": "2026-06-02T22:34:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bcf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_bcf/robot_state.eval.json b/data/camera_study/Scene10/k3_bcf/robot_state.eval.json index 9551f1d..b92738c 100644 --- a/data/camera_study/Scene10/k3_bcf/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_bcf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.490751445281461, "mean_abs_mm": 0.38686657326853435, "max_abs_mm": 0.38686657326853435, - "finger_error_mm": 21.784025094699068 + "n_unobservable": 3, + "wrist_error_mm": 1.1604128553154758, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_bcf/robot_state.json b/data/camera_study/Scene10/k3_bcf/robot_state.json index 243b3a4..17db123 100644 --- a/data/camera_study/Scene10/k3_bcf/robot_state.json +++ b/data/camera_study/Scene10/k3_bcf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:25Z", + "created_utc": "2026-06-02T22:34:51Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k3_bdg/aruco_marker_poses.json b/data/camera_study/Scene10/k3_bdg/aruco_marker_poses.json index b2d4f33..95fb9ae 100644 --- a/data/camera_study/Scene10/k3_bdg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_bdg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:19:04Z", + "created_utc": "2026-06-02T22:35:32Z", "summary": { "num_cameras": 3, "num_markers": 24 diff --git a/data/camera_study/Scene10/k3_bdg/aruco_positions_initial.json b/data/camera_study/Scene10/k3_bdg/aruco_positions_initial.json index 2766b5d..85252be 100644 --- a/data/camera_study/Scene10/k3_bdg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_bdg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:19:03Z", + "created_utc": "2026-06-02T22:35:31Z", "summary": { "num_cameras": 3, "num_markers": 24, diff --git a/data/camera_study/Scene10/k3_bdg/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_bdg/aruco_positions_optimized.json index edc80a8..d8a1948 100644 --- a/data/camera_study/Scene10/k3_bdg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_bdg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:19:04Z", + "created_utc": "2026-06-02T22:35:32Z", "summary": { "num_cameras": 3, "num_markers": 24, diff --git a/data/camera_study/Scene10/k3_bdg/render_b_aruco_detection.json b/data/camera_study/Scene10/k3_bdg/render_b_aruco_detection.json index fa3e974..c7c57cc 100644 --- a/data/camera_study/Scene10/k3_bdg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k3_bdg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:01Z", + "created_utc": "2026-06-02T22:35:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b74645a8-dcca-4245-a369-fb0e75c3c233", + "observation_id": "3abf48d0-45a6-47c6-8a06-47180c74f810", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "09dc9e4e-42a5-40cd-aa84-e86e962df9f5", + "observation_id": "b0809072-5edd-4e97-b11f-bca58681c633", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "a638edb2-6f6c-4cc3-a9ef-9ef26e048820", + "observation_id": "e1310866-95ba-46ff-b153-434409919777", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "8aeeaf15-6a40-41c4-bf03-27d742c642c7", + "observation_id": "d660d16c-96aa-4bcc-84dd-b45bf1fa3914", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "f57e7036-eb90-4f36-85c0-67aefbd2491d", + "observation_id": "63a6c757-19d6-49a8-aa78-7531cf615cc1", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "4900b1b2-1fb3-49bc-a3e6-3bc91e98edb4", + "observation_id": "62274d3b-d554-42cc-8da3-3b25c1a1c4e9", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "6b9dd7b4-7075-41a1-90fc-ba6b1c977cff", + "observation_id": "2d7be9db-48d9-42e8-8df6-d20c4f8b08ce", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "0289b4f9-5fd7-4fa5-b206-e6ab5bbdf49e", + "observation_id": "ea28b662-31f3-4b80-bf5b-8983b886feb4", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "8629c3db-8297-4195-8c49-4d19c31346bd", + "observation_id": "7abd71ff-5c14-4539-802f-cae3033ec2f6", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "0e44303d-9246-47c4-9c48-5df8f0d5292f", + "observation_id": "f1a2d4bc-6766-4ebf-98a9-faee3821e52a", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "79a59bb9-92b8-489f-80f7-d777eae2edf1", + "observation_id": "eee3d960-340e-4c9b-a6f5-1535ee8b996b", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "d783558b-f66b-4766-8804-f41ff8bec652", + "observation_id": "d1871c1a-e8b3-43d0-b66f-4121771c001b", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "b8fada57-c0a9-4a98-9cf3-3547f6ccf05f", + "observation_id": "6a7508b7-4758-4b5d-b027-a1a227717b00", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "e81e3813-992c-403e-b038-d60d402053d2", + "observation_id": "bf0d0bd4-0a93-419b-bb6d-c7b7571aad95", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "e77de7d3-5066-4067-abbb-a4070e421b21", + "observation_id": "7b54d5a1-dc4b-4fcf-b8f6-7a987d2f0be8", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "6dfef21d-ac38-4c10-85f2-2ba0bd471c1b", + "observation_id": "c04d9b9a-ef52-4f87-b508-2b355ebafb9b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "ad3adbba-4aba-4d53-a09b-90689d00d5af", + "observation_id": "6c8378c9-1a03-4e3e-8d69-4c26e14fc83c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "8d11c3ee-bbd0-4180-8269-95e4cb30fcd0", + "observation_id": "e87d0620-32ce-4858-83a0-bd4dcd85e4f9", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "f64f3999-6b6b-4fdb-b115-30c2cfb1f142", + "observation_id": "6618ce01-e85a-4e25-9a9b-67cfae512457", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "3d3b7950-c3ae-4013-9783-45650ef899d7", + "observation_id": "18464b18-fcf9-4515-a7a7-de5c633f983e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "439d627c-7eb2-45fe-a837-4d702999202d", + "observation_id": "850c6739-a2ec-49f1-987d-00f396b7f2c3", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "5f7fb7cf-0436-48d1-b534-001a7f67f0f6", + "observation_id": "e514d1f6-200f-463a-bfa4-f8704202845c", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "12ef30b6-9f4d-494e-954c-d9a32e6ed6d2", + "observation_id": "b520c314-522e-48ec-8739-d76d7b528ab8", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "470c7023-3384-4e58-ad5d-927d15a126ad", + "observation_id": "9dcdd24e-4cab-49fb-8b13-a0173e0e0db1", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "cca555fd-abfa-4be1-87bf-ecf134db4144", + "observation_id": "c9910df3-392c-4973-9d2a-0bc895ed0642", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "5b069082-c9de-4b6d-a605-7188fd9efdfc", + "observation_id": "a5ee3605-7592-496b-a604-650854d7669f", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "abd0d972-ae66-4575-a98a-0a571deed3b6", + "observation_id": "9cee9f3a-57c2-4124-816e-61c98f50ba05", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "e088c341-327f-4a4c-89e2-c5fc1d612f1b", + "observation_id": "f424f802-bc91-4bc2-b9e7-4ea4f3f64747", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "b8b75d49-d7d3-4a27-9c6d-44c4055ab378", + "observation_id": "8d4e86e6-b0c4-47e1-bf3c-5c317fba1e47", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "531ce8a4-4d47-4afb-990a-a7920967f8b8", + "observation_id": "17dbf6a4-8254-449b-be02-953f7121ddec", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "6b85d10a-26c7-4793-b306-5b3ed51a4691", + "observation_id": "5d0b169a-7d21-4a71-a1be-6774fa855354", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "882372a7-07b1-4ba4-8807-e01e53ca6f16", + "observation_id": "5fd44840-50cc-4762-87e9-37af9ad9b5d8", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "2bc07539-d94a-4e01-8dea-5b80bb0956bc", + "observation_id": "de4f2cf9-7453-426d-a2c8-fa7885e957c1", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "b9130190-6cfa-4317-b552-f447546e5abb", + "observation_id": "214d1655-3b68-4981-bf01-209246c4d7e4", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "71722913-64e0-4398-a44b-ee12824ac6b6", + "observation_id": "ce5658c2-0f1e-4099-9b5e-265b2a02b629", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "bee2e2b9-e7bb-469f-aa07-3fa500eb039d", + "observation_id": "16a06eb3-a393-4d10-8329-5223612c3120", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_bdg/render_b_camera_pose.json b/data/camera_study/Scene10/k3_bdg/render_b_camera_pose.json index 2394b31..a69f4d7 100644 --- a/data/camera_study/Scene10/k3_bdg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k3_bdg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:02Z", + "created_utc": "2026-06-02T22:35:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bdg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_bdg/render_d_aruco_detection.json b/data/camera_study/Scene10/k3_bdg/render_d_aruco_detection.json index 12b13df..31481ee 100644 --- a/data/camera_study/Scene10/k3_bdg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k3_bdg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:01Z", + "created_utc": "2026-06-02T22:35:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f10cb5b1-f191-426f-bb77-f7cfc91c7301", + "observation_id": "735f60a1-5fd2-4bdb-a4cb-d65b3503037d", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "ee863deb-024b-4c25-b116-395cf11a2402", + "observation_id": "faea9c50-c564-451a-b169-4b19f79c7f30", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "eb2f942b-4d2f-4533-90aa-2bb40d7fdc2c", + "observation_id": "b1fc5857-30ac-4d6f-81f6-06d6927411dd", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "bf9a07c4-7bc8-4cd7-bc89-3c8ad687d14a", + "observation_id": "78fadd4d-f287-4188-bdda-087e2c708baf", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "50cc11f1-8e01-4cc4-84bf-2ef42de1863a", + "observation_id": "993e5efc-91d1-4cac-bc0e-0d91a37e1b61", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "e538292b-3bf6-425f-9bc8-92d4941b21c2", + "observation_id": "d741eeac-7e57-497c-a48b-dc2b3077f130", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "d485c2c4-9b5b-449c-9f22-44700b705f56", + "observation_id": "66c2df59-fccd-4da4-b8d9-07eca56d4e85", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "ddaa2b33-0686-4f4f-8210-ff18fe00b3a3", + "observation_id": "243cfcaa-d26e-4827-8af2-1cf55df40ece", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "47f1b242-0b91-4919-b131-6e0bcbb8f54d", + "observation_id": "58dec3c1-5e99-4b3c-9c8a-5a39bed93b53", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "b1a2f552-438b-46a1-bcbf-64bb1451a4f2", + "observation_id": "5064aac2-5bde-46af-94d7-ff21d3725724", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "5fbf6920-bd2c-48e7-8c32-501d7ceb0735", + "observation_id": "96a58580-d0fc-47f9-b558-ab85c33879be", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "3e6c8a8e-1d91-4b1e-9a9b-51194d98aaf7", + "observation_id": "224658d3-e8c5-4fe3-97b7-5c2ce3c97785", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "412a653f-2dba-4085-b4d1-5d5a05c47ee7", + "observation_id": "1ca71a58-59bc-4cbe-ab32-64f8558f7755", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "b6e2c5fa-f399-4af8-9c3f-255692da4096", + "observation_id": "8e25b82b-9104-4ad2-b030-8357e8d860f6", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "23013b97-7afe-4ff2-82f1-b403743a110a", + "observation_id": "0ad35a8b-772c-453c-bd77-0579b3d65761", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_bdg/render_d_camera_pose.json b/data/camera_study/Scene10/k3_bdg/render_d_camera_pose.json index 4d0b031..f5bc7d2 100644 --- a/data/camera_study/Scene10/k3_bdg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k3_bdg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:03Z", + "created_utc": "2026-06-02T22:35:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bdg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_bdg/render_g_aruco_detection.json b/data/camera_study/Scene10/k3_bdg/render_g_aruco_detection.json index a81bd6c..cff6419 100644 --- a/data/camera_study/Scene10/k3_bdg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k3_bdg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:02Z", + "created_utc": "2026-06-02T22:35:30Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9e65cf7d-ae4d-4e4a-a978-426dbf9ba7f3", + "observation_id": "e67e23f1-b7e6-43e7-a6c6-ef378149eb67", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "b7978999-3f72-4d15-af93-c274de957087", + "observation_id": "6fb81384-e325-45cc-9cd3-0d9a4d4ea4c2", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "4f756548-0a11-4ab0-9ecb-3e71ef9785a5", + "observation_id": "48422482-f2c8-40f2-b823-b13b81e429ea", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "af4d934b-6f01-408f-897b-61040a2e72a1", + "observation_id": "814a902c-3149-44e6-82da-014ae41af796", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "b28aac66-1faf-44d0-863a-42b9d572358d", + "observation_id": "0ac9bb91-9d54-405c-8ad6-176907765e6c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "4dd6b9e0-545b-49d7-aafb-351438947864", + "observation_id": "5d76a79f-90c5-4e0f-a4b6-878ea4869c1a", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "abc9339d-1880-4cd2-97c0-30db1c7772c7", + "observation_id": "3c79f197-e9af-4715-a727-2bdb44042c20", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "b4c3fe77-cf08-4edf-8070-fa6f238e059d", + "observation_id": "31bfa2cd-bac5-40d5-b0d9-a9b93c0bd875", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "9f52b98c-c9f6-4288-8150-dd0f6e3f031a", + "observation_id": "6e4ebe97-4964-4ec9-aa95-523e8c192426", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - 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"observation_id": "01e08026-a540-424b-a067-9da0e169713a", + "observation_id": "227fea11-f9df-4e88-ab93-7ea62944d6e7", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "35eda4c9-42e3-4b8d-9f21-bcefd181faf4", + "observation_id": "5e75e14f-25ef-4faa-908a-9424a8154af2", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "a7a3d0d1-e174-426b-99f5-0713a14977a5", + "observation_id": "04a60d9b-3e87-4115-8895-56b818094912", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "8fcaa507-e546-4bd1-a233-7a1a38edfb36", + "observation_id": "278d196b-6411-486f-9407-f7cdbd85f4dc", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "0f10e971-99bc-4de1-b44e-9edb1bca9ae1", + "observation_id": "f891b141-27d1-4306-8c33-3fc7b3641165", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "d7262499-e72e-4120-81da-4c6addde7575", + "observation_id": "ef33f86d-e60b-467d-ba9d-b3aaf4530443", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "d1335227-cf8a-493b-999c-d1da35aebe22", + "observation_id": "22e4886c-d22b-445e-960e-8f8a37a6aabe", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "04c9f37a-cfc4-4af2-8333-5cc2a2390069", + "observation_id": "a3e8f3d0-7671-4598-bff3-1ba43836ff70", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "2a51d8c2-c211-4af9-a2f3-b7c92b0881c0", + "observation_id": "b891f64d-b25c-4a51-8226-d997a19b7b50", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "f9e3719f-e9fb-41c7-a1e8-c5b1d11939c7", + "observation_id": "c95d0764-a660-4bae-894d-ceb8930ed7c2", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "5254a27a-7b1d-438a-884b-5aa29ad1fa18", + "observation_id": "4d8aa5ec-3284-4a6e-88e6-d8d6e6d3989c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "2fb45211-c2a5-472a-9c80-24e337878a42", + "observation_id": "080783a8-4e83-4e78-985f-577b33dbba3b", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "74f2e82c-2592-47b5-b0bf-385d8642b21d", + "observation_id": "274ec142-837e-41a9-a3d2-76db421b1779", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "ed6ef14f-5cc9-4120-a4f7-c9c59f337975", + "observation_id": "a84d9a1e-bbc3-48bf-bfa3-39650b6d6d32", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "14aaaea5-2066-470a-810e-d7c594e45951", + "observation_id": "a5f345b6-f10e-4795-a26a-40e1d3b6b4f9", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "db5dabc5-cacb-4282-a341-82087667c3b4", + "observation_id": "8055ceeb-79d5-4014-8fcf-5a2d2ff9dcb3", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "18ac5854-aaad-4e36-bed8-b34ccceb5c78", + "observation_id": "c487153c-a4e6-4ea7-9f91-a7d855e26a90", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "cab63293-9d05-41a7-9dcc-23032ec101da", + "observation_id": "176cb46f-3863-42a7-a880-d61aae5e445d", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "72428a4f-7d14-4b93-aa93-f2b0a475921e", + "observation_id": "eb3467d1-2b40-44e7-abb9-79317b1fda31", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "72aa2d7d-15f4-4ef7-a098-d0d3db3c1ff0", + "observation_id": "d8a99474-2f9b-41c7-b88e-477003c5936d", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "1582977a-0c9f-4e96-a4ee-18a6ab92edb9", + "observation_id": "32462e66-496b-4afc-bb29-3da165ee3234", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "5e51ad24-afb4-4c73-bda9-b148174bbbc7", + "observation_id": "de578964-6287-43f8-b9ea-6fb29e07c266", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "1d6f0086-d897-4c76-bb8b-7715ad5a76ba", + "observation_id": "e123737b-68bc-4bad-9e55-d3d555e6ef48", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_bdg/render_g_camera_pose.json b/data/camera_study/Scene10/k3_bdg/render_g_camera_pose.json index 9036715..1b43321 100644 --- a/data/camera_study/Scene10/k3_bdg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k3_bdg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:03Z", + "created_utc": "2026-06-02T22:35:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_bdg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_bdg/robot_state.eval.json b/data/camera_study/Scene10/k3_bdg/robot_state.eval.json index d710913..3038c0a 100644 --- a/data/camera_study/Scene10/k3_bdg/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_bdg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.0872473299162948, "mean_abs_mm": 0.5372478026395413, "max_abs_mm": 0.5372478026395413, - "finger_error_mm": 22.203048407704735 + "n_unobservable": 3, + "wrist_error_mm": 0.6239632588313676, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_bdg/robot_state.json b/data/camera_study/Scene10/k3_bdg/robot_state.json index 1548c04..08d2b75 100644 --- a/data/camera_study/Scene10/k3_bdg/robot_state.json +++ b/data/camera_study/Scene10/k3_bdg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:06Z", + "created_utc": "2026-06-02T22:35:34Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k3_beg/aruco_marker_poses.json b/data/camera_study/Scene10/k3_beg/aruco_marker_poses.json index d82b8dd..fa2734b 100644 --- a/data/camera_study/Scene10/k3_beg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_beg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:18:52Z", + "created_utc": "2026-06-02T22:35:19Z", "summary": { "num_cameras": 3, "num_markers": 23 diff --git a/data/camera_study/Scene10/k3_beg/aruco_positions_initial.json b/data/camera_study/Scene10/k3_beg/aruco_positions_initial.json index 52f4d38..ed67c10 100644 --- a/data/camera_study/Scene10/k3_beg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_beg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:18:50Z", + "created_utc": "2026-06-02T22:35:18Z", "summary": { "num_cameras": 3, "num_markers": 23, diff --git a/data/camera_study/Scene10/k3_beg/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_beg/aruco_positions_optimized.json index 27b6cb3..0876a35 100644 --- a/data/camera_study/Scene10/k3_beg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_beg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:18:51Z", + "created_utc": "2026-06-02T22:35:19Z", "summary": { "num_cameras": 3, "num_markers": 23, diff --git a/data/camera_study/Scene10/k3_beg/render_b_aruco_detection.json b/data/camera_study/Scene10/k3_beg/render_b_aruco_detection.json index b1a2dbb..b8f2bd3 100644 --- a/data/camera_study/Scene10/k3_beg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k3_beg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:48Z", + "created_utc": "2026-06-02T22:35:15Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "22862da9-1657-4a59-b257-f930c6718983", + "observation_id": "bc071f52-cfdf-47e0-871f-9a17253df2c0", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "42c9617a-93de-40a5-83ef-4a5139be0e27", + "observation_id": "ee4a72e1-de47-4597-97e2-cbc41b5a497a", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "79535f5e-ab8e-4c9f-a9fa-f8603d0c2577", + "observation_id": "f67cdf5c-8ddf-4bec-9c6e-90edf3aaed14", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "12b894e6-354b-4f59-b637-4783e035acfd", + "observation_id": "c98db415-9fb6-47d6-abfd-b93b2a9f117f", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "7172d97a-baa6-4dbb-955e-3492160740b2", + "observation_id": "6705a5e1-7b32-4993-9b73-e181909022af", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "0280abf6-f4c6-4de4-813f-abe4d39727f0", + "observation_id": "27eecee3-09ef-4fc1-ac4e-d9df64f3da89", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "bf9b6871-6c17-4558-b3f5-129c785e6cd6", + "observation_id": "ed2c7eaf-1e9c-44d5-9e69-00e854cfbaf0", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "8b90f633-0e6e-4346-a287-de05c8d610ed", + "observation_id": "7e419b7e-feb3-4d6a-a387-7f4bccb76a2e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "43134c15-a0c3-4fb4-a5e3-7f7ea013ade1", + "observation_id": "57a670d2-8067-42f2-923a-5c3b4573ab35", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "e149f9df-c57a-4a87-99bc-fe6d4ee80473", + "observation_id": "9789c7ca-4088-4db5-a4c3-efbe923f3fc5", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "cf7b1384-d989-453d-8104-166e5e8e303d", + "observation_id": "b2348099-d3ef-4d3d-9208-558aa9956b55", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "32dc6f5a-4bc7-4ecf-a8a6-e66c3ec4f047", + "observation_id": "afb3e590-d589-420d-addc-533e56e1e0b6", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "baf4c621-6e32-4f7c-a5d6-40a3004d08b4", + "observation_id": "f28018d3-1e24-4431-b119-5d526b237a64", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "491a7044-d381-45b5-9c56-050c0c549bfa", + "observation_id": "f2cc417d-4821-4e02-a7b3-4db1a111d267", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "290557ff-b427-4a4a-b35b-33fae920c28d", + "observation_id": "5dd05a94-93dd-4f4a-8b26-9d9a41fcaea8", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "34fd96e4-1d47-4607-b964-194524ca456a", + "observation_id": "7929a068-d12e-4264-92d0-734b575e8490", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "aef1a20c-e995-4a68-9d87-7d8061828f3d", + "observation_id": "048c82ad-c07b-4f6e-ba2e-7a1fe6416cc3", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "fde39689-42aa-4d9e-9ed6-5eee66b2ef17", + "observation_id": "b9994062-5972-4ee3-ae03-c9b448504e8b", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "68f761d4-e0ca-4fd0-a110-3a093b58d94a", + "observation_id": "b11baf84-f07c-4c46-a00f-17615375147f", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "87183b4d-7c76-455d-af2a-4fbe94d871c4", + "observation_id": "114f7317-d420-4d2c-aa38-291ec8b785d4", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "e63243df-ac2d-45a5-9841-9950e78d4347", + "observation_id": "ead7f4b5-7fd7-4f28-8622-4198c35e2c14", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "5c4ee48d-cb8a-4e6d-97bd-391ac986a41e", + "observation_id": "fd9437bc-68bb-4bce-8b7f-d457051ca410", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "24371e3f-fbb3-49e4-8b76-dd72bd1d19e7", + "observation_id": "2a75c0a2-eb97-422f-9516-9f08c6e06077", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "5959737d-8974-4e3f-8373-1ec046333446", + "observation_id": "c88fee6c-9b93-49f3-8f26-345695937cfd", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "87e46b6f-4417-487a-b510-9509b134bfd7", + "observation_id": "e0b810b0-e486-42fe-b843-2426dcda613d", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "d13a022b-84c2-41c9-a21d-d8dd3aa467f1", + "observation_id": "8326001b-1b22-4223-8747-c98e33da9add", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "08e7bc8f-3548-496c-95a5-94733d0d42e7", + "observation_id": "219209da-411c-4c5d-8dce-2dbc9de8b336", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "6f689422-da0c-4a30-9e80-752fefcf0234", + "observation_id": "c280d13b-51d5-4537-a52e-72c55cd731cf", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "0c164539-2200-4965-ba89-f1ff18208429", + "observation_id": "b9719626-fcd3-42f1-affb-c59ad5870940", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "02827f6c-7221-40fa-8479-82405b633160", + "observation_id": "52e4945b-cc53-4a82-a846-6852b6863e3c", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "3c4394a4-95c3-47ca-93c3-6038196030bf", + "observation_id": "46c6c389-e38e-4a92-ab6e-4d608aa08104", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "e025a589-8c92-49d1-b244-0fa34f3777fd", + "observation_id": "39bd8bd7-57e9-43bd-bcd0-0e9cfdd83a27", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "46f64536-cb18-4d70-8e18-48e96c54b722", + "observation_id": "7684b724-7624-4af5-b763-04848f86444b", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "8309ddb1-77de-4f03-afbd-069b976a31cc", + "observation_id": "186bdeb0-a181-493f-9c9b-5096aab9b692", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "2955c298-20c8-4966-8cd1-9a4c94829fcd", + "observation_id": "cff2fea0-c37f-4800-ac7d-a2d5ce9d8a54", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "a725dcfc-02c0-4f50-9501-5230926015cc", + "observation_id": "e049fed7-a023-44be-b734-80126dd91fa6", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_beg/render_b_camera_pose.json b/data/camera_study/Scene10/k3_beg/render_b_camera_pose.json index 624a7a3..c2f5f12 100644 --- a/data/camera_study/Scene10/k3_beg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k3_beg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:49Z", + "created_utc": "2026-06-02T22:35:17Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_beg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_beg/render_e_aruco_detection.json b/data/camera_study/Scene10/k3_beg/render_e_aruco_detection.json index 5b9ec31..81457ba 100644 --- a/data/camera_study/Scene10/k3_beg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k3_beg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:48Z", + "created_utc": "2026-06-02T22:35:15Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3383f1fe-42dd-4f7b-82ec-a5051b6ee38e", + "observation_id": "455cc966-061d-456b-bbf8-9db5782acab2", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "6d380b37-bc5c-44ef-af1a-aeffbd15b61c", + "observation_id": "c80191e3-788b-4202-a074-8a90e92fbb46", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "01926842-8c4a-4986-b06d-9ddd6e830c24", + "observation_id": "224ea521-b395-4250-87cf-c6165741e7b2", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "b792a114-cc65-48bb-a310-019088ebbecc", + "observation_id": "97944aea-04bf-4c8d-a727-189bfd041b25", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "c9b45ea9-c844-4356-99df-c75f5fca06af", + "observation_id": "be86ad3a-8f35-4c87-8399-27f3ca1db762", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "573adb4c-30d3-48d0-a5ab-185a934f1ae2", + "observation_id": "35e838e3-6987-4e82-8fc9-2adabe496e05", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "04292845-264a-4f66-a53d-e875f987ec3b", + "observation_id": "a6088d9b-5853-4c89-819b-ed333bf25254", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "d64b2042-cc75-4a44-9f70-24bd21c25274", + "observation_id": "57a78713-1be6-45ca-9cb3-57ab4fa8770c", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "94edc122-3d16-4277-b6ba-4030f819df33", + "observation_id": "68bed370-551d-4f8b-bcc6-752b454dbd7b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "eb4f15a5-b475-47f3-bb2a-f9865378e3bf", + "observation_id": "629cd26c-d154-4a84-b9ac-47e1013d9b32", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "baec1207-99ec-4f7f-a9ce-c8d912fd7c24", + "observation_id": "9905ede7-8a5d-4f07-892d-441e2dbad4b8", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "17879d4e-9caa-4d3e-9784-a8800bbd444b", + "observation_id": "a49a7236-70ae-46a1-bf6d-d728c32614ec", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_beg/render_e_camera_pose.json b/data/camera_study/Scene10/k3_beg/render_e_camera_pose.json index 8bc5af1..4c3109d 100644 --- a/data/camera_study/Scene10/k3_beg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k3_beg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:50Z", + "created_utc": "2026-06-02T22:35:17Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_beg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_beg/render_g_aruco_detection.json b/data/camera_study/Scene10/k3_beg/render_g_aruco_detection.json index e05f85f..0c8ed4e 100644 --- a/data/camera_study/Scene10/k3_beg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k3_beg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:49Z", + "created_utc": "2026-06-02T22:35:16Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "313bb271-1e4d-49e9-ba84-da0039768c75", + "observation_id": "a9945215-2dde-418f-9f28-bc515c677f83", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "085b4640-59fb-4214-8d61-617ff3c65633", + "observation_id": "c6b56854-ae32-46ca-aeb1-442ca7a43c7b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "d1e2c776-dc6d-4969-8a9f-ef40cf78d3b8", + "observation_id": "3d9e497d-1519-46c8-9d03-1349b008c137", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "88f3e20a-312d-4c11-80ff-5a6c0c6bc021", + "observation_id": "2a72bad9-addf-4564-8e84-7e089d2e7ab3", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "5d026815-f982-4904-90af-2d307167e021", + "observation_id": "334b6bea-f5a4-4db3-9abc-a4a8ffe3d1c2", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "eba3ba22-bf91-49f2-a877-11d5a962988c", + "observation_id": "37d8cbaf-64ab-41a0-9d2a-4abe1c37703e", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "308c9f92-00c1-41a4-a230-ce134980552b", + "observation_id": "4fbd2ca2-5655-4532-a65d-f1f840e7217c", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "aebe717b-0c5d-4ce6-a29f-b05a7a2ee5de", + "observation_id": "b7d35f21-f5f5-418e-a585-ce8ac522ed22", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "317b33e6-05e6-4a8f-9da8-928a50e738dc", + "observation_id": "0db6bb73-4179-4071-a4f1-9d8cdbafb90e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - 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"observation_id": "2955e32c-bca0-46fa-aa1f-16000716cb92", + "observation_id": "d43b4de3-49b9-41dd-8152-b29c1e03a317", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "e17e7432-3609-4d0b-a400-313be19d3c9a", + "observation_id": "0fc31fde-e551-4acf-b297-a0da2f843958", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "24a1a61e-1943-4a9f-af0e-af062530a3c9", + "observation_id": "4e717487-db4f-4504-b5e1-9abc57abc66e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "0a525591-8700-47bb-981d-deb1d9496d19", + "observation_id": "c38e44ec-679e-40a4-994e-db1c2022b065", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "8b90de72-0fec-4e60-a52d-e54879fb02d1", + "observation_id": "a4bff5ed-314b-42a1-9735-883f0b544f1e", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "18f7c6f1-c62f-4f8b-b711-bbbecaeeb49c", + "observation_id": "3a3fb8a1-2428-45f9-9006-e6fe6157411c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "a5eeb33e-8361-407b-8914-96b4b1778b97", + "observation_id": "3c26b9a5-7692-49a8-bd2e-5d87b135a333", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "b153ac2a-d0b8-4fc7-98e7-bce68bd7b10f", + "observation_id": "2ffd588d-e243-435f-b861-61d336952d7c", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "ef14bc5b-a6ec-446d-908c-0fe20ae7a776", + "observation_id": "14ab6447-6889-46ac-9e5a-79ed4f3b4044", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "1fd1f866-b066-4482-98f2-8e8d5028f93f", + "observation_id": "cba91a7e-cc1b-465d-a104-98088c3217f9", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "7b85f4e0-2292-46c9-af27-71bfcefd6684", + "observation_id": "03f47d60-6157-4326-8b5a-0b18e5533f6b", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "24878ca4-902d-48f6-85f2-8c04e4626ec2", + "observation_id": "7fd1981d-d6b2-40d5-8c07-f174c2dff102", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "ee8ecc9a-c01f-498f-8bdb-39d4be6db355", + "observation_id": "479560ed-9b4d-4d36-bb53-dc22330eb684", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "def62832-34ba-4a9e-9747-5bec3e2084e9", + "observation_id": "194db3d0-558d-4f82-9ba7-ff979d23eed4", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "c593529c-9ae9-4fa4-9413-12fbc5b39553", + "observation_id": "58db3f08-baaf-4eab-bded-f403fbc6131f", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "ba64d3ff-156c-4c0c-8517-f1dda8e6fa41", + "observation_id": "451f5579-2689-4922-8ff4-34a13564c23a", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "97da8553-c114-42c5-b8bd-1468fcfe27fd", + "observation_id": "d127d78b-7fcb-4f27-92dc-58d810222e8b", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "f7c00d9b-944d-41bb-9fdb-4e0578fb1853", + "observation_id": "4f8a0b12-b464-451f-9995-62d76e69103c", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_beg/render_g_camera_pose.json b/data/camera_study/Scene10/k3_beg/render_g_camera_pose.json index d51c4ed..e9ca20b 100644 --- a/data/camera_study/Scene10/k3_beg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k3_beg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:50Z", + "created_utc": "2026-06-02T22:35:17Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_beg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_beg/robot_state.eval.json b/data/camera_study/Scene10/k3_beg/robot_state.eval.json index 7607827..2836c24 100644 --- a/data/camera_study/Scene10/k3_beg/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_beg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.137942549263812, "mean_abs_mm": 0.37548008829183743, "max_abs_mm": 0.37548008829183743, - "finger_error_mm": 22.53832547624138 + "n_unobservable": 3, + "wrist_error_mm": 0.787720803068579, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_beg/robot_state.json b/data/camera_study/Scene10/k3_beg/robot_state.json index 970a68b..e1ccaf9 100644 --- a/data/camera_study/Scene10/k3_beg/robot_state.json +++ b/data/camera_study/Scene10/k3_beg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:53Z", + "created_utc": "2026-06-02T22:35:21Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k3_cef/aruco_marker_poses.json b/data/camera_study/Scene10/k3_cef/aruco_marker_poses.json index 2f9e55f..0072045 100644 --- a/data/camera_study/Scene10/k3_cef/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_cef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:19:10Z", + "created_utc": "2026-06-02T22:35:38Z", "summary": { "num_cameras": 3, "num_markers": 14 diff --git a/data/camera_study/Scene10/k3_cef/aruco_positions_initial.json b/data/camera_study/Scene10/k3_cef/aruco_positions_initial.json index 38beef4..ae2c59f 100644 --- a/data/camera_study/Scene10/k3_cef/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_cef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:19:09Z", + "created_utc": "2026-06-02T22:35:37Z", "summary": { "num_cameras": 3, "num_markers": 14, diff --git a/data/camera_study/Scene10/k3_cef/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_cef/aruco_positions_optimized.json index f7479b4..7f4fe65 100644 --- a/data/camera_study/Scene10/k3_cef/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_cef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:19:10Z", + "created_utc": "2026-06-02T22:35:37Z", "summary": { "num_cameras": 3, "num_markers": 14, diff --git a/data/camera_study/Scene10/k3_cef/render_c_aruco_detection.json b/data/camera_study/Scene10/k3_cef/render_c_aruco_detection.json index f921a74..d12e3ae 100644 --- a/data/camera_study/Scene10/k3_cef/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k3_cef/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:07Z", + "created_utc": "2026-06-02T22:35:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "14fe6709-4333-4f64-87d6-58d5c0616b1d", + "observation_id": "aa38d5f0-e2a7-4705-9ea2-ca448a3dfd3b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "9e3ccccf-a901-41bc-858b-d2141beb1312", + "observation_id": "5eeecdc3-cc90-409e-8df4-c24002390b6e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "9d92adc6-7399-4727-a6bb-3fdae6a83372", + "observation_id": "69c422c7-70a4-47fb-92f3-0ad114f619bb", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "d662cef9-ac90-44b2-94d5-084c11951ed3", + "observation_id": "801cd5e9-453e-47b7-95b6-be0ad6b0ddb9", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "42b219e4-51ce-48d2-9926-ca7ccda32ed9", + "observation_id": "39b086f1-f2dc-412d-b6fa-6a884fef2128", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "4dde33ec-00d7-4926-ad45-0cd757dd9d64", + "observation_id": "daa1c0e6-c289-4c07-9b49-3ec388b5e2fd", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "620f7b17-e66e-4d24-892b-9cc860f0f3cf", + "observation_id": "01225214-d0ed-46db-91ec-28d2b49b3359", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "46768167-cf29-4f2f-81fe-edc0f681b248", + "observation_id": "f9de914c-6338-48ab-8141-28dcc21d1b1f", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "6bc89cb1-b7bf-4542-bf26-d49cfcc72538", + "observation_id": "f220fdbf-6fd7-4531-9087-1ccb6dff7a96", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "da827211-4c73-4ffa-b2a3-acc1f25e178d", + "observation_id": "419cc115-4d42-41d5-84ec-a75d807105a7", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "0c7cfa66-07e9-4fb6-8817-3c859ee613e4", + "observation_id": "ff2fbfb6-b80e-44c4-a3b8-7ad981481c42", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "39dafa9b-f201-4ddd-93e5-43839e3b628f", + "observation_id": "4f97dc71-89d0-4d88-bb76-2b82696fddb8", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "9adcde8d-c098-4cdf-88be-20d4545b275d", + "observation_id": "cddaf0fd-5ee9-4bfe-ba24-a8f7a7397c6a", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "0c032357-2f43-4e3b-8862-5fb5f27373ae", + "observation_id": "b6634abc-e9c8-4d72-93ee-60e0cec31843", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "cc461b80-740d-42ae-9e38-7c728161017f", + "observation_id": "012bdab3-cfba-4f28-9b20-918dbbcbd50b", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "b4acfabe-7328-449b-ba5e-58787400f6db", + "observation_id": "80cadc94-9f7f-4c6b-8425-fd7b4385897c", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_cef/render_c_camera_pose.json b/data/camera_study/Scene10/k3_cef/render_c_camera_pose.json index 964169a..0b731aa 100644 --- a/data/camera_study/Scene10/k3_cef/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k3_cef/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:08Z", + "created_utc": "2026-06-02T22:35:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_cef\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_cef/render_e_aruco_detection.json b/data/camera_study/Scene10/k3_cef/render_e_aruco_detection.json index 519d7ea..b6f7633 100644 --- a/data/camera_study/Scene10/k3_cef/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k3_cef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:07Z", + "created_utc": "2026-06-02T22:35:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b39d0ab3-06b7-4565-8a1d-bf5f3605630b", + "observation_id": "f5bfd2e8-6808-4aee-8e43-3bc4a4a45db9", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "a1a2cc12-7ac5-4a33-bccc-b7ba64bcbf4c", + "observation_id": "aff00d57-ce3c-4200-92a0-bf7b79725575", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "89565d0e-cac1-4906-a97f-2010601b0e81", + "observation_id": "7649df1c-f4a0-46a2-a944-3bec279fdf1a", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "e2d0e91e-b69b-4c85-8ade-f9e3fefd688e", + "observation_id": "aeaeac78-37eb-4569-a975-994d5ccf448a", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "dde92b2e-7121-40c7-9000-9376349de5f0", + "observation_id": "6ea580cd-302a-49d6-b2b5-2ae9e7daa4e0", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "76777954-691d-4106-aa06-93df0977668c", + "observation_id": "bf4c4d12-f26c-45bb-91cf-59dd26a55dd7", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "86d7bd50-415f-4f38-836b-1a80621e1945", + "observation_id": "4067c101-fa6b-4290-86d2-fa0bf3c7d2c5", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "61176163-c755-4d3a-995b-470d08e22511", + "observation_id": "1759078b-85c7-4e9c-b5f3-13b3ee1fe3c2", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "6ababfc8-6351-4b44-af7b-9b27b5903534", + "observation_id": "00850a69-851b-4ec7-800e-832804d83356", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "64deb436-c5d8-4709-b081-cef7bad37655", + "observation_id": "268a73e6-33ba-4421-ac24-72b8ea3599c3", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "143d7faa-5047-490a-82b8-9c89e8b0f4b5", + "observation_id": "6c372472-ca89-4a83-99e2-18b4f9c00ae3", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "9a4cefe1-579a-4fbb-a2c9-87e9c3ce9535", + "observation_id": "f38828a0-7b12-4e4c-8b0d-e1a69a6b0cee", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_cef/render_e_camera_pose.json b/data/camera_study/Scene10/k3_cef/render_e_camera_pose.json index dfb27a1..e3962a8 100644 --- a/data/camera_study/Scene10/k3_cef/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k3_cef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:08Z", + "created_utc": "2026-06-02T22:35:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_cef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_cef/render_f_aruco_detection.json b/data/camera_study/Scene10/k3_cef/render_f_aruco_detection.json index eda8f8a..24ead64 100644 --- a/data/camera_study/Scene10/k3_cef/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k3_cef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:08Z", + "created_utc": "2026-06-02T22:35:36Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3bdb5e4b-52ab-4394-97d4-2db3ee382038", + "observation_id": "1abe7eee-b671-4f62-894f-5693089858fa", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "2b0f77ab-5a27-4019-a197-1f860ef31d0f", + "observation_id": "21ef3653-42f4-4c8d-a35f-99cbc44deaf5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "210d1c7a-160e-4177-a418-b5bb10470cd8", + "observation_id": "8c7b89ab-41d2-4346-8666-65cc605206fa", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "9d0bb338-9d76-4d99-ad66-a1b3f08d0c60", + "observation_id": "53dc7e42-d901-44e7-b45d-cbfaf4f13429", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "834abae3-6d13-4679-bc23-c54aee6b01d1", + "observation_id": "a0c4d52f-2416-45b3-9cdb-e1687d9429ec", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "0f06199a-51e2-4c11-964d-8750b8d22121", + "observation_id": "6502b004-a80d-4b43-a5c5-4a2d29d4459f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "cdf6f8e0-3957-461e-a3d8-fe0aa435dbcd", + "observation_id": "59f6443d-473b-4eb0-85be-5827ebcf1d7b", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "dbcbe53e-0a93-45a1-94b8-ad7be160bfc8", + "observation_id": "541e611b-56aa-4c27-903e-48681d02280d", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "28c11094-f590-477b-8fb8-da0a22a8c91b", + "observation_id": "0cc48a7a-5eff-485b-9f23-ded9286e5dea", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "4b3f0544-7409-4689-a3de-7078e05d7236", + "observation_id": "0acafcf8-09af-44d3-9676-0dbd22c5ac0b", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "963f49bd-e790-4645-b9c7-a98905acc649", + "observation_id": "58f1af40-5d5c-47c2-82f0-388a5cef3730", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "8e8e51fc-353b-46fa-a451-f08978984c33", + "observation_id": "ea5166d7-cd20-42a2-94f0-f53f340a149f", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "1102f596-0f29-48f9-a356-d30dc63623a2", + "observation_id": "bb0b5be4-cddc-4372-a669-1648b2204fcb", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "fead1c63-53fd-4e08-887e-e0f5e876044f", + "observation_id": "5544f290-4aab-4891-a431-e5a1db5d5045", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "c410e946-ba45-41a2-93da-5c393986a920", + "observation_id": "daecd2bd-5480-4863-a581-9a5df97cdf82", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "9430b5e9-8d04-4026-884e-692120244ab1", + "observation_id": "0d915d96-061f-4570-a1aa-28d40a65980b", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "c984ff3d-bf98-4ee5-8a5b-e9e1444877d4", + "observation_id": "4f1f36bf-1c73-4b73-ad1c-80a4ed644af4", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "a64f2c2f-8e40-4e36-b139-e81c6b00f996", + "observation_id": "dec8c8a8-7fbf-4067-96cf-7ad8de44270d", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "f6580133-f606-4be8-a7d9-32a0f6508521", + "observation_id": "2087cf68-aa1b-40d6-ae62-01a96d3293c0", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "a8e7bfe3-8581-40e7-8292-eb944b46a666", + "observation_id": "359a3121-a295-4661-9db1-7469018c6164", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "ca0b10a7-016a-4d44-8b2b-3fe1e3fc1360", + "observation_id": "451670c5-2b56-4c98-ae40-633999965b6f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "0087f9f9-8b86-4e77-9fc1-2568807ee273", + "observation_id": "d6ba0b4a-a134-4e50-b440-15cdb75c6018", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "9f763b13-2186-439d-95e5-84c1179a9493", + "observation_id": "d546ca30-ab2f-4398-b3eb-d844fe080c25", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "c9effbec-f3d7-4af5-a849-28f1043fe3cf", + "observation_id": "83e9c056-fc6c-4a64-83ab-cc4918f09856", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "146be7aa-b671-4124-aa59-2165c96edef4", + "observation_id": "7da4c1d7-954d-4b7a-b406-ba84d11fc6a0", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "33f0c05a-b284-44b5-b84c-5de1d24c86e8", + "observation_id": "bcd62be8-5fb1-40fd-b37f-7f873547f63c", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "7df1ec81-6fb5-4e9a-aaba-68130263fd8c", + "observation_id": "f597aa73-40df-415a-b2f2-a47015ec03a4", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "7e582977-cba9-43a8-9f92-a781a03c6b9f", + "observation_id": "b1e0c5cd-a18e-4cbd-9515-a08d60782191", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "7bb6f8f6-951c-42a1-87e9-6d6a4dd856a7", + "observation_id": "f1dfff35-bd4d-4997-896a-e43319ac7916", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "bd0813bb-d4a4-4369-a212-961f4bec59bf", + "observation_id": "39768d94-1ae3-415d-b91c-1e2e3d2cb8f6", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "75e0a58d-94e9-4c5c-bbcc-6eacdfd9be22", + "observation_id": "b4c434a6-627a-4a53-8139-4f74d042f822", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "eaf2e576-bd10-4f5b-b4ec-296b084ba2cf", + "observation_id": "7e0b5c97-5b5f-4589-bbc1-44d90078270f", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "ec6f8688-77d7-4b99-87c6-849ad70e291c", + "observation_id": "920271bb-7c9e-4763-aca2-9cec6efa1331", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_cef/render_f_camera_pose.json b/data/camera_study/Scene10/k3_cef/render_f_camera_pose.json index 5971ac3..08608ee 100644 --- a/data/camera_study/Scene10/k3_cef/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k3_cef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:09Z", + "created_utc": "2026-06-02T22:35:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_cef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_cef/robot_state.eval.json b/data/camera_study/Scene10/k3_cef/robot_state.eval.json index d7f2d3f..531f5e2 100644 --- a/data/camera_study/Scene10/k3_cef/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_cef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.2941816069494791, "mean_abs_mm": 0.4534950331191996, "max_abs_mm": 0.7906387822609764, - "finger_error_mm": 1.2983668143580454 + "n_unobservable": 0, + "wrist_error_mm": 1.9616092810587986, + "finger_error_mm": 1.0462923777063204 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_cef/robot_state.json b/data/camera_study/Scene10/k3_cef/robot_state.json index b305fcd..3e2ac2b 100644 --- a/data/camera_study/Scene10/k3_cef/robot_state.json +++ b/data/camera_study/Scene10/k3_cef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:12Z", + "created_utc": "2026-06-02T22:35:39Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k3_efg/aruco_marker_poses.json b/data/camera_study/Scene10/k3_efg/aruco_marker_poses.json index 36de5d0..3372f25 100644 --- a/data/camera_study/Scene10/k3_efg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k3_efg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:18:38Z", + "created_utc": "2026-06-02T22:35:05Z", "summary": { "num_cameras": 3, "num_markers": 24 diff --git a/data/camera_study/Scene10/k3_efg/aruco_positions_initial.json b/data/camera_study/Scene10/k3_efg/aruco_positions_initial.json index 2bf2463..f493af7 100644 --- a/data/camera_study/Scene10/k3_efg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k3_efg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:18:35Z", + "created_utc": "2026-06-02T22:35:02Z", "summary": { "num_cameras": 3, "num_markers": 24, diff --git a/data/camera_study/Scene10/k3_efg/aruco_positions_optimized.json b/data/camera_study/Scene10/k3_efg/aruco_positions_optimized.json index 61004c1..f072962 100644 --- a/data/camera_study/Scene10/k3_efg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k3_efg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:18:37Z", + "created_utc": "2026-06-02T22:35:05Z", "summary": { "num_cameras": 3, "num_markers": 24, diff --git a/data/camera_study/Scene10/k3_efg/render_e_aruco_detection.json b/data/camera_study/Scene10/k3_efg/render_e_aruco_detection.json index eb6723e..f855c9d 100644 --- a/data/camera_study/Scene10/k3_efg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k3_efg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:32Z", + "created_utc": "2026-06-02T22:34:59Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "44963f0d-f1d3-4034-8e5e-1f69e3249c0f", + "observation_id": "38ae3694-9f05-401d-8858-a90497522b4f", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "2ca0df48-95d4-418b-9147-b8bfb7b61e12", + "observation_id": "eedfb883-670a-4ed8-a939-4efbb084322b", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "4af23d8d-09ca-44b8-89e7-8e76a786b5d5", + "observation_id": "94203304-8f5a-4bfa-ac6e-2451b5bf3d6f", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "4f7824e5-e382-4c7a-83a4-e29cc5a6b490", + "observation_id": "0ed0797d-d801-458d-898a-f406fad37f4a", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "041c59a9-c210-4ec4-93d9-27f5277d0d5c", + "observation_id": "99f9a8bf-78ca-45bb-b786-d2ca8cd1202b", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "c4ad7554-f66d-42bf-bdc1-200a3b0e4e84", + "observation_id": "4ad0fd14-0638-4ecd-a9c9-e7f492266c90", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "668414cc-c5a5-43ea-9e29-84147807f9fd", + "observation_id": "a180e775-052f-4f69-9824-aa5d2f1844c3", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "706008eb-1325-46d5-bd17-3cc1a455c3ed", + "observation_id": "964893e4-9483-4229-907f-8bc0ce7bd8da", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "3f75df8e-8379-4c99-9232-aa022a55c7d7", + "observation_id": "8a03337f-d0f8-49f1-878d-6c7aba78a98f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "84cf0560-4614-4c5d-ac31-e3e03e226b82", + "observation_id": "bf4a2454-f507-4d6a-bd98-22bac84e1604", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "d8e1d2b6-41b3-4682-acca-d92d2d8d20db", + "observation_id": "8b861a9d-e442-4053-bf3f-7983acd01ac1", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "f1db70cf-18d1-48ad-9098-b402e8b3a337", + "observation_id": "4c6a5bb3-cdf6-4999-bc98-81cd70ad1092", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_efg/render_e_camera_pose.json b/data/camera_study/Scene10/k3_efg/render_e_camera_pose.json index bc8461d..90eec86 100644 --- a/data/camera_study/Scene10/k3_efg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k3_efg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:34Z", + "created_utc": "2026-06-02T22:35:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_efg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_efg/render_f_aruco_detection.json b/data/camera_study/Scene10/k3_efg/render_f_aruco_detection.json index a7b871c..55bff6f 100644 --- a/data/camera_study/Scene10/k3_efg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k3_efg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:33Z", + "created_utc": "2026-06-02T22:35:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e1328044-e94e-441e-9132-5785b0fe47b0", + "observation_id": "37950a1c-b0f2-40d8-93f0-c5fe2120b846", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "134938a9-4996-4f50-b82b-4096b932a95d", + "observation_id": "6c07bab7-5df0-4374-9686-78e80f4e3b99", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "c825e5ec-3b17-4688-af7b-de95dbf6d332", + "observation_id": "5e91ca3c-4151-49f3-9451-b488601032bb", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "5999cff1-b83e-4983-a648-896f644bd692", + "observation_id": "b7879355-fc1e-432b-aec2-7f62d39871fa", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "96f37de7-fb3a-4d50-baab-a6f36f563916", + "observation_id": "a1f85999-62cc-41ff-ad00-49eb19ef7bb7", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "c8149135-79f8-452e-a411-416027ccd2f3", + "observation_id": "4aea004b-c0cd-4b41-96be-4e4b7db803f2", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "30d21dff-47ee-49a7-8812-a7843ed449ad", + "observation_id": "b40aee2c-e571-4616-b27b-d6399e1b3440", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "dff8cc51-64b4-44fd-b697-495e879bad15", + "observation_id": "11b3c79d-7ed6-45f3-a78f-dcfc503d6657", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "7f580ef7-2536-4f02-9dbe-65e037094415", + "observation_id": "9ded0919-0eb8-4220-a074-922f300fe911", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "8d62b3c4-45e1-4bad-912e-1ec5816ef87a", + "observation_id": "460fff60-2613-4c2e-83db-544ca75e3e6a", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "efe5919c-c6f9-4441-810a-35a7f5be9073", + "observation_id": "5b0699fc-6626-459f-9c97-b15bfc8e1070", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "c245aa92-822f-4120-93aa-bb9b463895e0", + "observation_id": "76792b44-8542-4e97-8b16-a52dc21f2c31", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "b00b21e5-3168-4990-840c-a0508fb3c507", + "observation_id": "bd39ee0d-f4ed-4d97-8592-667f041e5e0a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "affb7a40-106e-423d-88b5-26f1b8a8e83c", + "observation_id": "dc3b57f5-e700-4164-93de-0615a7112b19", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "64815fa4-cbc7-4442-9b8c-9262171c274e", + "observation_id": "2c5ecdd7-2f08-4c73-a9c4-2cc1aa23609d", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "3280f788-28b7-43da-80dc-91490c0a3181", + "observation_id": "9615c0fc-7e0b-44ce-a9ea-62ea4192f9c7", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "b890924f-8b9a-4634-8031-54877a05a4fd", + "observation_id": "868bac5c-3dee-464f-9e09-92afda5eec8c", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "aeecbc00-8469-4e89-8d7c-44a7ebdeac23", + "observation_id": "68eb5822-863d-4792-adb4-21b83ccb9171", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "7afdf7d0-d19e-4788-a335-516131c91bdc", + "observation_id": "13c14d70-6001-4a6f-be3d-de63a469fdbc", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "21f46c5d-07b6-4d45-827d-d954f6d97e50", + "observation_id": "bc864b15-27b7-44fb-bdbe-39b0e632d828", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "56d72dea-b99d-4487-99ae-a22aacb4cb4d", + "observation_id": "dac45c65-1049-4a0e-b745-e143d104ebea", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "81fcee16-e60e-4c8a-9708-bfe76c19d6ec", + "observation_id": "6a8ff1d8-a314-491e-92a5-ac0a449abcf7", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "d2d68db5-5d18-4ed4-b230-e30b997e3293", + "observation_id": "0b845656-88b0-4f6f-90bd-77d7d66f9983", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "ee9e52cf-1c49-4538-9409-11114017eb52", + "observation_id": "6489db43-89a4-4dfc-9f81-9376299187fe", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "6f31ece2-919a-4096-b2b7-5d4d2c46d962", + "observation_id": "ae61cb00-c17a-4e55-bb95-f9b30925dcd4", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "7f755ef6-1da5-4757-8c5b-22db8fe59b8d", + "observation_id": "a66c30da-eacd-421a-9a92-5a8de2076967", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "887a5e3a-0517-4354-ada0-cf65e38b2523", + "observation_id": "ed9552d4-fd27-4c6c-a257-e8ff2ca6468a", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "bf3e84cf-9892-4cb9-a4d6-9a7eb5c143ac", + "observation_id": "6e32b3d8-d8fb-4f39-a73d-5e5a938e228e", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "0ef8b76f-2d4a-4554-9a62-b6f980d40ed8", + "observation_id": "ce631bda-4305-4e5e-bbe4-ff5e8c4dcdfe", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "ca257e7c-df9d-4f43-ac19-3d1bf94c8d06", + "observation_id": "21cdb8b0-eeb3-44f1-84e4-7de8aedb7ccc", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "694b835d-05e9-4c8a-b499-b89c322a3f5f", + "observation_id": "f97b2286-f5a0-41b7-aea2-fb3cec69a56f", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "a95c822e-d26a-427d-8343-25eb3daf8029", + "observation_id": "c20f8e94-b715-413a-a41a-3ddc9f5bf7e9", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "25d36d49-4a49-439a-96b7-a3bcc8dea257", + "observation_id": "2951b689-34b4-46ae-9070-83f40209b636", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_efg/render_f_camera_pose.json b/data/camera_study/Scene10/k3_efg/render_f_camera_pose.json index a394542..427758f 100644 --- a/data/camera_study/Scene10/k3_efg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k3_efg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:35Z", + "created_utc": "2026-06-02T22:35:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_efg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_efg/render_g_aruco_detection.json b/data/camera_study/Scene10/k3_efg/render_g_aruco_detection.json index f9d0e85..1740203 100644 --- a/data/camera_study/Scene10/k3_efg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k3_efg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:34Z", + "created_utc": "2026-06-02T22:35:01Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "28280260-ea3e-4ee8-927d-ee6fb804c013", + "observation_id": "83bb25dc-e189-4d19-ab2d-ec6f200723d2", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "5d728cad-0142-45e7-9bd6-1277e31fb876", + "observation_id": "6a53169f-310c-4e25-b743-2224b3880e17", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "66d87600-c31e-4e10-961b-51c5346e746b", + "observation_id": "45737b84-4e3f-4836-adb4-cf5f1089cd22", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "953ca4a6-58db-43ba-a961-51a890fe23ff", + "observation_id": "3330e1fd-e79a-4576-9ec7-1523edad4df9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "776d86f9-8198-411d-86a3-20576105caec", + "observation_id": "1c9c283d-88ca-4dc1-8da4-0e12a6600308", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "2ce701f5-5c6b-48d3-b5ba-c7b0a7dda7a9", + "observation_id": "f87809b8-4da8-463f-943c-45a08d82eea7", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "0c164bb7-30b4-4932-be5e-766c2498588e", + "observation_id": "87c90f12-f68c-457a-b2e6-b6bcc885f29d", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "f29d044d-2717-4114-b358-a945629e1add", + "observation_id": "76d528b3-b5aa-4557-a7bf-d34e1071e6b4", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "9b421918-0f4b-4091-96fa-48f30f049631", + "observation_id": "6f9b3f3d-381a-41e5-9eba-c852bea67c7f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "dfe96276-aa52-4a1e-8dfb-c0e68fe01464", + "observation_id": "493d1103-5fae-4ceb-a999-c22e55f9d347", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "c8b83f73-c9b6-4c3e-897d-adf327868df5", + "observation_id": "313fe1e7-6d9c-40f1-9cc2-7a444585ef97", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "4e3e1ee2-4a1a-40f6-8c69-a467bc0bb663", + "observation_id": "18549677-b261-40cc-95a9-065c2eb78b44", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "91145650-e4af-438f-86e3-07f3fbac6092", + "observation_id": "b89182da-0cb1-4b19-bbd5-024a0f6604e8", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "d46c1a70-147a-4df0-aeef-30ab3d118713", + "observation_id": "9ee0f404-3e98-479d-ad4b-ee5477474021", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "e3bc5a64-b379-4dae-9769-404d9d971ac9", + "observation_id": "9b98a431-3d35-4447-b75e-51d77847d13a", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "a7a0b0f9-83ec-4503-bbf7-7dc43791573e", + "observation_id": "22dc87fa-15c5-489d-bbe5-03e23edfeb84", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "2daf9535-121c-4f90-9ddb-52becdb1653d", + "observation_id": "5503517c-116b-497b-b2a5-f880f08a2969", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "4622965e-6a6c-4b58-bf19-04662cdef951", + "observation_id": "2b5cbd49-c5da-4bb8-89ce-fdbd392ab7cb", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "f9e9ea19-3124-4f57-9d27-fe798d80ad85", + "observation_id": "ffe76e78-1285-4691-a6a1-4021a35e325d", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "a04ac65a-7be9-4441-aba2-29b68fa9752a", + "observation_id": "2b47db7f-8ed6-4256-92af-4a7328a50517", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "c947b21c-ad46-4fde-93ce-d727eb50450f", + "observation_id": "af21553c-6391-4a0c-aa03-0b319d21f66c", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "d3e3f527-dcb8-46e4-88d0-e35953035de1", + "observation_id": "07762471-9e5d-4401-9f43-2b177a1cb913", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "d3347d08-2083-4121-9060-9945a3dcb2a4", + "observation_id": "73b92a3a-49d7-4c2d-8242-cce9ffb60fd1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "b045eb6f-3a06-4809-9430-fff9f7711e14", + "observation_id": "dc5dd004-c176-447e-baec-51d1f0268b74", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "7062ab12-d279-4faa-812d-2f76c17956c8", + "observation_id": "dcf68f16-ca85-46f1-a06e-347990f8aa96", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "f168eb6d-f8de-4f71-9496-e3fda1b222e3", + "observation_id": "9342da4a-dc7a-4651-8182-4aa09f44ca0a", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "fbd65753-e377-4f4f-8a8b-36fa9fae93c6", + "observation_id": "31ee456c-8563-4249-8360-048139350381", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "ece0ffef-882c-460e-815a-bac5121e1d89", + "observation_id": "bb88255e-fec1-4cad-998f-4ad5f622e8c5", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "e8815b2e-f44c-4390-964f-7a8aa6028777", + "observation_id": "0e70e203-ce6a-4f38-8bdb-a20cbd4dc636", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "2d4485c4-6889-4f7a-a90f-ae99b875f125", + "observation_id": "c4e545d6-f1c8-4e57-acc9-7c15b4fa68d6", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "2aeaded2-5f99-4a07-bca9-fcb3c16168de", + "observation_id": "84b09385-09c7-4494-a228-30d3f5cf7d0b", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "f2e71c19-f507-44bd-a8ac-c50d4d5f466b", + "observation_id": "31b9a9ed-a561-4024-beb6-cd4f2fbf479e", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "0a641f41-8f58-4c1e-9f73-ed2f1fda3aba", + "observation_id": "1a91a521-7651-4db6-93fc-fae41faf3a64", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "84e0dfca-e52d-4f2a-9b20-0a98500678f6", + "observation_id": "be1ac1b1-7805-49a0-8631-654685cb2611", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "4d18a40e-7972-419d-8b09-73ec20e17b07", + "observation_id": "be9421fa-3a1c-4bf4-84f5-50ce097fb7bc", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "8d0348c6-91da-47e7-b615-53bff1058bab", + "observation_id": "33e7b33c-d578-403f-b486-d0254f1e081d", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "ec7369ac-f3d2-4fc6-be33-87b4321b0e57", + "observation_id": "3eb803bd-a40e-47cb-ae11-13da59adc683", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k3_efg/render_g_camera_pose.json b/data/camera_study/Scene10/k3_efg/render_g_camera_pose.json index 7585947..6c6bbad 100644 --- a/data/camera_study/Scene10/k3_efg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k3_efg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:35Z", + "created_utc": "2026-06-02T22:35:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k3_efg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k3_efg/robot_state.eval.json b/data/camera_study/Scene10/k3_efg/robot_state.eval.json index 77501e9..7389a60 100644 --- a/data/camera_study/Scene10/k3_efg/robot_state.eval.json +++ b/data/camera_study/Scene10/k3_efg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.30661864616280354, "mean_abs_mm": 1.3958609982671817, "max_abs_mm": 1.3958609982671817, - "finger_error_mm": 21.962398702018863 + "n_unobservable": 3, + "wrist_error_mm": 1.578222227355385, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k3_efg/robot_state.json b/data/camera_study/Scene10/k3_efg/robot_state.json index d7d4060..3de80e8 100644 --- a/data/camera_study/Scene10/k3_efg/robot_state.json +++ b/data/camera_study/Scene10/k3_efg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:18:39Z", + "created_utc": "2026-06-02T22:35:06Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_abcd/aruco_marker_poses.json b/data/camera_study/Scene10/k4_abcd/aruco_marker_poses.json index 798a274..a604e0e 100644 --- a/data/camera_study/Scene10/k4_abcd/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_abcd/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:19:51Z", + "created_utc": "2026-06-02T22:36:16Z", "summary": { "num_cameras": 4, "num_markers": 28 diff --git a/data/camera_study/Scene10/k4_abcd/aruco_positions_initial.json b/data/camera_study/Scene10/k4_abcd/aruco_positions_initial.json index 3fcf649..e4aaeec 100644 --- a/data/camera_study/Scene10/k4_abcd/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_abcd/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:19:50Z", + "created_utc": "2026-06-02T22:36:15Z", "summary": { "num_cameras": 4, "num_markers": 28, diff --git a/data/camera_study/Scene10/k4_abcd/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_abcd/aruco_positions_optimized.json index cd90e69..cae3d99 100644 --- a/data/camera_study/Scene10/k4_abcd/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_abcd/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:19:51Z", + "created_utc": "2026-06-02T22:36:16Z", "summary": { "num_cameras": 4, "num_markers": 28, diff --git a/data/camera_study/Scene10/k4_abcd/render_a_aruco_detection.json b/data/camera_study/Scene10/k4_abcd/render_a_aruco_detection.json index 4b33867..0594cca 100644 --- a/data/camera_study/Scene10/k4_abcd/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abcd/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:47Z", + "created_utc": "2026-06-02T22:36:12Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "33a55c4c-12a4-4110-affc-766ab2d0c685", + "observation_id": "841e1622-2ad4-45a1-9ed2-db9a70ed59ed", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "a8088ef4-4a26-49a9-ae70-b3e93c3ddd67", + "observation_id": "ddb2d5b8-1852-4d44-bdd4-56adb57e85f8", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "678f36ec-3e09-40d5-a31b-ae0d4eaf37bc", + "observation_id": "404962d8-5f0e-46fe-be61-299649f78290", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "9e6594c0-a5b4-404d-a120-763cab7936e3", + "observation_id": "df1b61b5-48b6-4180-9521-3a592feb69b5", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "168fe1c8-d869-48c8-bc35-4e21227d3610", + "observation_id": "d5f3def4-467c-4ca6-a63c-4041a8b11561", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - 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"observation_id": "32aa3746-e9cd-4845-9ad2-6c046a2790eb", + "observation_id": "c1b9d9a2-2d07-4872-a632-b1f2f8e2e65b", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "25343e9a-4aaa-4fba-9888-9d86d64753a7", + "observation_id": "12ec1fd9-a40c-42b3-85e2-488cfa99909c", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "05a778f5-c638-4dd1-9f4d-f66f34b5be4f", + "observation_id": "83bc84e3-95b7-4a1a-a6be-33b5999b8e63", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "cee49a82-9111-4319-b6b4-479dd2cbef59", + "observation_id": "f078aa0c-d009-4f4e-944b-05cb9fba5fc0", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "3c45a908-c0e0-45d7-ab7f-7e2d5cc50db4", + "observation_id": "88caff5f-0a62-452e-a0a8-3c0e7da00eb3", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - 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"observation_id": "0d8adf06-3d55-4fbf-956a-6854a16e1a28", + "observation_id": "f1641a94-d4e3-4b03-a1fa-fd9e18164360", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "c3cf5e57-6b96-4b1b-9dea-a7862507c352", + "observation_id": "6ab36fd7-2f0d-42d9-8fff-88a4f178d34c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "889a0ddc-38a2-4753-a217-45fabe6e22a2", + "observation_id": "d1e13a76-fd0e-46a4-83c7-cc77b9da2993", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "b981c5e3-3871-42eb-9337-31507b68c496", + "observation_id": "5cb046c9-bc3a-4535-8430-bbe013aad760", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "05f1daea-75d1-4189-a964-77cfd0b803d7", + "observation_id": "390fbf65-fc5d-4315-afbf-506286ddc87c", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "c92faa72-1c75-452e-bb8a-969fd91b72ff", + "observation_id": "6ec4d89f-1ec6-4f03-bf1d-67e136359587", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abcd/render_a_camera_pose.json b/data/camera_study/Scene10/k4_abcd/render_a_camera_pose.json index aa4004f..7022d36 100644 --- a/data/camera_study/Scene10/k4_abcd/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k4_abcd/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:49Z", + "created_utc": "2026-06-02T22:36:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abcd\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abcd/render_b_aruco_detection.json b/data/camera_study/Scene10/k4_abcd/render_b_aruco_detection.json index 0c224a6..d4a3869 100644 --- a/data/camera_study/Scene10/k4_abcd/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abcd/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:47Z", + "created_utc": "2026-06-02T22:36:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "74e648de-5232-4887-8522-fe21b5a6d277", + "observation_id": "fd15494a-917b-4a25-acf4-53bb1e958838", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "10b96616-bfbf-41d6-8148-8ee58292aeeb", + "observation_id": "ece6ca54-7d2f-4fd6-94f3-da70cf6748a8", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "18807ffa-4659-4df4-b39c-87518f89222a", + "observation_id": "8f6e785c-1c89-4f42-9234-72417f453282", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "6d3c8caf-bc7b-445d-890b-463735cbd73c", + "observation_id": "998bbf48-f4ee-430d-ace0-5ad166f7abfa", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - 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"observation_id": "c103aff5-3021-4749-add9-b5e8e3ba26b5", + "observation_id": "7c84f885-1e65-4749-8cf6-05f40a784c89", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "91c84203-8cca-44fb-8d17-1f4b387c7ff2", + "observation_id": "bc8f3680-a083-4fd7-923c-e88146bd04b8", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "3851933e-6618-4463-b4b0-216bccecf4be", + "observation_id": "ef5d44e2-42ca-471a-8a59-d10d6f1627cd", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "aff459f5-5101-4bfa-93fc-f7d63bf43da3", + "observation_id": "ad535909-baf9-4cb0-8035-c39ad11ef33d", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "6edf649c-d46a-42b7-b5e6-87bc73d9c20a", + "observation_id": "b81f04bf-1618-4f5b-9939-d4cf1c287960", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "baddb5ea-e2b7-4c4e-b52b-7f0f859a87ce", + "observation_id": "6fdea0d9-ac0d-4d9f-abfd-90e5ed741903", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "2208e5a6-9ed3-45f5-9485-5c1005ef6e14", + "observation_id": "1c6e4026-e29a-47c6-b060-d0b1a1d048fe", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "dc4e41c9-9449-4b96-89cc-ad72e515e5de", + "observation_id": "d60fa91a-c330-432d-add1-785a44aed152", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "46231cf6-8f7f-48ed-b540-2252a9fa0e3d", + "observation_id": "6326109b-3339-4bae-b4dd-d4fa67bcc4df", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "7c5aadaf-7fac-4db9-9525-2cd10b4300d0", + "observation_id": "94fbb74b-de9b-411e-9ab1-bfe7a62cdc22", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "26197331-c498-448f-9c4d-3714aac69ba0", + "observation_id": "484fd5c5-a1af-4502-a0e7-3f8de056c7f4", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "f74d85b5-b78a-451d-aace-1651f6137b45", + "observation_id": "253ea328-9fa2-49b5-a310-a7cfd2c28813", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "91a7542a-7c22-4bcd-9b98-cbfb8d28afce", + "observation_id": "e203ee81-fb27-4233-845a-14d184c87b7b", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "8ae74997-be90-4d44-882c-909fabbae237", + "observation_id": "2184708a-e5ab-45b8-a89e-0db1ec430e6f", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "5a8539e7-dd31-41d6-9bb9-b5af5b473852", + "observation_id": "7d0f5842-c6b3-45f7-b26f-65221648ac77", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "47803232-50c3-4da5-ba96-095346c3810b", + "observation_id": "bc31621e-27a7-4b93-9e68-39755b11a5f6", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "49bb8793-e67b-4179-92af-c61703baebbe", + "observation_id": "eed04b02-5215-4c02-a497-4f5cf80375a4", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abcd/render_b_camera_pose.json b/data/camera_study/Scene10/k4_abcd/render_b_camera_pose.json index a91694f..16b9dda 100644 --- a/data/camera_study/Scene10/k4_abcd/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k4_abcd/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:49Z", + "created_utc": "2026-06-02T22:36:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abcd\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abcd/render_c_aruco_detection.json b/data/camera_study/Scene10/k4_abcd/render_c_aruco_detection.json index 0500898..c17bbc0 100644 --- a/data/camera_study/Scene10/k4_abcd/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abcd/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:48Z", + "created_utc": "2026-06-02T22:36:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "5b5beaf5-1562-4dde-995d-e0b2a982f7fe", + "observation_id": "beb6f021-a4ff-4e4c-ab87-7d58b494b430", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "921a018d-64aa-45db-8ea7-7cb72495c4e9", + "observation_id": "c8ad5f0b-09e9-4b69-9bd5-81eda9573491", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "dedf7ee7-3658-4c57-bf7b-382ca876d06c", + "observation_id": "442af946-d3d3-4837-85f5-c0b323bc280f", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "aa6e7f98-3e78-49db-ac4c-d3006519c29b", + "observation_id": "c1ab571e-98b2-4f1d-89f9-5a6184d13373", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "c5a8934e-9e5b-4515-a60a-a06b7a779a9a", + "observation_id": "b67f339a-98a8-45f2-b658-9ee0124ee2c4", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "527e31b7-ac6f-4c30-98b0-9740dc23481b", + "observation_id": "cf51d73b-22a4-4b61-ab9f-151754962d43", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "54b7fe79-2b5d-4b2b-b677-8de69532c987", + "observation_id": "cc65b6c4-7540-499d-a9fe-b4db5e24073f", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "563b5b98-7383-4b00-bc08-2316d2fe211e", + "observation_id": "9e0c6e61-b149-438f-8d26-56b45060f6be", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "e2b4d8e9-e43c-4896-9d62-7f6d8d237597", + "observation_id": "5ac65263-994a-4e53-b328-6c23cabca311", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "ef1ca0a5-e9aa-4bab-8a9d-5298d6069c96", + "observation_id": "32c20532-2977-46d6-9f24-e32448cbbd0a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "a27aba6f-1015-4c84-a3ea-d93c5b7e3761", + "observation_id": "03abd647-ed8e-4933-93c8-b1842aa3dda6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "53dda655-e172-4d32-a671-57c219a6e444", + "observation_id": "27ab7d9c-b041-490a-b528-872ecdde3fa0", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "6808ffc1-6e06-4fc3-9051-2f4b1f58b0c5", + "observation_id": "09543056-f306-48aa-a916-ebc5994fc5ce", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "eb075cc7-e089-4f58-a117-43bce6d23db4", + "observation_id": "038e0dcf-786b-4fee-867d-daa01601c436", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "ebb69616-2b50-4d92-805c-6432dc28ef15", + "observation_id": "b72c9337-ec1f-4802-92a1-b98171a999b9", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "ff8e3e0a-5a44-4649-ad53-f368e2df9b24", + "observation_id": "a082feb6-fc02-4cdc-b184-738c61229af5", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abcd/render_c_camera_pose.json b/data/camera_study/Scene10/k4_abcd/render_c_camera_pose.json index 64ef54c..6545b51 100644 --- a/data/camera_study/Scene10/k4_abcd/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k4_abcd/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:49Z", + "created_utc": "2026-06-02T22:36:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abcd\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abcd/render_d_aruco_detection.json b/data/camera_study/Scene10/k4_abcd/render_d_aruco_detection.json index 4358a2b..3763f97 100644 --- a/data/camera_study/Scene10/k4_abcd/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abcd/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:48Z", + "created_utc": "2026-06-02T22:36:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "066667ad-9041-45e8-bbd4-a7a6967d1a70", + "observation_id": "6446fd91-187c-4eee-9c1b-15493cfeb98b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "69eba76f-201f-4667-904e-b850a461c457", + "observation_id": "2f28a980-5bef-4cf6-b348-157772c610d0", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "f27dc75a-0e3e-4394-a340-aade254360f3", + "observation_id": "64212074-dd98-4ebd-8ccf-e4f726a36fa0", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "bb9ba34b-87db-4fae-8fbb-0b8a8ff8cfe2", + "observation_id": "af5d3ed9-550f-452e-ad95-39d03cba32b1", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "607dc7eb-97a2-4293-910b-e6627a624416", + "observation_id": "cfb04177-08bd-454d-8575-04a83cc3047c", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "51e1295b-0403-477f-a435-e375b5425946", + "observation_id": "1973b7a6-7e44-4cbe-8474-bae27e1b44d1", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "a3e7b974-dfa9-457c-baab-a34c93225840", + "observation_id": "168af33a-dd22-41b6-8f3c-6aff180d1102", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "36508e57-1bd5-402d-bc17-2d66107d1860", + "observation_id": "70064ad0-8d30-48de-a9f1-08e7bcd77b25", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "750cc6b3-c186-4ba8-98e7-77f9cbadcd91", + "observation_id": "347646ff-c520-42de-96a4-530b79872c5c", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "3503aa1e-3072-402f-a1cc-be33eaee6c79", + "observation_id": "fa21263c-8bf7-4569-9c35-4dca29e9c28a", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "b892f12e-bda1-4def-be86-a03050a20fda", + "observation_id": "6a67f6fa-9ba1-496b-89bb-462741cb48c8", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "38d31b09-d63e-4134-8342-98c86656c423", + "observation_id": "ad4999a7-235e-44a5-8b9e-696be42c9c78", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "d7f858e0-aad2-4490-a802-066c689a8e56", + "observation_id": "bdb97140-7071-42d5-a956-08047f06525d", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "3ad7a45d-8d4e-46f6-a405-70421ece8235", + "observation_id": "94a87a9d-6461-41ad-b7b6-531ee4e41bfb", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "047b8f45-f45d-4e5e-bce6-4a487197475c", + "observation_id": "f0814fb6-4b83-4355-ac1f-7aff14844dd9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abcd/render_d_camera_pose.json b/data/camera_study/Scene10/k4_abcd/render_d_camera_pose.json index e6fc756..2838aa7 100644 --- a/data/camera_study/Scene10/k4_abcd/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k4_abcd/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:49Z", + "created_utc": "2026-06-02T22:36:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abcd\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abcd/robot_state.eval.json b/data/camera_study/Scene10/k4_abcd/robot_state.eval.json index 8d9adb7..56e34cb 100644 --- a/data/camera_study/Scene10/k4_abcd/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_abcd/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.614951354578011, "mean_abs_mm": 1.2663715725762144, "max_abs_mm": 1.4343195917552176, - "finger_error_mm": 0.7237013028267297 + "n_unobservable": 0, + "wrist_error_mm": 1.2869780605300813, + "finger_error_mm": 1.1219042455777668 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_abcd/robot_state.json b/data/camera_study/Scene10/k4_abcd/robot_state.json index 25ac547..e23d04a 100644 --- a/data/camera_study/Scene10/k4_abcd/robot_state.json +++ b/data/camera_study/Scene10/k4_abcd/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:53Z", + "created_utc": "2026-06-02T22:36:18Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_abcf/aruco_marker_poses.json b/data/camera_study/Scene10/k4_abcf/aruco_marker_poses.json index 77ffd74..a5d3bac 100644 --- a/data/camera_study/Scene10/k4_abcf/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_abcf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:19:44Z", + "created_utc": "2026-06-02T22:36:09Z", "summary": { "num_cameras": 4, "num_markers": 30 diff --git a/data/camera_study/Scene10/k4_abcf/aruco_positions_initial.json b/data/camera_study/Scene10/k4_abcf/aruco_positions_initial.json index 32b5ebe..7434ef8 100644 --- a/data/camera_study/Scene10/k4_abcf/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_abcf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:19:42Z", + "created_utc": "2026-06-02T22:36:07Z", "summary": { "num_cameras": 4, "num_markers": 30, diff --git a/data/camera_study/Scene10/k4_abcf/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_abcf/aruco_positions_optimized.json index 4c02d2f..91578a3 100644 --- a/data/camera_study/Scene10/k4_abcf/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_abcf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:19:43Z", + "created_utc": "2026-06-02T22:36:09Z", "summary": { "num_cameras": 4, "num_markers": 30, diff --git a/data/camera_study/Scene10/k4_abcf/render_a_aruco_detection.json b/data/camera_study/Scene10/k4_abcf/render_a_aruco_detection.json index 7159e8d..351bd3b 100644 --- a/data/camera_study/Scene10/k4_abcf/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abcf/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:38Z", + "created_utc": "2026-06-02T22:36:04Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3b5006f5-59b4-455f-a1d8-b2353e632201", + "observation_id": "265f526a-0060-4c52-8be4-17b171e7601b", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "0f695f5b-151d-432e-a758-a434c7f8d90d", + "observation_id": "5ac6cec4-1568-47ab-8bb2-ccd832ac6e83", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "3b41d5fd-467d-4f3a-b9fe-b4791111a892", + "observation_id": "f594cc87-d242-4d41-ad77-0a933512bed8", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "07a88686-43fb-4966-96fb-db50b879f5ba", + "observation_id": "2df182f4-f528-43fe-ba5d-d12a96bb72b1", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "533b43a5-0052-4029-980c-28e94c6529a4", + "observation_id": "b1f2dcf1-7c49-4d29-ace2-ffeafd489981", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - 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"observation_id": "7d62f99e-5ed6-41d7-abed-884652d31181", + "observation_id": "276722c5-6380-4b0c-ad54-072e365066c4", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "5a375624-39be-4121-8408-d84c40b846b8", + "observation_id": "a194881d-3ec2-4046-b9e3-09cc58b2062c", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "7370bf64-e4df-4369-95eb-63072bdcee96", + "observation_id": "7f9eb4b9-76f4-4fdd-a2f5-59cff027be81", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "ecd54b21-66c0-4bb4-9005-e70f61d322d7", + "observation_id": "b72385cf-7c55-45ff-a5a1-12f775dbfe41", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "5cb4747f-4e46-40bb-b0b5-85ad591b39de", + "observation_id": "c0e44c32-dccf-427b-b66c-fdaf58168d8a", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "18935861-b2c9-4070-8bfe-e9c34561decd", + "observation_id": "a5c92d22-43f7-4e97-ae09-344609d1dc35", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "8d493240-cd3a-45e0-92b9-85d82d0cc676", + "observation_id": "508f1d82-bac7-484f-91e5-871005fa7403", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "eca5e519-8d70-40be-933e-4fcb7d4a225e", + "observation_id": "71a4b178-a832-4bfb-9716-21b9e7d81b38", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "68a5fa9a-bc0d-4406-893f-3be93f040e0f", + "observation_id": "fe38b70c-046a-47c5-bc28-2b774b9fc3c1", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "afdb456b-3357-4ee5-b143-a54cb829a35f", + "observation_id": "fd82b047-4a4c-4881-9a61-3f322c9a9669", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "40a72f06-ff83-491c-8184-292ca16a4eb7", + "observation_id": "adbe689d-906f-4b6c-9fbe-071aa29610b8", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "3686629d-504f-4f52-9602-c4ca57dc5c3a", + "observation_id": "d7744b34-c723-40d4-b75a-1fbed4da6bef", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "4f522e5a-d674-41ff-9e97-3984f0939ab1", + "observation_id": "3e227662-ffb2-4d8d-801b-60440eb0b679", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "4e2a423f-0d0b-40ea-852f-a6d59a2b95ec", + "observation_id": "23133006-1162-4a88-bb8c-c95884ab4cf2", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "e4c1cffa-56e0-4c14-a233-cd05b08a0aab", + "observation_id": "71b4a979-c8ea-4a81-826d-dc9e477ca149", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "2c38cd07-6cdd-4aa6-b55d-29484812cc8f", + "observation_id": "cccdc09a-cdbc-4e2e-9cc5-70685d825b7c", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abcf/render_a_camera_pose.json b/data/camera_study/Scene10/k4_abcf/render_a_camera_pose.json index 57e6617..77bcc20 100644 --- a/data/camera_study/Scene10/k4_abcf/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k4_abcf/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:40Z", + "created_utc": "2026-06-02T22:36:06Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abcf\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abcf/render_b_aruco_detection.json b/data/camera_study/Scene10/k4_abcf/render_b_aruco_detection.json index fa05b1d..f4e89f6 100644 --- a/data/camera_study/Scene10/k4_abcf/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abcf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:39Z", + "created_utc": "2026-06-02T22:36:05Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8a612cb8-e4f6-41fa-9a54-42653a070e57", + "observation_id": "d6195d8d-6406-4264-b0b1-792a58070bec", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "4cf5bf59-9935-4f82-859d-df00bd7fa66b", + "observation_id": "62567397-5b56-4e60-b004-e3b84a2664d6", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "2700fe9a-b292-4a4e-bbca-9cef744370e3", + "observation_id": "18c0dc77-22a5-4653-8cde-299bd24cba3a", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "06f08f1b-1063-419c-8e0e-e143dc859609", + "observation_id": "a89058c6-ad9e-4d25-a6d7-33ad3654335e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - 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"observation_id": "06228cc6-014c-4f16-9ba7-92dbcfb39212", + "observation_id": "6d51a238-aee8-45e3-bf0e-4d3716c7e890", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "1f89f1ec-5424-40e3-aceb-3e5814677e3b", + "observation_id": "2852027c-b155-4d84-845a-76f4f33261dd", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abcf/render_b_camera_pose.json b/data/camera_study/Scene10/k4_abcf/render_b_camera_pose.json index a45d6d7..2080ef4 100644 --- a/data/camera_study/Scene10/k4_abcf/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k4_abcf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:41Z", + "created_utc": "2026-06-02T22:36:06Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abcf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abcf/render_c_aruco_detection.json b/data/camera_study/Scene10/k4_abcf/render_c_aruco_detection.json index 00c2c17..5e6eee2 100644 --- a/data/camera_study/Scene10/k4_abcf/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abcf/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:39Z", + "created_utc": "2026-06-02T22:36:05Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c3c66934-781c-4325-95f0-3270ed0a4b2d", + "observation_id": "94fa8c03-c7bc-4ee0-af86-34d239e6106a", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "b5a2f3e9-dd34-4fd1-8bcd-6160844d5ef4", + "observation_id": "a2590751-a7de-461c-bbfc-ac6e94aded1e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "c5a80b3d-097f-4e37-ae82-72cb2dcea28b", + "observation_id": "8e08ca13-ed24-46c9-8da8-ab952f9b9f56", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "6a1855d5-b2e9-4745-86e2-3515fc3b39e2", + "observation_id": "903aa3c9-7304-4bd4-a66d-7284cedc7f00", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "7393a8a2-286d-4ed7-8cf9-30e790754475", + "observation_id": "f9f9bf1d-c727-4e69-a290-3f21b0457205", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "d4d75a26-22eb-4d6a-a6ea-9c2e4db4d810", + "observation_id": "1f5fd518-26f7-496a-845e-45b75b1c321d", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "046361b0-eeed-43df-b790-f0ab564fed07", + "observation_id": "ac5734a8-01d9-4035-bd29-b582ef11e2a1", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "9294c674-e075-494e-b4ea-677b96fb867c", + "observation_id": "12c08bd2-bb1b-4d58-9ecf-629bf76b4ccf", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "54caac99-aeec-4e38-97b8-c0cde0ce3e99", + "observation_id": "d5c76b3b-8314-49e8-9383-45c5a60e074d", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "aa44eabf-7990-40c0-8b77-2516220f6d24", + "observation_id": "02695af8-0a81-4763-965b-93f0b49a7ec7", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "d5f97505-5c7a-456a-a5a6-22e86918fdb0", + "observation_id": "4bf6535d-0236-4d97-b559-d0ea20dd8cc6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "9dc5bf3a-a122-4286-9469-80720eaac019", + "observation_id": "a46490b4-cc34-44ca-91e4-a0eb58dd4a2e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "66288f02-822f-472c-937d-21de469652d2", + "observation_id": "ec2359ee-8ced-44e8-b7de-f038f4a93d06", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "1a7a2436-389b-4a57-b5d8-437e68fc07e3", + "observation_id": "9175e990-08e3-4663-ae23-abf32626c4fc", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "8315d180-253a-4425-b659-81d2097f79df", + "observation_id": "0d4a36f0-99f0-49b7-b37b-b45df2a48af4", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "446cd397-f09e-48af-9ac1-043309b08b4d", + "observation_id": "7e477ab2-89bb-4cfb-8590-9b366ca0079a", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abcf/render_c_camera_pose.json b/data/camera_study/Scene10/k4_abcf/render_c_camera_pose.json index c644334..c614509 100644 --- a/data/camera_study/Scene10/k4_abcf/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k4_abcf/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:41Z", + "created_utc": "2026-06-02T22:36:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abcf\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abcf/render_f_aruco_detection.json b/data/camera_study/Scene10/k4_abcf/render_f_aruco_detection.json index b505c41..c8cc49c 100644 --- a/data/camera_study/Scene10/k4_abcf/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abcf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:40Z", + "created_utc": "2026-06-02T22:36:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a8c89fe8-d8a3-4660-ba2f-1e55871b4d95", + "observation_id": "afc89eee-8f53-4f83-9e54-2fae371deef9", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "6dc4ab19-c90a-468b-a096-8bed9530c9d1", + "observation_id": "18961ecc-9169-4c8d-adf6-43598b6eace3", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "1a641f77-b1ed-42a6-8c1d-30b2c1e2ff1c", + "observation_id": "d350013c-6acd-4646-84a8-a077e4011687", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "4b47a687-20f2-4718-8ddd-870f98edb8a3", + "observation_id": "3c849452-fb1d-410c-a828-3d97bbb36a65", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "3018a62c-7be3-47a4-8856-bc2d9779ca90", + "observation_id": "4cb921b9-2d03-4386-9f2a-026aa1705218", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "2f0d67c5-5d37-4436-bed8-ca6eef175d5c", + "observation_id": "11c06256-69a4-4742-8b08-fb66aaf7b528", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "9ddabb28-bc73-43b4-bc33-88f19c1fff7a", + "observation_id": "65f473d1-64d4-4b94-9c8a-8aea29aba4eb", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "53241880-cffb-4e99-8a19-145c8ec1969d", + "observation_id": "bb30540f-c76c-4ce8-8cb5-1a1322a7c106", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "e476a8c8-d035-4b56-a0b3-e9e25076cd9a", + "observation_id": "ef5ad40b-91ef-4cb5-bc89-182492f0695e", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - 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"observation_id": "a9956248-d940-4947-99b9-bdeae1d50a4f", + "observation_id": "153e4638-2da1-442f-a9e8-d7c5ee81f168", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "ba2867ac-6cbc-4cc2-a754-0b97ea79937c", + "observation_id": "0e5bc19d-1136-4284-99ca-f0436f285e0e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "adb8a4e2-f604-4928-b8d4-50841b046143", + "observation_id": "7a079f39-6d73-4aeb-b40d-c14a4520f43d", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "0bab312c-1011-4adc-aaee-7d531cd9d719", + "observation_id": "8afca117-8a41-4f35-a738-fa8a2202f92d", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "fbf98673-fdec-4e5a-9ea8-6ebdf2ae92e6", + "observation_id": "ad3d6192-d3d2-40b2-8959-478cf99e20f4", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "08bb3f76-4874-42c1-a633-f4f0640d9595", + "observation_id": "309de21a-9530-4cf9-b071-bc8acc9c4700", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "0e908f34-b298-4db0-9fd6-ca719b1a76bd", + "observation_id": "eaf69a79-7e3a-4305-9c4a-9ba42b5dc946", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "1a3c9397-f469-49ac-8d1e-a309467b084e", + "observation_id": "5a5dced2-5b47-4a35-9825-61ce310b07b7", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "4799b9ee-0494-4e72-b7ee-b04982190c7c", + "observation_id": "982e368b-07b1-486c-808d-d130aff209e3", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "11e6ef4a-b478-44e2-b04f-532234c7b51b", + "observation_id": "483dc999-1e9a-4e5b-9bd2-fe32cdb32816", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "819d7760-9d12-4e50-8b01-c33ec2ae21e2", + "observation_id": "ca178384-8d54-440c-8d40-5b3cb7b46c17", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "5215268a-d7a1-4d59-97a4-386314a420b7", + "observation_id": "aab315bf-7141-4027-a321-380bc91e1db1", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "18591f13-ffaa-4f85-81ab-7a98aa173415", + "observation_id": "e42948c9-a1ad-4c36-ba84-4f5e1f2584c4", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "89fd2f16-d27b-4370-9676-ee71a0e860af", + "observation_id": "058bfcd4-ff23-4af7-95cf-1843fd387870", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abcf/render_f_camera_pose.json b/data/camera_study/Scene10/k4_abcf/render_f_camera_pose.json index e565393..be16bc1 100644 --- a/data/camera_study/Scene10/k4_abcf/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k4_abcf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:41Z", + "created_utc": "2026-06-02T22:36:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abcf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abcf/robot_state.eval.json b/data/camera_study/Scene10/k4_abcf/robot_state.eval.json index 19af645..a5d397d 100644 --- a/data/camera_study/Scene10/k4_abcf/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_abcf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.7409359041716073, "mean_abs_mm": 0.7283985693167878, "max_abs_mm": 1.33694499391234, - "finger_error_mm": 1.976100787441437 + "n_unobservable": 0, + "wrist_error_mm": 0.7702864714841694, + "finger_error_mm": 3.3169736561342757 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_abcf/robot_state.json b/data/camera_study/Scene10/k4_abcf/robot_state.json index e20d287..5d8a5ef 100644 --- a/data/camera_study/Scene10/k4_abcf/robot_state.json +++ b/data/camera_study/Scene10/k4_abcf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:46Z", + "created_utc": "2026-06-02T22:36:11Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_abdf/aruco_marker_poses.json b/data/camera_study/Scene10/k4_abdf/aruco_marker_poses.json index a24c582..274b970 100644 --- a/data/camera_study/Scene10/k4_abdf/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_abdf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:19:28Z", + "created_utc": "2026-06-02T22:35:54Z", "summary": { "num_cameras": 4, "num_markers": 30 diff --git a/data/camera_study/Scene10/k4_abdf/aruco_positions_initial.json b/data/camera_study/Scene10/k4_abdf/aruco_positions_initial.json index a9b7567..6e7343d 100644 --- a/data/camera_study/Scene10/k4_abdf/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_abdf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:19:26Z", + "created_utc": "2026-06-02T22:35:52Z", "summary": { "num_cameras": 4, "num_markers": 30, diff --git a/data/camera_study/Scene10/k4_abdf/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_abdf/aruco_positions_optimized.json index 1611632..700d939 100644 --- a/data/camera_study/Scene10/k4_abdf/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_abdf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:19:27Z", + "created_utc": "2026-06-02T22:35:54Z", "summary": { "num_cameras": 4, "num_markers": 30, diff --git a/data/camera_study/Scene10/k4_abdf/render_a_aruco_detection.json b/data/camera_study/Scene10/k4_abdf/render_a_aruco_detection.json index 4c4ff92..1d273dc 100644 --- a/data/camera_study/Scene10/k4_abdf/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abdf/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:22Z", + "created_utc": "2026-06-02T22:35:49Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - 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"observation_id": "e5b5f526-3fc7-4b7f-9748-d57eeafaa09a", + "observation_id": "ef00e7c1-a209-45a8-832e-049012d823c2", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "c8dea908-82e3-4a8c-89c8-424b9951e34e", + "observation_id": "5f01045d-bd41-4862-84c5-42d9498cc066", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "c54a9e55-dd39-466c-b628-2911f9fd30d1", + "observation_id": "b41890e8-831a-436d-8f28-ceca2b8068d6", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "625145a6-6f9e-4be1-b97a-c48445725076", + "observation_id": "e2e116e5-1c12-49a3-a21b-957fe0e4748d", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "dbddb305-78d3-4fa1-9c37-4fe2ba5cdffe", + "observation_id": "986d38ba-6bcb-481d-b82f-aaa0ef943c70", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "ef98978a-3fdc-47c9-9e9a-eba87f80bd5b", + "observation_id": "a5a5c5f4-4b0e-438f-aaab-6460ea5498e1", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "ccc77ba2-1cd9-4a61-a132-736e462e8a85", + "observation_id": "43306e39-07cc-43af-ac5e-529cc279f621", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "9f0fe5f6-2fdc-4487-b93f-4a3edd08a46d", + "observation_id": "237535c8-9fa9-4ba0-84fd-1b34858d6518", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "94eafd4a-f999-4139-966f-a4d6acc272af", + "observation_id": "fab66d01-d34a-4aac-a216-b11667a9bceb", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "92450832-821f-4315-9f60-bb47ba44c725", + "observation_id": "321ad2f7-ee66-4f30-849a-8d821fb82cd6", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "660fdbfe-6d9f-4e40-afe6-d47da32de46c", + "observation_id": "87ca9be0-9968-43b7-946b-ed15681ff843", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "78a23e65-a204-4cbd-8395-c0d7c94badb7", + "observation_id": "5525d568-afe6-4b3e-b429-90327fe5918c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "21ac0be7-0308-4e31-b9ed-fc2354642a6f", + "observation_id": "c8e968a2-0265-4284-a1f4-6da47e227258", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "bf09eaa8-d733-4bec-a55f-92a5e1b5b023", + "observation_id": "f411c0be-9231-4f6c-99d6-2bf615f1be54", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "6add8672-abbf-41be-9a82-96dcd1d90c8a", + "observation_id": "c9286e9b-7eda-46d3-b62a-b728dd1557a7", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "9345e49d-d70e-4df0-b9b1-74a1a99aa211", + "observation_id": "e3ce0af3-1f7c-4933-a364-b266984b8a32", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abdf/render_a_camera_pose.json b/data/camera_study/Scene10/k4_abdf/render_a_camera_pose.json index 60da8a0..0b51c50 100644 --- a/data/camera_study/Scene10/k4_abdf/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k4_abdf/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:24Z", + "created_utc": "2026-06-02T22:35:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abdf\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abdf/render_b_aruco_detection.json b/data/camera_study/Scene10/k4_abdf/render_b_aruco_detection.json index 1985ebc..b58de8a 100644 --- a/data/camera_study/Scene10/k4_abdf/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abdf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:23Z", + "created_utc": "2026-06-02T22:35:50Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "088fb589-06a0-4828-af31-140ded185aa2", + "observation_id": "36e33d49-1931-4b47-b131-f32813fe116d", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "da4a1095-cb1b-4ba5-9e1f-f0a323b450e8", + "observation_id": "99f2843b-7563-407e-81d0-194ed0608072", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "db5a2f1c-af79-4288-acbe-eb9274a3c805", + "observation_id": "6b1df58a-060e-481d-b462-39a48e50a054", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "ac8f29c7-ee12-4951-b9f4-18013eae2ce1", + "observation_id": "8589f5e6-2ba8-496c-bb44-12873c6a9259", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "17a5c93d-9995-4e59-a273-adeee108b675", + "observation_id": "01c42e13-dded-415e-a943-72d234953246", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "94888be5-c925-4599-b89e-71405424fe36", + "observation_id": "dcb6170b-dcf3-4311-9386-00fd1cf79c05", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "6dd27105-67af-4fa5-bd6b-bd8ecb889df4", + "observation_id": "e961d0b6-faac-4ce8-8c06-283f22c3faa9", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "77263e1e-0c57-4c92-b17f-1d90060e52e1", + "observation_id": "e4e497e7-141f-4aa6-9b7d-40c8672f3f87", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "661995c0-0144-49fa-a221-7374bc0978cb", + "observation_id": "3ec7a7b8-9ebd-4a0d-8e42-6294a5309a0e", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - 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"observation_id": "4c9d7f24-b8c7-4251-ad9a-69fe5d8a94db", + "observation_id": "3c20dbcb-76d6-4654-a25d-e48499353d6b", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "ca85a6d8-2ac4-4447-ba82-6d8a7752af49", + "observation_id": "8a6358b0-3020-4f91-88af-57c2a29202ef", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "ff184013-6cdd-42c4-95ec-b21988a4ab92", + "observation_id": "3f6bf304-cbac-484a-9bf3-8fdb7fcb7303", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "f7b35fc6-b39f-4254-892a-740d42a4dc50", + "observation_id": "c1158a48-7c5e-4bac-aa3a-bfcc2f98f7c5", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "c73a9263-5c3d-447f-94d7-62f32b6db35d", + "observation_id": "96340f16-0552-4361-99fa-0102f7ed8f96", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "ef31b2bf-d8e6-48b3-9d3a-7f74d68b11ed", + "observation_id": "b9201698-ea0d-476f-958d-4e5ee7294fdf", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "93a57587-d988-4a3d-b41c-2a9cee3fa693", + "observation_id": "019ef733-03df-4830-8891-91cc7c3ebcc8", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "33c0a687-f8d5-4823-a52a-c9a030b8393e", + "observation_id": "bf935292-a733-44ae-9e57-9fe3629c1e7e", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "e7bb7e18-69f4-4f71-8acf-57d0caa2a793", + "observation_id": "1c795757-f115-459e-9b97-7b15a1363bbc", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "014a54ef-31c3-46d9-bd7e-0fc8bfa84cdb", + "observation_id": "680b74fd-0635-4411-a3d0-01a0528e62b1", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "3ce38238-bef0-467f-a54b-3e4987cedd43", + "observation_id": "4ba8c4ce-4bfb-45bb-9886-0b5503db46ab", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "23521ec7-5fa9-4609-8cf9-7c682f2c25dc", + "observation_id": "4b9f3914-4840-4150-b306-f842d785bdf8", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "7063a1fa-b217-49df-a089-e111848ec673", + "observation_id": "7e532075-f008-4d1c-b2cb-359aa5f95fed", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "7a3e9853-c782-477b-bcee-09f0c50df87d", + "observation_id": "2c14a0c3-866a-48c6-9736-643903910177", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "e69c2851-78ec-4b28-9113-c796b9b496e8", + "observation_id": "f8a3bc8d-e58a-4e1a-aeca-0a77d436f573", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "eff453a7-f9dc-4093-aaa5-3002571f17ac", + "observation_id": "0ee545fc-02f7-448c-8ed2-393448facd44", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "1e043627-f769-4aff-8640-cc7c708b11b3", + "observation_id": "3e550a3c-5336-495c-a58b-f12eddf46e06", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abdf/render_b_camera_pose.json b/data/camera_study/Scene10/k4_abdf/render_b_camera_pose.json index 6996498..e54ad08 100644 --- a/data/camera_study/Scene10/k4_abdf/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k4_abdf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:25Z", + "created_utc": "2026-06-02T22:35:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abdf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abdf/render_d_aruco_detection.json b/data/camera_study/Scene10/k4_abdf/render_d_aruco_detection.json index 0bb4037..d135592 100644 --- a/data/camera_study/Scene10/k4_abdf/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abdf/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:23Z", + "created_utc": "2026-06-02T22:35:50Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ea13e1fd-f13b-4a43-853b-de934424169d", + "observation_id": "02b85bba-82fb-40ac-b7b0-424650724129", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "7084a802-d60b-4df8-868b-2f1f1342f453", + "observation_id": "5a1edd37-3f85-452e-83d3-b0b89d485e46", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "d19f0be1-f575-4608-befa-8800bb0c8c61", + "observation_id": "6c83a389-28a1-4375-8d5b-2dcbc083a504", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "ca9bba3b-9cea-4541-b34d-7667aebb1a3e", + "observation_id": "3ecfe0ad-a1fc-4e79-97c8-5306a8191cf5", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "ce10f9e4-b68f-4a6c-b69e-5e39ff267237", + "observation_id": "b21391c5-63c0-49fa-a5ae-b446fdf1dcf5", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "213283d0-69d5-4389-9fd9-594074065f4e", + "observation_id": "5f911372-97da-4005-95c1-d1304caad1ba", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "d020eee0-7875-40c9-9a96-2a34f017d954", + "observation_id": "48e1d46a-4017-40ad-8363-e658568231b2", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "e952209c-e950-47f2-bdbd-7989d25aa8d0", + "observation_id": "c5f95e79-1a6d-4397-a026-96b695d75b47", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "19328b2b-315c-4810-b930-457956b9cc3b", + "observation_id": "a04ac80c-87f1-4dd4-9c3e-e56ca7e782ee", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "0ee7a85d-dd34-4306-980b-81452a0cbf2a", + "observation_id": "aff52075-985b-4d54-a556-0c4fab613a5f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "d424b7b8-9973-4239-87b9-15591364fb76", + "observation_id": "1f89cda6-0e80-411f-b627-c36370e09798", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "add63264-5a8d-455e-9c6f-387efaee58fa", + "observation_id": "03be03be-d354-4517-bee7-22dd3a2893f3", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "71381156-3b19-4dff-ae22-454ab8ec148f", + "observation_id": "81701ade-8137-4d8c-81c4-e0cb678351cd", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "cb883ac3-0486-4ecf-910c-9129e12d64b5", + "observation_id": "8b60a36d-37a2-431c-b215-b4acc572d951", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "edcb74ee-1b6b-464b-9e36-99949a131e86", + "observation_id": "0365532c-595b-44f7-a153-4b2b157cd4e2", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abdf/render_d_camera_pose.json b/data/camera_study/Scene10/k4_abdf/render_d_camera_pose.json index 4429b77..c02f7e2 100644 --- a/data/camera_study/Scene10/k4_abdf/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k4_abdf/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:25Z", + "created_utc": "2026-06-02T22:35:52Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abdf\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abdf/render_f_aruco_detection.json b/data/camera_study/Scene10/k4_abdf/render_f_aruco_detection.json index 3218672..799edb6 100644 --- a/data/camera_study/Scene10/k4_abdf/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abdf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:24Z", + "created_utc": "2026-06-02T22:35:51Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9c08fe87-4b45-41ae-9b3b-1d4f9a3af7c7", + "observation_id": "b7a44ad0-582c-4c66-b110-cb37b50e8d56", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "27f5928a-4dc4-4992-8bc3-268dc2515d92", + "observation_id": "6f9107e6-e976-4dd8-983b-ccce2287c401", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "9d2b483e-a796-4b1d-a688-9db4803f051b", + "observation_id": "553d7247-6ded-4129-9095-1fa08d82d2a8", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "aed1d170-59af-4c2f-a173-b51a76be6c60", + "observation_id": "2b29e7a6-5f23-43b1-bffb-07242cee8c92", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "29c50368-58c6-40b3-ac15-982d04546fbe", + "observation_id": "c9b05221-49d1-44a8-81f5-9158d7c8838f", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "bb59c76e-97d2-4869-8e4f-adf17942b4d9", + "observation_id": "c26becc4-5af6-4f75-8115-53ad95a4d69d", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "ed3da6f4-ab1c-4a3a-9c69-bba546bd322f", + "observation_id": "f7b0376d-8cbf-4f1f-985e-4ac3c674fa02", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "4eead9d5-1ce5-4f0e-a8ad-da013cb49199", + "observation_id": "0b88fc93-5170-4160-a896-40467a78d3df", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "7e840acf-4cab-4dd0-b0be-825002480418", + "observation_id": "38cc53f1-198e-4d12-b30a-abcf25817055", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "e57d563f-9bfe-4f16-bd54-6dbc6fa64ce4", + "observation_id": "c766ff1f-2ab4-42a6-916d-a935b1d7dcff", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "e5db9c96-a63f-4314-be98-5f66fcee5d27", + "observation_id": "d9f2dd68-2958-4378-bfcd-70dd0ba7e1ad", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "1747e867-5538-444e-9a52-dc39be1e4149", + "observation_id": "51afaf41-7947-4d46-bdc1-3114d166611a", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "2859124d-fd92-4980-a249-014c496891d7", + "observation_id": "fa4dc248-35ea-4acb-a161-5f399cd313b6", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "3683503f-2cdf-4868-a0c1-39deac675ba7", + "observation_id": "955817be-804e-4524-8f2f-6e9bde161e60", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "722505b5-dbfc-41a5-88a4-a7c00777a451", + "observation_id": "000abbd7-8b45-4eba-ac2e-5537c9ff471e", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "96012be8-65ec-4cfc-a6de-2621bdd9e109", + "observation_id": "0e873ad8-dc99-44dd-90e1-c94049b19e29", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "71926b7b-306d-42c7-8e35-582dfa23a600", + "observation_id": "21b0d21a-f662-4087-9f84-486f00035b51", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "644066b6-6107-4938-ad07-a8c626ff6c46", + "observation_id": "966ad302-7c24-4d1b-bd28-01c52b15982a", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "f69066f9-fd45-4b38-b3ff-56fdd0f553c4", + "observation_id": "5a27e97a-cd96-4667-a292-ea5b55a4a27c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "83fcc234-d3bc-4aaf-a11a-71ec703970b7", + "observation_id": "7844a752-bccc-4183-953c-e9deea5967f4", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "53b3dbca-4b38-425d-afc1-b9d36b90880d", + "observation_id": "a5eb9ba5-9a75-45e1-b1df-287a59fcd59a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "547ebf9b-f1de-47f1-bd72-9030221e30d7", + "observation_id": "77fa9294-2ee4-4f00-91d5-675339b001b9", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "67728da0-753f-44a0-a1b5-9a1aca9fb29e", + "observation_id": "5f5d7af1-cee9-4bed-b139-b704abdcaa9f", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "a882ea16-28da-4acd-a87b-0a56157e88cc", + "observation_id": "f829e20d-a507-4115-a638-7f187bc09fb7", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "19ede4bd-d05d-40bf-a8e9-6b5a1bb80c58", + "observation_id": "07c34f01-434a-419b-85b4-1edb30891574", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "297f8f12-6835-4762-bdcf-7d0b6e9585d3", + "observation_id": "71e9edbd-c098-44dc-af2a-3025e39294b2", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "2fcae07b-240a-4a52-bd65-4f909cad8164", + "observation_id": "a5e38dd2-7c29-4d6e-ab9f-6b486c51b639", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "059f602d-96e0-40a3-b1ea-fb3be0e92d3f", + "observation_id": "12d10203-91af-405c-b9df-709e71b722d3", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "9c04841d-64bc-4db4-a4fa-d23512c58917", + "observation_id": "94a1bc50-fdb9-4756-9459-b51c3cc451b2", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "0e424a14-c0ad-46b1-a0b9-cd9c350a99d7", + "observation_id": "f4643446-4a1f-4990-b5d1-3d7e00d1b422", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "255b0843-ab16-4202-90e6-2ce0c900e5f7", + "observation_id": "3a25861f-9821-4b3e-a179-2cb80404836d", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "2e7a9d74-22c3-4c7c-83ea-0c9c9b96f9c6", + "observation_id": "803f6385-a2c9-4cce-b6ec-777e9293dc72", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "e52a3f1a-2a70-4052-9ed3-56bf38c410a3", + "observation_id": "ad07791b-393f-4590-8be0-30aa946ff2ee", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abdf/render_f_camera_pose.json b/data/camera_study/Scene10/k4_abdf/render_f_camera_pose.json index 27b3472..393c90d 100644 --- a/data/camera_study/Scene10/k4_abdf/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k4_abdf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:25Z", + "created_utc": "2026-06-02T22:35:52Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abdf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abdf/robot_state.eval.json b/data/camera_study/Scene10/k4_abdf/robot_state.eval.json index 57b58f9..4db262b 100644 --- a/data/camera_study/Scene10/k4_abdf/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_abdf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.9965999742646261, "mean_abs_mm": 0.7457301661579443, "max_abs_mm": 1.4143874144582114, - "finger_error_mm": 1.785703579562943 + "n_unobservable": 0, + "wrist_error_mm": 0.6551345346120998, + "finger_error_mm": 2.052929433894536 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_abdf/robot_state.json b/data/camera_study/Scene10/k4_abdf/robot_state.json index 60ab583..dddf676 100644 --- a/data/camera_study/Scene10/k4_abdf/robot_state.json +++ b/data/camera_study/Scene10/k4_abdf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:30Z", + "created_utc": "2026-06-02T22:35:56Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_abdg/aruco_marker_poses.json b/data/camera_study/Scene10/k4_abdg/aruco_marker_poses.json index a6bd494..6638daa 100644 --- a/data/camera_study/Scene10/k4_abdg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_abdg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:20:06Z", + "created_utc": "2026-06-02T22:36:30Z", "summary": { "num_cameras": 4, "num_markers": 34 diff --git a/data/camera_study/Scene10/k4_abdg/aruco_positions_initial.json b/data/camera_study/Scene10/k4_abdg/aruco_positions_initial.json index ddd28a0..24c7aec 100644 --- a/data/camera_study/Scene10/k4_abdg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_abdg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:20:05Z", + "created_utc": "2026-06-02T22:36:29Z", "summary": { "num_cameras": 4, "num_markers": 34, diff --git a/data/camera_study/Scene10/k4_abdg/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_abdg/aruco_positions_optimized.json index 0630c67..656e738 100644 --- a/data/camera_study/Scene10/k4_abdg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_abdg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:20:06Z", + "created_utc": "2026-06-02T22:36:30Z", "summary": { "num_cameras": 4, "num_markers": 34, diff --git a/data/camera_study/Scene10/k4_abdg/render_a_aruco_detection.json b/data/camera_study/Scene10/k4_abdg/render_a_aruco_detection.json index d5597d1..8e0f405 100644 --- a/data/camera_study/Scene10/k4_abdg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abdg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:01Z", + "created_utc": "2026-06-02T22:36:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a817bc58-1de2-4cda-8db9-097b525af4e5", + "observation_id": "5ebd2a40-f659-4445-9dc2-1de1abe9cf71", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "b0259899-5748-417b-8491-755e1fa40489", + "observation_id": "424edc3a-4d26-4064-95da-484fb8632de9", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "7974d37b-0c95-4f3a-9bdb-fd525137c98b", + "observation_id": "1943493e-5200-46ac-89a1-fe2046d7aed4", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "ddc1719d-5000-47b7-9c92-791e50426390", + "observation_id": "ddc854cc-672d-4b8d-8c55-862ed4ee7292", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "d8b83bae-b3a8-4eb9-9524-754c76d335c2", + "observation_id": "0906853b-6f8b-4272-8e04-ed0548a02f8c", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "9f5a8a3b-5f9d-4351-926e-d5f1148a9206", + "observation_id": "266b3591-f8ef-44f2-8217-dad9efd2e36a", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "a6fa3977-3a38-4a76-a409-d650d4f969b0", + "observation_id": "31987339-5345-4d93-a6d7-1318c7f9cbad", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "9e0eb6ba-d92b-4ed2-be81-1e17984fac99", + "observation_id": "7fe90586-4781-4d29-bea1-55df08815e77", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "0ed29fd3-8db7-4445-8f87-78473e812f9c", + "observation_id": "4ab49bbf-b6f5-4274-8cf8-af9a61620ba5", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "9c487ff8-830b-4769-acc4-83fb2a674d1e", + "observation_id": "fab80726-5f1d-4e55-954a-f491ff35a1ca", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "fe05b2c2-3b0f-449f-adec-3c1ecc934cb6", + "observation_id": "ff85e0f4-ab05-4bbc-9717-78a33cec5dd1", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "e4a930e9-d81e-4c82-aa52-ef5f87875f0a", + "observation_id": "989b6aff-8922-4f9d-8253-d24ba484e23d", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "ad3b5e58-dcbd-416f-8fb1-4a2d79dc7761", + "observation_id": "bd873ca0-018a-4b1c-bb1e-89ff0743ead9", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "a8f8acbc-6fce-4e85-ac0f-2d9ea8415607", + "observation_id": "424d767b-f239-4993-a420-858139efc487", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "cbf3bdbd-30cb-496d-8de3-69d759cdffb5", + "observation_id": "5e4fe100-6c29-4a83-b02b-7fa52e054e14", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "e73ee7f6-6eb2-4e55-afde-6c48d8fb8d9a", + "observation_id": "57363b27-8f65-4ec1-8edf-d7c9b18f0d9e", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "c6aff53a-22d4-4717-8cc9-8b030cacbae4", + "observation_id": "3eaf3d64-ef39-4637-94ba-b8ba7e10ebc0", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "871526bb-91d5-4fe3-8d17-39ee87e685a5", + "observation_id": "2f68afdb-b7af-482b-886d-c832ecf850a6", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "8e899ffe-37f3-4d09-a879-7d043f37346d", + "observation_id": "89ebce0c-2c5a-4e66-84db-ff1e6fec0f93", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "8b6f8a5c-fc48-46ee-9611-fc6a10e3bfe3", + "observation_id": "de2e6cc2-d312-4897-82da-346d4ba09f3f", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "52df255e-5ad3-4d6c-82f5-7edac19afd06", + "observation_id": "1eb02b0a-3c79-4a8e-87f2-c73db482aa21", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "1e6171e2-7503-4232-8657-dcd6515f531a", + "observation_id": "fbce35bf-a1a8-44ea-8123-6a8e57c49e17", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "9c003a72-56f5-4759-a854-abbd8f978b20", + "observation_id": "c75f8419-84f8-43fd-955e-5e84626047be", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "fc5cd14d-00cc-40c0-bd32-98a6bab9bbf7", + "observation_id": "d686420c-62d1-4da4-b3d7-900c364ef5bf", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "c977870c-1c8d-4812-ae66-40c2b8bd66b8", + "observation_id": "b9659bfe-6071-4744-8093-9cab902ec2fe", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "25df7982-2b2f-4d7c-bf0a-b4a6394336c4", + "observation_id": "e4226d68-71d8-48b6-9e51-3ea27035a3ad", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abdg/render_a_camera_pose.json b/data/camera_study/Scene10/k4_abdg/render_a_camera_pose.json index 9c15282..574e47f 100644 --- a/data/camera_study/Scene10/k4_abdg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k4_abdg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:03Z", + "created_utc": "2026-06-02T22:36:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abdg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abdg/render_b_aruco_detection.json b/data/camera_study/Scene10/k4_abdg/render_b_aruco_detection.json index 105a258..7faf67c 100644 --- a/data/camera_study/Scene10/k4_abdg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abdg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:02Z", + "created_utc": "2026-06-02T22:36:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "63947641-6310-4f6d-968f-e8161b4694ea", + "observation_id": "eefe5ecf-0ad6-450f-b7a9-427272fef94f", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "c687856c-a371-4b55-967c-903573493817", + "observation_id": "7209a0b6-659c-4631-968a-de2331e45cea", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "58f83160-fb1e-4f7f-b0a2-9c19a4482e48", + "observation_id": "b0eaae68-49b5-48cb-ba58-8d34d3b0cde0", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "77c253ed-6aca-4173-98f3-29f912f1e5b8", + "observation_id": "148c69eb-d305-415b-ab19-d6dfc836c048", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "60e50f63-007a-43bd-bc0a-c95d22330795", + "observation_id": "8b25cc59-cfe9-4d96-a4f4-262ce7806f43", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "31e13eb2-b41b-49e8-bd92-a916562b4cea", + "observation_id": "45141e0b-4ac4-4f23-8e41-8fda49f04989", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "1fc16b68-571a-4c32-baf1-16b4d51471d3", + "observation_id": "710854f6-3283-447b-b202-0443a272d23e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "50669f3d-4420-4291-86b3-e6db54b59558", + "observation_id": "2455fceb-162b-45b9-b85a-074c0f6b902e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "b6e6fa0e-590f-4014-882b-4f8a5d0a40c1", + "observation_id": "ee5c1c3a-f141-4a07-816a-fe970152f358", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "d464e4ff-acab-43fc-851e-6186842a624b", + "observation_id": "08444416-ecec-43fb-bb75-9a5835477618", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "69893fab-02cd-44cd-bc7e-c2cb47ccb35b", + "observation_id": "5fddf202-39d6-4e3f-8330-990e7b8f4f19", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "4da18670-62aa-4791-8f06-99b7905433e5", + "observation_id": "f027d290-2e60-4c32-b2f2-f955329043e2", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "a89095fd-d57e-4aac-a13c-adc1f7f0f6aa", + "observation_id": "e17bb6ea-391d-4f22-9f1c-0424c33dab30", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "f527185a-9b18-4185-8223-b1380e4a0203", + "observation_id": "7f16306b-83f8-48d3-bac6-2fbd4624c604", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "91eeadc4-ac9d-409d-ab9c-2b3699073d07", + "observation_id": "d1132065-ecb4-41ab-aefc-acf09a9d49ea", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "061dcf0f-bc38-4e5d-a87a-3cf9fa1316c9", + "observation_id": "bf564715-d04d-4726-9b66-7d8cfe50314b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "ca896d57-0091-47ec-a3b8-c71924d7271c", + "observation_id": "085c9bec-6016-42f1-b01e-9bf17cbaf60b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "abd70a8e-eca5-42fb-b7b7-e74f3b2a1cf8", + "observation_id": "bf0fefbd-8a25-44ae-a652-4a426019002b", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "b36e3587-b22f-467e-8350-5bb849c573a3", + "observation_id": "b8edcafd-5b75-4037-9df6-71024b07d1b3", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "b4e30003-e7a5-426e-98b8-0d69aaf7c957", + "observation_id": "7627e947-c40c-4d70-9b6d-e7d63ef6f7f9", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "b9a66ef9-85c6-4749-96da-ea569dbd4c3a", + "observation_id": "61762504-2b24-4473-a2a8-ff6c9ad9dc82", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "86119ebd-aff2-4334-be9b-30991c035974", + "observation_id": "e279a5d1-ad08-47d3-bd7e-e0be079b0552", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "20722101-70e9-4be2-8133-1d4c1ada0a0a", + "observation_id": "50bba461-8045-4a4d-a0b4-da943837ce5d", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "f615c770-59f6-4a88-af8c-7f37a92576c7", + "observation_id": "50f1271b-6cd9-439c-9aab-a941dd072657", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "0170597a-df28-474c-bb90-d416cdb1c7e7", + "observation_id": "71bf1833-8568-4426-aa58-bad34006216c", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "f1f18cbc-870e-4b71-be4e-c1b3ca96dc36", + "observation_id": "bf79d08d-7cf5-48b4-9906-633c5ed88dbe", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "44846442-21d4-4523-b441-4f67de1b6891", + "observation_id": "cd5a53c3-9f31-4819-a739-2eb47e101219", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "7e30ba0a-485d-4a7f-93c1-65cbf6cb4e4f", + "observation_id": "439d3f63-47f6-4e72-94ce-0c8eb36d5464", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "bac992ab-af2e-4d2b-9fe5-1d2d46b5290b", + "observation_id": "e8c4d7a7-694e-47c0-8168-96b3b8dd636e", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "5932cca1-c3e1-4009-a2a4-9eaf1e48c22d", + "observation_id": "ededde2c-ab26-49c8-8702-1fee1e60071f", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "26ae0a06-c02d-4d12-93be-ce849e3a8463", + "observation_id": "2aaef752-4338-465b-9764-3723a05a3c0b", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "f1e466e9-57db-4e9b-ad38-61a03a82f9f5", + "observation_id": "467f899c-832a-467c-affb-54f28e009c16", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "fa34b498-6211-409e-a6dd-9d472770b7a5", + "observation_id": "9f06f94c-281a-4bad-be96-ab77222ff4fc", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "1717d370-ff3b-4751-9c6a-727e925562ad", + "observation_id": "8e33272a-8eb3-4352-8cbe-287a63b477bd", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "be7be07f-7cda-4e52-bc46-48414c99ee13", + "observation_id": "c3a18e2f-a75f-4ab1-a813-7ed0f0db9976", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "343a9f4e-1f47-4ec7-89b0-91c8a83fa2b2", + "observation_id": "a9665c32-2452-4e04-9310-7c3b9bf55bf9", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abdg/render_b_camera_pose.json b/data/camera_study/Scene10/k4_abdg/render_b_camera_pose.json index ac47bfc..e0cb278 100644 --- a/data/camera_study/Scene10/k4_abdg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k4_abdg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:04Z", + "created_utc": "2026-06-02T22:36:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abdg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abdg/render_d_aruco_detection.json b/data/camera_study/Scene10/k4_abdg/render_d_aruco_detection.json index 95b932c..e052fdd 100644 --- a/data/camera_study/Scene10/k4_abdg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abdg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:02Z", + "created_utc": "2026-06-02T22:36:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a3e39962-bd50-4ac9-a6eb-9540c60aaf99", + "observation_id": "50aa0d2b-9221-464a-8311-a0964d2704da", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "079594db-8ebd-4d4e-b1ad-37529095559a", + "observation_id": "62d2dd8b-c637-4a6a-afdc-a35b43f94c8d", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "f507925f-562f-4887-9933-820606fc4e83", + "observation_id": "272f6702-972f-4b08-9c55-133d983b230f", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "970a9546-4835-4a94-a348-a6a980b14165", + "observation_id": "a2c12057-ad11-44b8-9ff2-8cbbb4b199e8", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "1f824186-f2ff-4829-b22b-1f471efbfff1", + "observation_id": "62704025-c586-417d-a938-600101c41374", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "ada05ac9-e1de-4d7d-809f-8b0aab105dec", + "observation_id": "04dcc10b-da7a-48f9-aee2-97696b783ba0", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "ec4a2d9a-a1dd-474f-ad6d-4e8818ff295b", + "observation_id": "0afc1d1b-18f5-4f9d-8b46-b0b92adba31b", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "1b664123-56c6-4cd4-91d4-d3a5f9e1ed09", + "observation_id": "a5c35cdf-1c7e-40eb-88e0-579ef79b46c4", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "5e7295f6-e343-4e92-98ef-a25299d8b624", + "observation_id": "87e9d7a5-9534-4328-8fb6-38a1b2471167", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "49d01aff-8ffb-4cbc-aca0-9f9ec1cdb73e", + "observation_id": "f15532ec-bdb4-4e37-92bd-a93fd9c487b7", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "a0c88737-ee9c-4ee1-bb8e-d29a9827cf5b", + "observation_id": "e80f97e0-2704-48e2-979b-f03fdd895968", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "5de7d356-25ed-4d4c-bf2f-d6fc6139f00a", + "observation_id": "4d1362bd-848c-48e3-91b0-72de2b547696", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "c7f58962-f449-4631-9918-b3387ae99963", + "observation_id": "184ff385-0373-4cc8-b8b0-0bcae14b801a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "60f41f6b-f3be-42d4-95ba-db1386627916", + "observation_id": "e83e41cd-4e36-48b7-88d0-23c2b1181bcf", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "a8509046-b6c9-4982-aa7c-263cf7f448a6", + "observation_id": "71d7051e-f252-4e54-9235-0583d05c39b2", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abdg/render_d_camera_pose.json b/data/camera_study/Scene10/k4_abdg/render_d_camera_pose.json index 46f5e7b..d2635c5 100644 --- a/data/camera_study/Scene10/k4_abdg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k4_abdg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:04Z", + "created_utc": "2026-06-02T22:36:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abdg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abdg/render_g_aruco_detection.json b/data/camera_study/Scene10/k4_abdg/render_g_aruco_detection.json index 09790b7..1ef7557 100644 --- a/data/camera_study/Scene10/k4_abdg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abdg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:03Z", + "created_utc": "2026-06-02T22:36:27Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9490d47c-c8be-4c3f-8bef-6cac793980b3", + "observation_id": "55053e79-d674-4458-990e-23ba8679ae13", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "f93b7950-d7f0-434f-a6e8-9aa03e880ce1", + "observation_id": "1c83aed3-4693-417b-b216-0db17554e330", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "70a1f8fc-61bf-4254-bcb0-ff2b5cd11fab", + "observation_id": "d0783ae5-b071-4798-9cc7-149f620b2306", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "05c0bf5f-3abc-4b9d-9a2b-76e49dc6eb46", + "observation_id": "5751e05e-f07c-465f-ae67-731587bd4aa0", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "cbf47c74-22f9-447d-924a-850bce536f48", + "observation_id": "cd756722-4547-4fbe-947d-eb61908a4a3c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "9db95869-141e-4f84-be77-0e7846bca532", + "observation_id": "bdd67577-663b-49d1-9915-b6e8f7174e28", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "7e2a0db2-7a13-4c61-b1e8-3d5ce4d459e9", + "observation_id": "490f3483-f53a-469d-a4a0-cddebc8accb5", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "08532025-e7da-45d9-9378-4ebe541381b5", + "observation_id": "9f1cae47-4765-491a-9a1e-f649235a8155", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "947be5df-4cdf-46c3-b09c-53c07a3957e4", + "observation_id": "deb5b1ff-dcd5-4480-985a-ed0b91f9027f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "6c0802a2-50d3-4783-8e61-4fd1bda64f19", + "observation_id": "35c0100c-6af3-4cd1-97ac-2adcd8bd586c", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "4aeb677d-3b6e-496f-b33b-9dc7462bb3ec", + "observation_id": "3382b6f1-cd6a-42f3-8e92-15f1d2dd65dd", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "21857478-2412-428d-b1be-6bbe65f7d150", + "observation_id": "3b8971c2-89e9-49c3-8722-e183df4776c2", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "aa019427-4073-4c48-a447-d49a96b92498", + "observation_id": "54165d1c-96d3-4865-a65e-535642f71def", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "3a1e44c7-ee7b-413a-a7e1-c9dfd5d8ff09", + "observation_id": "001413c6-4b8b-4ae8-94c7-0c50fcffdcff", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "774af5a6-b21d-4145-8b66-4bbb95eade08", + "observation_id": "6324d7e0-beb1-4626-a065-22c881e390e7", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "98a94795-5fbd-4f4f-b2ae-fdd042a40026", + "observation_id": "2506ab1f-5618-4fd1-a68f-b1ebfef30818", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "50df7dde-11bc-48ff-8bef-4d584db83f34", + "observation_id": "509b3cbf-3a01-4b12-b5f6-1034b7250b96", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "ab30fd44-1360-4b5b-8b89-ad857099a2b6", + "observation_id": "6f0c1210-131c-43fe-940e-6dcd1f3a88bd", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "dacd263c-6f04-4407-9bd9-bec0b7c7d376", + "observation_id": "3927e8be-6290-4a10-94dc-a021e1821e4a", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "fb3573d7-d1f7-490b-936d-91c88c260709", + "observation_id": "071641dc-ebe2-4c28-aeec-774ebf9aae8c", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "d8cd88c0-fc99-4082-8a4c-49c92fab93bf", + "observation_id": "b59154ca-0b14-4d9b-9674-4f94641a9e2e", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "f159a902-6cad-4578-9cce-edc71312f852", + "observation_id": "3c9188f2-4259-4671-bd62-da66f7c0b266", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "f0d73213-3d44-4390-9e4a-46cc50d43afd", + "observation_id": "13b71506-8f5a-4813-8fc8-e72561610be9", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "c5ff8f9a-6e48-4567-b265-2b0b105d6950", + "observation_id": "dc7dd7b7-c65c-4552-867d-e7d75f2cb22b", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "4c4687e3-30d4-4637-b73e-4d06df2a63d6", + "observation_id": "3f618b06-015d-4c01-8b20-b62363c338e4", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "25b90c9b-b52c-4172-8bae-729ee43dc2b8", + "observation_id": "52626ede-ab90-4090-939d-7b4e8edc842f", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "4dad30f1-5f9a-403e-8117-8e39ccd011d0", + "observation_id": "7caf2eeb-febc-4f2d-a2aa-30c9a20520eb", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "a6fc9701-aa87-4f7a-a18b-2c6ddec38908", + "observation_id": "91bbe2e0-dfe2-4a13-bcd6-d0e19f79485a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "b2c843b2-2543-4c03-97f7-e6bf5ca0240b", + "observation_id": "89de85ab-1936-44b7-a002-c4d1a806c37d", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "a896045f-d72e-4934-8705-bfd95bdd12ca", + "observation_id": "7c1c9256-ffc9-480a-bf1b-4db6b19cb557", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "2f97317c-ff74-4db6-99e7-7f7b509ef01d", + "observation_id": "6c62d353-c32d-4c33-87d0-fd009f6c90ab", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "b7e953a8-1a1f-4dce-afd1-26d56f0b15dc", + "observation_id": "fde5431f-7467-42c5-ac26-2ae0367679ff", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "4629c4ba-e0bd-43ba-bfd4-472187a22e3a", + "observation_id": "f5b6d816-1e45-4c56-912e-5515cbc16379", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "c9b3fc8b-9fdc-453b-9928-4eb26d9ee4f2", + "observation_id": "262ef98e-6737-4e54-9dd4-bed201423be1", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "d5ba7d27-fc4d-4180-a7db-9c60b9f4a8cd", + "observation_id": "212fcf1b-00f8-41d9-8664-e5c293466d89", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "6180be9b-110e-466f-8926-1807394d1c6b", + "observation_id": "df905081-89ad-43ee-9cdf-c176e08127ea", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "ef00fab3-ac4d-4ddf-aa18-577f3944110f", + "observation_id": "7ca7bfc8-1a81-49a3-bac3-7056fa4a2430", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abdg/render_g_camera_pose.json b/data/camera_study/Scene10/k4_abdg/render_g_camera_pose.json index 79e32a4..976fd0d 100644 --- a/data/camera_study/Scene10/k4_abdg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k4_abdg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:04Z", + "created_utc": "2026-06-02T22:36:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abdg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abdg/robot_state.eval.json b/data/camera_study/Scene10/k4_abdg/robot_state.eval.json index 98bd000..b9b4d7f 100644 --- a/data/camera_study/Scene10/k4_abdg/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_abdg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.068150569427047, "mean_abs_mm": 1.6727637522143741, "max_abs_mm": 2.5940634254759125, - "finger_error_mm": 1.7596399198432664 + "n_unobservable": 0, + "wrist_error_mm": 0.8597585008922883, + "finger_error_mm": 1.996542966889859 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_abdg/robot_state.json b/data/camera_study/Scene10/k4_abdg/robot_state.json index fd59acc..54367f7 100644 --- a/data/camera_study/Scene10/k4_abdg/robot_state.json +++ b/data/camera_study/Scene10/k4_abdg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:08Z", + "created_utc": "2026-06-02T22:36:32Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_abef/aruco_marker_poses.json b/data/camera_study/Scene10/k4_abef/aruco_marker_poses.json index 8f97a53..5b51006 100644 --- a/data/camera_study/Scene10/k4_abef/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_abef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:20:15Z", + "created_utc": "2026-06-02T22:36:38Z", "summary": { "num_cameras": 4, "num_markers": 31 diff --git a/data/camera_study/Scene10/k4_abef/aruco_positions_initial.json b/data/camera_study/Scene10/k4_abef/aruco_positions_initial.json index 5f1e638..9507b15 100644 --- a/data/camera_study/Scene10/k4_abef/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_abef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:20:13Z", + "created_utc": "2026-06-02T22:36:36Z", "summary": { "num_cameras": 4, "num_markers": 31, diff --git a/data/camera_study/Scene10/k4_abef/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_abef/aruco_positions_optimized.json index 9d8424a..566aea5 100644 --- a/data/camera_study/Scene10/k4_abef/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_abef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:20:14Z", + "created_utc": "2026-06-02T22:36:38Z", "summary": { "num_cameras": 4, "num_markers": 31, diff --git a/data/camera_study/Scene10/k4_abef/render_a_aruco_detection.json b/data/camera_study/Scene10/k4_abef/render_a_aruco_detection.json index 081e723..1947d84 100644 --- a/data/camera_study/Scene10/k4_abef/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:09Z", + "created_utc": "2026-06-02T22:36:33Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0a3e5893-b387-4434-b29c-edcd44572527", + "observation_id": "df9187f2-e9dc-4e56-9d28-34c4116921bf", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "f041cc48-5c98-458f-a27e-04296cbe3936", + "observation_id": "ae5cb388-7942-4fa1-988a-42a101d82317", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "62fe71c1-dcb1-48b2-ba72-89c46f158e02", + "observation_id": "939770c2-e0d3-4335-8e3b-43127c3a9776", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "a228fffb-c1d2-4872-9933-dc3c01df8891", + "observation_id": "7b4191e2-f637-4edf-9bf1-c1e864d808f3", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "e11f9bea-69f0-497e-8ab0-9fd2c2556b44", + "observation_id": "49527d41-38ae-42e5-a679-09ab2b5a77ad", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "d0f12f71-92f1-4d1a-b56b-a7734aa7a635", + "observation_id": "75e4a8fd-8d2d-43ea-8b2f-e648fa8db408", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "07f88fa2-d4b5-472b-8e0d-2380905e44bc", + "observation_id": "1db21f75-9995-4dce-aa30-858ed52b3e3c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "b54583c8-de8f-469d-811d-55efcc049df4", + "observation_id": "4fed201c-0131-4125-860b-bb7184a6a1d2", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "ce146dbd-dd59-414b-9cde-87ef885f0c30", + "observation_id": "513c9a98-f9b8-4f87-a873-97c77741578a", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "c7bd744c-2907-4866-9a32-4a0988a09935", + "observation_id": "da44dcc0-1a36-421c-8f1f-1c7ed6003256", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "027a8f02-86a4-4c99-b087-a5984ebe7acc", + "observation_id": "148e2a7d-6ec0-4e09-a7ce-e67aa7fc1216", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "d62d8ca5-2f5d-4082-b590-af334cdb5709", + "observation_id": "16112889-e551-4dc0-9e73-5b7fbbf8581b", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "3d326af9-6cd0-438b-855c-3a95deac0a8a", + "observation_id": "200a5745-0398-4210-a057-85d34e46d8b0", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "bc547ee2-c13b-4d47-ba87-e45202af855f", + "observation_id": "a4575de0-59a1-4952-8d3a-c9944f1c04ce", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "d6dde9f9-7e93-4f4a-8be1-7728e1b46b19", + "observation_id": "c4b0e771-fc5e-40a6-a063-5739f34c09f1", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "420f11c3-1018-4976-b3a2-b9f81739b8af", + "observation_id": "ff5623a6-17ee-4db6-bf3d-87f9e4e125de", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "e5af1a78-d971-4e3c-8618-f814c91ee5cf", + "observation_id": "1e42e0ff-326c-4edc-8655-9e1a59df60ad", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "2bfed835-d2da-4c7b-b83c-1cfc4d801c30", + "observation_id": "0a517a5d-de41-468c-aa40-de3db689fd0c", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "e01ad124-b29c-4dfb-91cb-952335bc6743", + "observation_id": "f3647e1b-317c-4b3f-9bed-08517b06f7f9", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "bb0ce566-e8c7-4ff6-b8ed-d70140c056e6", + "observation_id": "0b2eb3c3-3039-40d6-bc67-9eabd09f8266", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "c1bc6707-4265-4257-b2f4-319c5c89a501", + "observation_id": "f42ae8da-d286-4d88-9f87-c04b664ffa86", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "478faa03-d607-4bc7-96b1-90a4c2ea7ff1", + "observation_id": "da063589-62b7-4f16-90f5-86c6c8f9d79e", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "dee510c6-8ae8-4be5-a3c8-6df6ccc4f077", + "observation_id": "73ce988b-aeda-44a4-ae98-09e68a950f7c", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "a6a76011-4211-4da2-9bb0-89d039a22b26", + "observation_id": "b6028561-af07-4df9-973b-f88fbfa8983f", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "756b4330-762c-465f-b4bb-e99686fe02a3", + "observation_id": "4a0903ae-6806-4963-a182-4c0a9eda967d", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "b50e7d8b-f896-404e-9cea-e1116a95d8b7", + "observation_id": "061b6d6f-1aa9-4a2b-abc1-e251254a7112", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abef/render_a_camera_pose.json b/data/camera_study/Scene10/k4_abef/render_a_camera_pose.json index ea69c23..bae1bfd 100644 --- a/data/camera_study/Scene10/k4_abef/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k4_abef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:11Z", + "created_utc": "2026-06-02T22:36:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abef/render_b_aruco_detection.json b/data/camera_study/Scene10/k4_abef/render_b_aruco_detection.json index 4e04679..5514193 100644 --- a/data/camera_study/Scene10/k4_abef/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:10Z", + "created_utc": "2026-06-02T22:36:33Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "567cb8c6-c84e-4f52-8886-1ea66f1aa34f", + "observation_id": "435d061c-fee3-49f3-87f8-c3ca85a33736", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "6510f0fd-e069-49e8-9176-950d295cdd04", + "observation_id": "e6cc8c2d-4658-43ec-bafe-c0cf3c60d4bd", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "6b4ecf60-c29b-4289-9d87-134b26af2e16", + "observation_id": "08fef00f-c4da-4c1c-aca8-49dfdb02937f", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "d7c4c60b-1e9c-4b70-8ec5-3ff78f43b449", + "observation_id": "82192455-6a12-4063-9c8d-de14d2ef492d", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - 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"observation_id": "6fc1bd02-799b-4866-b8db-7063af554faa", + "observation_id": "50b7eb47-430e-4622-b83e-910b6a16af0b", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "452e39b7-a05a-4510-bb25-e15b1bc6c241", + "observation_id": "7c891a1f-3c9c-4c26-9f17-db33bbc7d0a7", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "486d7997-0cdf-429b-8c20-6131dd25fa13", + "observation_id": "e12d1520-1923-4464-af5a-f0d2b02d4e78", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "fa5d2780-f1b0-49c6-b91b-0227ca0804ca", + "observation_id": "e73381cb-4991-4663-af22-f6b1ddb858a5", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "32c721b5-9a9f-4d13-8026-d3a76313ffc4", + "observation_id": "6a1a6e62-fcf2-4b6e-a875-56f6bfb7760e", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "64845275-a506-4e6c-b6f0-4ebdafe65404", + "observation_id": "09a2ae60-7866-4c18-a4a3-50a47f4f76e1", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "43ec576d-c78b-491d-92dd-a33e0daeb26e", + "observation_id": "419ae34a-dee7-4a98-9e81-c6ac76200029", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "d1e5992d-5ea5-4558-b396-44276522ad28", + "observation_id": "4fd90fe3-fc02-4cd4-8c62-ee0e650f72cd", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "2da67998-acad-40b8-987f-8d70074196e3", + "observation_id": "ade85af0-4f0a-4a60-b3fd-dc59e41c650e", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "23a5f899-f85b-4c00-b28f-0f3e3b11c262", + "observation_id": "538526f8-2b48-4865-b751-e7cb5669e6b4", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "49c60476-36e2-450b-b50e-dd6d276948a2", + "observation_id": "54938db1-cd5e-4097-afd3-5078db32f9f4", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "4cf4913c-416e-4d72-8179-60640c321751", + "observation_id": "3943af69-4cf0-443f-a1c5-754d0554718a", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "9f9fa57c-a8c6-4e95-8c69-4ad2f171c0fd", + "observation_id": "664c3415-b89c-4ad6-8abe-b727033de1be", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "2f2a1a25-bfc9-4da6-880e-8de9d1317a19", + "observation_id": "0caa0c3a-610e-45c7-a3a2-4ba1eecd85c8", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "9a854afd-0705-4b44-8ec1-175962f31c51", + "observation_id": "d1e82c72-52fa-428d-9c0c-96a598193393", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "d3e855eb-fddd-46e8-8ed2-50375e27070a", + "observation_id": "20452ec6-d1ec-43f3-b29b-6fa3100eae91", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "23fadb3b-409f-4d01-8ffe-b852ff7f5a39", + "observation_id": "326f8518-11f2-46c5-b66b-4d91d2baf7f0", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abef/render_b_camera_pose.json b/data/camera_study/Scene10/k4_abef/render_b_camera_pose.json index 4a88e30..5f2ce24 100644 --- a/data/camera_study/Scene10/k4_abef/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k4_abef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:11Z", + "created_utc": "2026-06-02T22:36:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abef/render_e_aruco_detection.json b/data/camera_study/Scene10/k4_abef/render_e_aruco_detection.json index a97d712..9ee6d7c 100644 --- a/data/camera_study/Scene10/k4_abef/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:10Z", + "created_utc": "2026-06-02T22:36:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9b09ecea-05e7-496c-b291-aa92c3e46c5d", + "observation_id": "e7942c1e-20ae-4960-90f8-65b696ca97b5", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "03a15903-0bfc-45dd-b369-13b77c4d95bb", + "observation_id": "9eba5bcf-2ffe-4aa0-b80c-1ef26b15d9fe", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "d5fd06ea-9a5e-4799-b901-8de2546a7bfd", + "observation_id": "e0ecb91f-df51-435f-8820-21c162b6feac", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "4e916de2-0fb5-42c9-9bb3-d0e7e2a4da9e", + "observation_id": "6f1ef700-4bae-41d8-8c95-b309ec93e317", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "49c5fe2e-fa86-4d82-89fe-7c2774dc6f91", + "observation_id": "5e97fe4b-2da9-443a-9e61-ab08dc2f5fc4", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "e448f0f5-e086-4e47-a62f-68766b066645", + "observation_id": "e3ce7a65-1e6f-4d19-9ff7-87c33446c484", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "99646c92-d63c-4e3f-8ae7-7e8159f20e56", + "observation_id": "da099445-a614-4f3a-ba09-77add13d5022", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "49b0dce4-a35a-48ba-8462-4c5b530866e8", + "observation_id": "c704446c-77ef-4118-8f1b-4d34c58a2301", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "cabf7ecc-4776-4d6c-ace3-343faa3b101a", + "observation_id": "cd907d3f-f523-4ab7-875f-7a475c4413fd", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "b12ebf03-7378-485a-a572-d94e4ab8d1c0", + "observation_id": "b6636eb3-bad3-4cd2-ae37-c289efa404df", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "92e64744-0bdb-4295-9c85-ff4cfc24adc7", + "observation_id": "80c42312-e8ae-4426-97c2-c63223768031", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "09fb5c39-6f54-4da3-b18d-7c96752d38a0", + "observation_id": "e51196ae-220e-4b7a-928b-1681c11e5cde", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abef/render_e_camera_pose.json b/data/camera_study/Scene10/k4_abef/render_e_camera_pose.json index 638efca..7898f91 100644 --- a/data/camera_study/Scene10/k4_abef/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k4_abef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:12Z", + "created_utc": "2026-06-02T22:36:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abef/render_f_aruco_detection.json b/data/camera_study/Scene10/k4_abef/render_f_aruco_detection.json index e423790..cb5fcb0 100644 --- a/data/camera_study/Scene10/k4_abef/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k4_abef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:11Z", + "created_utc": "2026-06-02T22:36:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "6fa432de-10d0-427a-b44b-3dc2e67b389e", + "observation_id": "cf21b292-4bc3-4aa8-ae1b-51c239436164", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "82300f71-ca6d-4e48-98d1-545f39d748f7", + "observation_id": "bfaa2231-3d32-43a0-a1c5-646a30be796b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "e92eef9f-5571-4016-82e4-4369e6812b1d", + "observation_id": "c2f1e311-5666-429e-bf6c-63bf399cf56f", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "c7f86136-da5d-4567-bc99-dbcc4c018679", + "observation_id": "d559bea5-44f4-407a-ba4b-6382a91f2157", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "764edda7-9fcb-4a2c-99c5-e5fb28b47e70", + "observation_id": "569f8b3a-9ad0-48b5-a82a-9f959bd91e8d", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "41fedea4-3221-4855-a949-e2d44fa18f67", + "observation_id": "f1865d73-3690-4df5-ba26-1b4442d90b43", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "c10a18fa-78d8-49d8-82d7-b40130a36a22", + "observation_id": "1b46817a-de85-40df-b170-f5b529228152", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "03734082-f214-4bc3-8f26-7e1c4655023b", + "observation_id": "18b47464-b49a-46a8-9a6f-b6e3ef613312", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "7ba3fb06-0511-48cc-b34e-9c9e56e679d7", + "observation_id": "c3ba6e7e-ffeb-4d24-8baa-04814ad3c657", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "b1d10235-fa47-47a1-9b0a-c6eafd5bbda8", + "observation_id": "f73146b6-9776-49e1-ad86-3a9e0de1a770", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "6ba78a65-cb58-4b1e-90e6-040973cfc5ad", + "observation_id": "fdd3366b-d369-4e0e-8d30-86581448981c", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "ce4aa4fa-5429-40f1-8bd4-09735dc40bd4", + "observation_id": "fa81def6-5bc9-42de-b63a-23e0ee9d0c93", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "12181636-8f22-49c3-9ae9-69b27bd45661", + "observation_id": "dcd326ea-aa78-4f85-9867-b3a17df37f02", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "f8800f3e-fec6-4a7a-8b84-9bf5ac16ed5e", + "observation_id": "15b8280c-575a-4d0c-b95c-a4ce2e9aaae9", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "12184a29-53ff-4a40-8cda-1c081e9b5955", + "observation_id": "2bcaa598-844e-4d6c-9695-23ccc56c2f04", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "21256d60-2e66-4fa3-8a2a-aace69eaddbd", + "observation_id": "a0703e56-8dee-4a8f-9b11-5f61c90cf449", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "4abd7694-ec7f-4eb9-b576-178ea79105f7", + "observation_id": "8ba7714d-fdc3-4a02-8ca9-17707217a8a9", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "dca2d42c-dd9a-49be-87b3-93a429dd2da0", + "observation_id": "1fc500cd-92b0-47b0-bc63-11d8b7045b75", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "2391bd8a-5484-401d-9db6-85c5907eabef", + "observation_id": "e9a58290-8c39-4773-95c4-79ef575ff62d", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "e31e345c-1708-4a10-a5d1-3c93c9d314a1", + "observation_id": "4c2654de-e98f-4e19-900b-7ceeec861054", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "a23c47d5-3a65-49e7-9904-96d4e972b3c6", + "observation_id": "e9509eb3-bf18-4360-b4f6-04ac9e587e6b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "7e6e5f6a-51b0-4c5b-ad2c-ba095cde8f17", + "observation_id": "4ece5f3b-8e43-4b7f-b7fd-eb73ae735a85", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "c37c4b75-dc5f-4096-beb1-cbc04cf40e95", + "observation_id": "b10bc903-6aa2-4c7d-a693-d6ea35509b6b", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "28234eb6-839c-4576-9b5c-e5adf872df1f", + "observation_id": "5f43bc1f-ab6d-41f6-9290-60bf2f41a6dd", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "1e3f23d2-9b0c-420a-ab2c-cc0135a95c8f", + "observation_id": "ab2129cf-0262-443d-88bc-28368045f228", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "e51458a5-581d-43f6-81b1-f05a9a7d8146", + "observation_id": "c9b84061-0d17-4cd5-b905-aeb7e71e1559", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "5ae5becd-8a50-45fb-b5eb-0ebe49aa7850", + "observation_id": "f7c551d2-c841-42f6-9bbd-26b088f13ed0", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "8ed3a05d-a8bf-41ac-b457-238c8102fac2", + "observation_id": "3b86fde4-f545-4a5e-abf3-90d6b22fe8aa", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "70d9a7b0-132d-42e7-9b00-ded317d18a63", + "observation_id": "7303527b-3f74-4c17-ba28-146453d313e4", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "4076abb1-abe3-41e6-99d4-b148f67a1952", + "observation_id": "a5db216f-1920-4a2f-9af0-c51f3adbb80e", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "2d1d2003-f1f3-4739-8723-8d5c6f8103b1", + "observation_id": "b42f8b60-b675-41a7-9dfc-db6e9e9fc55f", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "185ca401-cb6d-4768-9676-e414cdc796ce", + "observation_id": "f3808262-51a4-40ce-ac27-1eba8341adb7", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "a6befb50-9b8e-45b4-9749-ea2997ab44f4", + "observation_id": "450be356-5a07-49ef-bdcd-7c19c63f2922", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_abef/render_f_camera_pose.json b/data/camera_study/Scene10/k4_abef/render_f_camera_pose.json index 9b2648e..46a3206 100644 --- a/data/camera_study/Scene10/k4_abef/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k4_abef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:12Z", + "created_utc": "2026-06-02T22:36:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_abef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_abef/robot_state.eval.json b/data/camera_study/Scene10/k4_abef/robot_state.eval.json index 1d56282..5a920c6 100644 --- a/data/camera_study/Scene10/k4_abef/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_abef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.1633365790725918, "mean_abs_mm": 0.9300487988925386, "max_abs_mm": 1.2451650698766974, - "finger_error_mm": 1.7944738593073786 + "n_unobservable": 0, + "wrist_error_mm": 1.1928527016502377, + "finger_error_mm": 2.0145094983827483 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_abef/robot_state.json b/data/camera_study/Scene10/k4_abef/robot_state.json index 87f85b9..243fa02 100644 --- a/data/camera_study/Scene10/k4_abef/robot_state.json +++ b/data/camera_study/Scene10/k4_abef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:17Z", + "created_utc": "2026-06-02T22:36:40Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_adef/aruco_marker_poses.json b/data/camera_study/Scene10/k4_adef/aruco_marker_poses.json index 111250b..f3e5725 100644 --- a/data/camera_study/Scene10/k4_adef/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_adef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:20:22Z", + "created_utc": "2026-06-02T22:36:45Z", "summary": { "num_cameras": 4, "num_markers": 23 diff --git a/data/camera_study/Scene10/k4_adef/aruco_positions_initial.json b/data/camera_study/Scene10/k4_adef/aruco_positions_initial.json index 2e54955..b3fe027 100644 --- a/data/camera_study/Scene10/k4_adef/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_adef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:20:21Z", + "created_utc": "2026-06-02T22:36:44Z", "summary": { "num_cameras": 4, "num_markers": 23, diff --git a/data/camera_study/Scene10/k4_adef/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_adef/aruco_positions_optimized.json index c0da3d7..792cb22 100644 --- a/data/camera_study/Scene10/k4_adef/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_adef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:20:22Z", + "created_utc": "2026-06-02T22:36:45Z", "summary": { "num_cameras": 4, "num_markers": 23, diff --git a/data/camera_study/Scene10/k4_adef/render_a_aruco_detection.json b/data/camera_study/Scene10/k4_adef/render_a_aruco_detection.json index 70b5dd3..5d53d19 100644 --- a/data/camera_study/Scene10/k4_adef/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k4_adef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:18Z", + "created_utc": "2026-06-02T22:36:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "61194f33-7385-4a37-baff-4ba74e1e487c", + "observation_id": "d332eb15-e3dc-409f-aa53-09d4a96a62d6", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "e051f19e-e62d-4237-abf5-53285bad5db4", + "observation_id": "554f6aaa-c9fa-4d89-bddf-c0b1747249bd", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "a89bd42f-7505-434a-8e26-0b53b01d772f", + "observation_id": "19177a1b-0918-4f47-a4cf-969df8108bb9", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "edbc3089-f438-4765-a483-325777af17f0", + "observation_id": "26292d69-62d3-46ca-968e-06631973ed88", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "caa32200-ac55-48ba-8ec8-a5390c1bd6ef", + "observation_id": "12fa19fd-a9d0-4862-a32a-47f5927e54a4", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "71de4914-9441-478b-a464-30c72e531e26", + "observation_id": "f197aa6b-18d1-45a7-8631-625d45ad3a77", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "dc0fd002-b699-4f55-b740-59badaa0ce6d", + "observation_id": "3c0b0664-fc88-4d45-9ffb-c4a5895f8164", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "162433ec-7dba-45b3-9d66-5856d50c8896", + "observation_id": "04bf24e4-8e96-4292-92b0-b08decc9f17b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "de4119c7-a18f-45c1-8777-b5154848e481", + "observation_id": "30bab575-ab81-4abd-a190-1ba067d38823", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "5ad56b5e-f1ad-4cb0-a81a-07b5e0ac1383", + "observation_id": "16b2d786-4d84-4691-8dd1-c35fbce927db", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "eeb956f6-6887-4f96-bd92-4ffebe745bed", + "observation_id": "7f903602-4c0a-4bd9-8c2b-7b63606525b2", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "3eb439eb-97a3-499c-b4e5-e5f4d355f50f", + "observation_id": "315aa93c-d059-43a6-8f96-418b636ffe20", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "b79a53ac-32f6-4a5d-990a-f9419036d769", + "observation_id": "86587979-5c9c-44a5-956b-411e12b69e0a", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "120c7eb1-d135-4156-bdcf-bc1a38e36404", + "observation_id": "329a5255-351d-432a-b55f-2d2087833812", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "82f06fe7-ac83-40b7-9c65-8f890d28ab30", + "observation_id": "a54c8abb-7951-4468-8635-c0ab8d94683a", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "e99bfde9-1029-49a7-8fe3-90d59abb41fd", + "observation_id": "56b41e89-8538-4a8c-8c7c-97dfc9352815", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "fd87aed3-a046-4f69-8787-eae874d0223d", + "observation_id": "440b6ceb-00b9-4422-b0b2-f01fff19635d", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "544d6394-c630-4912-b506-976c21564703", + "observation_id": "ad2eaf2d-a570-4469-8feb-90645ebd7b1e", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "20af7fad-1dd8-4be5-a20f-6bc83b5b2fd4", + "observation_id": "fc2a1c31-b515-404d-8be5-6297cd5a6e0e", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "186a0bd0-3f0b-42b2-a5e1-3af550114b57", + "observation_id": "d64dc2d6-9c89-49b4-81d1-7038a3b23f65", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "9a0f4492-7ede-4ffa-8728-15de3cd54d76", + "observation_id": "af31bd4e-0dcc-4871-a5ea-02f72ae8bb87", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "4afc7fbb-e715-46bc-a10d-5dda4294eca0", + "observation_id": "5fe4c28c-ce93-410c-9615-e69be061cac4", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "caa60146-c66f-4c64-a002-dcb316b7e073", + "observation_id": "3f66c950-e998-4d74-9239-3cbc9daeeebc", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "2b1c76be-7328-467b-adbb-b78b54b16134", + "observation_id": "acb90dba-4067-448a-a4c0-32a2ca9da4c8", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "24fd97fd-369e-4964-9340-4e23ab0bcc1d", + "observation_id": "7ac011a8-8711-4c42-a3c8-c1492623beda", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "ddcc15d1-ebf3-4d54-9211-685a389fed72", + "observation_id": "fd16a8ec-3374-4e9f-ab9a-6fd749cc4f8f", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_adef/render_a_camera_pose.json b/data/camera_study/Scene10/k4_adef/render_a_camera_pose.json index 5d3f657..8cb534a 100644 --- a/data/camera_study/Scene10/k4_adef/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k4_adef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:19Z", + "created_utc": "2026-06-02T22:36:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_adef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_adef/render_d_aruco_detection.json b/data/camera_study/Scene10/k4_adef/render_d_aruco_detection.json index 671901f..e1b48d5 100644 --- a/data/camera_study/Scene10/k4_adef/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k4_adef/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:18Z", + "created_utc": "2026-06-02T22:36:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2e19811a-e6b1-4706-ac65-03db3b7b2e59", + "observation_id": "cb2bc8ee-2e03-4906-b86b-ed398569e4bb", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "a0b7b407-c47c-499c-9a7a-ed5c02550990", + "observation_id": "418ad7ac-6bfd-47a1-b763-87f8e08b545a", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "ed0b9ed5-2e0f-4eec-adb3-36cd07fdc320", + "observation_id": "814375e1-d6c3-4b4f-bc1c-6e4373db09d4", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "f6c99a4e-f986-4071-95f5-7bc5b44f603f", + "observation_id": "6482a738-f996-4e0d-ae49-887d83a8df36", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "e8668f35-0d68-4132-9983-c5e69173434b", + "observation_id": "f11c67eb-8ab8-44b3-adf1-e5a964655f00", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "e19e6753-dffd-44ea-910c-00e076c3533a", + "observation_id": "b86d9773-4b6c-433f-a495-6a0554e32553", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "51f61b0a-e4c3-45ad-9662-1c0fa6f9a3c4", + "observation_id": "6b474d5e-d5e8-4dcb-91cb-529ae7a8f69f", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "008d71b3-cb1e-4211-a321-d53a9c915706", + "observation_id": "caf887fd-df3e-4b83-b31f-3761d95898a9", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "8baa2b26-93ae-461a-9ed5-d221bb95b3a1", + "observation_id": "154d5d3d-2f0d-4ac9-bf84-937fdbea6333", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "d1e806f3-12d4-4fb2-ab2c-5e7f702daf61", + "observation_id": "97ae04f5-7d72-49a1-a24a-17c2bed2aafc", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "1bbd3ed6-0596-4589-99c0-747c23b48ee2", + "observation_id": "b2b68da8-5cd7-47ac-a5f1-7828b32bd736", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "1072d112-32ba-4449-aa55-c9e59efc0612", + "observation_id": "96e1297b-1b66-402c-bb23-f9b664880b83", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "dd58b988-4a4a-43df-83ee-f525862d65c8", + "observation_id": "66b2ad2e-c3b1-43b5-8e74-701b5699f564", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "7094d9c6-ef0e-4da4-9391-d560254c34f4", + "observation_id": "4c0dc221-d9bb-49e1-9422-66ce31762d73", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "229af768-b076-4b27-b70b-47487dac8c40", + "observation_id": "1922ec18-8839-4965-bcbe-741056e61199", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_adef/render_d_camera_pose.json b/data/camera_study/Scene10/k4_adef/render_d_camera_pose.json index fff7eb8..32bd689 100644 --- a/data/camera_study/Scene10/k4_adef/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k4_adef/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:20Z", + "created_utc": "2026-06-02T22:36:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_adef\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_adef/render_e_aruco_detection.json b/data/camera_study/Scene10/k4_adef/render_e_aruco_detection.json index 9733c67..67f80b0 100644 --- a/data/camera_study/Scene10/k4_adef/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k4_adef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:19Z", + "created_utc": "2026-06-02T22:36:42Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ea2015e1-54eb-4d2f-bb93-be30910e5548", + "observation_id": "c3f26cba-35ad-4e7e-8572-24304bef1aef", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "966470aa-467d-4df9-a348-ea895e4e7ce2", + "observation_id": "7733d569-bcee-4153-8698-64df109ed9fd", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "d0f125d6-ed33-4379-85a6-3aad822c98fb", + "observation_id": "4ef4aec0-d9d3-49b7-b3ed-3ad4561c8122", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "3e162cac-b34a-48d5-9366-74e84b0c68d6", + "observation_id": "418269ff-0dc2-4a90-b2be-21106b3bc5e1", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "5c855d56-3d78-4391-8441-550e33281f0c", + "observation_id": "68f430e0-dd44-4f1b-ac95-48bb5d3efe8d", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "8a327f7f-88ec-4878-97d7-43d46aa43588", + "observation_id": "5a034c31-679c-4afe-8721-e55a6afcb56c", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "b291f2a9-b7f7-4333-9b1d-809bccd9f3f8", + "observation_id": "4df3b34c-523c-4041-b335-c910e01e95e6", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "dd3e25af-3c64-4006-b58e-697ea67a22fb", + "observation_id": "4a96d1df-c1c2-4bc2-abd9-4ff26bb9a8fe", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "6ee3d794-c579-4ec3-8ee4-e14463bceb0a", + "observation_id": "74e7b2a9-735d-4a72-9704-b06df3fb3d70", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "93a4b9d9-5209-4f21-a0e0-d1d5d798389b", + "observation_id": "f4f5ae6e-e737-4891-b1d8-1716847fada3", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "eabd2593-50d6-482e-8bcc-13da6f37e982", + "observation_id": "a402ddbd-945e-4a83-8673-2be55a2af834", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "d7bc82c0-408a-4b4b-ae9f-14aee68db9fa", + "observation_id": "8ee43037-ea4e-43df-9ca0-1c308b726640", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_adef/render_e_camera_pose.json b/data/camera_study/Scene10/k4_adef/render_e_camera_pose.json index e9f46c2..6cc891c 100644 --- a/data/camera_study/Scene10/k4_adef/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k4_adef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:20Z", + "created_utc": "2026-06-02T22:36:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_adef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_adef/render_f_aruco_detection.json b/data/camera_study/Scene10/k4_adef/render_f_aruco_detection.json index a9a01e7..a6c851e 100644 --- a/data/camera_study/Scene10/k4_adef/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k4_adef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:19Z", + "created_utc": "2026-06-02T22:36:43Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d605aada-7cff-43e8-824a-49d7eababd60", + "observation_id": "13cdac14-8388-4e5b-abb1-50b5450c8098", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "b7813c2e-e873-431c-ac28-e193ecc7428c", + "observation_id": "24742840-eade-4f50-822c-cd8f303e817e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "a6442d7e-8cbb-43ae-a3af-ff59a71fa71e", + "observation_id": "f6c28143-ade9-4e5a-9fac-d4c5c63998cc", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "30c6d651-5ff0-4920-8e28-256945c7d8bc", + "observation_id": "f36dfa4d-c24f-4e87-968d-ed7e491d69cc", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "40e00129-2169-4fb8-a302-590f55c63a36", + "observation_id": "870c4baf-32fa-4fcf-b096-ae2cd05d10c4", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "90a26399-d470-48f2-a778-912d3c653142", + "observation_id": "09e4e3c8-041d-48a7-83d2-a866f5e8244f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "aa1db42d-46a4-4213-b5eb-c932f219ac86", + "observation_id": "b5050b14-8771-4136-bc54-e8fc27618137", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "0e450503-4dc1-48b5-9c66-9a91e3aaa67f", + "observation_id": "9a72cfea-547d-4595-ac5b-df4d8e59cf67", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "c8e18d7b-8b22-4fe6-ab3e-a744b05c49a4", + "observation_id": "69aca556-0504-4567-b1ae-006c34ff911f", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "ddbacd5b-aedb-4d09-ad2a-de9e1a4109bb", + "observation_id": "8d1b8f58-6c16-4c6d-8baa-aba483953f6a", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "8d5b8291-45d0-4fa8-a220-2ec127db52c5", + "observation_id": "4882e912-dc7f-4cb3-b70e-8a181fc73a07", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "880a20a5-646e-45df-8d3d-6f52d5f606c4", + "observation_id": "c7f4236b-7731-437a-84ba-8ed21933ef69", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "8e444722-e231-4493-a0ae-5101df31dc8c", + "observation_id": "32bc12a7-769f-440c-8609-d87b85fbb05c", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "d3b98dd0-16f3-4e71-9adf-9f2c5ff582f6", + "observation_id": "8d612a60-c8ef-4140-9357-e8ade805c7b2", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "5e419392-b1e8-4705-819d-1300cd086b39", + "observation_id": "d50d73a8-d743-4252-997b-0240d03e40fd", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "86193ffd-df33-4f09-877e-c28223841663", + "observation_id": "c602e2b0-b7de-4071-9e0f-6785074a491b", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "441d1de2-ecc9-4938-8652-c35fe4fe2618", + "observation_id": "3c9589ef-1b40-41b5-a0d1-9e76d2a8d46a", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "6c6f8e8a-da65-4d88-b451-95b1c6abd00f", + "observation_id": "e56e3119-bce6-48c6-94da-6d59700733ca", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "f2fc4e7f-f5c1-4ac4-b9aa-ba32f8d85106", + "observation_id": "2a7d1a61-d577-4371-bfc9-1e851848ac66", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "982a6ad8-c4d3-4151-aff2-8f6936104953", + "observation_id": "03f8504b-0b00-4326-8056-3dbe64928c8f", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "d34b5974-f5e6-4dc0-abe4-972f21abe1dc", + "observation_id": "da562059-73df-4f30-8755-b42a09555e52", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "6611a863-f7d7-4186-b9fc-6d9e994f7f42", + "observation_id": "0d690059-5977-45c3-a0c5-44b81ddc0d0c", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "f7eba761-bf82-4a71-a4a0-5e15c5ac2acd", + "observation_id": "e1f8ce80-da0d-498f-ad80-9cf819dc377f", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "e2c5c6b3-42ac-4501-bcf6-6d0309847026", + "observation_id": "93d4f714-f1db-490b-b586-af68e805127e", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "e3e0bbb3-368f-4183-94d6-0a079270a8ec", + "observation_id": "71732348-73f1-442f-8a19-6adb0e803f3b", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "11009872-df40-46f3-ba3b-255d87f2ff2c", + "observation_id": "1a1e9cc7-1678-4d09-ac14-27de94e74c9b", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "bf754508-3d2a-40dd-baab-621ff62897f6", + "observation_id": "7c030e8d-3e72-4ac5-ae8e-2fffc6e6b4bf", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "20a15f71-48ee-4042-b0d5-7f3dca828656", + "observation_id": "a47a4806-7251-47bf-8432-042a2e621686", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "2bd72eb4-8db1-406b-92ef-89b2bb1a03d0", + "observation_id": "89827d08-9287-4c21-b4b8-c06bf7b26ed2", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "640264b2-c782-4a1a-a789-c4bee60cf209", + "observation_id": "4a912697-7ad3-47a6-8346-7e67fcaaa517", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "aa1cbc54-4bf9-4a4e-8f36-d955739bbd83", + "observation_id": "7af4d6e6-0c9c-41b5-bdcb-abfca4f8386e", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "045fc780-b6c4-48dd-9513-89e810b23194", + "observation_id": "501c609b-bc54-4bca-85d4-679759084ae8", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "277593d3-ff16-4a06-84cb-c90c3ea3645c", + "observation_id": "e1c1cbc5-7fc3-4307-bfde-a6c6fc162270", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_adef/render_f_camera_pose.json b/data/camera_study/Scene10/k4_adef/render_f_camera_pose.json index 7d6e38f..580f1b9 100644 --- a/data/camera_study/Scene10/k4_adef/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k4_adef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:20Z", + "created_utc": "2026-06-02T22:36:44Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_adef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_adef/robot_state.eval.json b/data/camera_study/Scene10/k4_adef/robot_state.eval.json index 2e7ddc0..c386b5f 100644 --- a/data/camera_study/Scene10/k4_adef/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_adef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.4145751328839822, "mean_abs_mm": 0.9373120912760773, "max_abs_mm": 1.734383407460471, - "finger_error_mm": 1.876055739353036 + "n_unobservable": 0, + "wrist_error_mm": 1.4770817835478443, + "finger_error_mm": 2.148465974371069 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_adef/robot_state.json b/data/camera_study/Scene10/k4_adef/robot_state.json index f8478c0..57a6aad 100644 --- a/data/camera_study/Scene10/k4_adef/robot_state.json +++ b/data/camera_study/Scene10/k4_adef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:24Z", + "created_utc": "2026-06-02T22:36:47Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_aefg/aruco_marker_poses.json b/data/camera_study/Scene10/k4_aefg/aruco_marker_poses.json index b213780..70e4819 100644 --- a/data/camera_study/Scene10/k4_aefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_aefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:20:31Z", + "created_utc": "2026-06-02T22:36:54Z", "summary": { "num_cameras": 4, "num_markers": 35 diff --git a/data/camera_study/Scene10/k4_aefg/aruco_positions_initial.json b/data/camera_study/Scene10/k4_aefg/aruco_positions_initial.json index d2eb7c9..45f950a 100644 --- a/data/camera_study/Scene10/k4_aefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_aefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:20:28Z", + "created_utc": "2026-06-02T22:36:51Z", "summary": { "num_cameras": 4, "num_markers": 35, diff --git a/data/camera_study/Scene10/k4_aefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_aefg/aruco_positions_optimized.json index 6991058..0842963 100644 --- a/data/camera_study/Scene10/k4_aefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_aefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:20:31Z", + "created_utc": "2026-06-02T22:36:54Z", "summary": { "num_cameras": 4, "num_markers": 35, diff --git a/data/camera_study/Scene10/k4_aefg/render_a_aruco_detection.json b/data/camera_study/Scene10/k4_aefg/render_a_aruco_detection.json index aabffa6..0e318c6 100644 --- a/data/camera_study/Scene10/k4_aefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k4_aefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:25Z", + "created_utc": "2026-06-02T22:36:48Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e465f0c8-5146-4043-b705-ac3393a56d1f", + "observation_id": "4a935814-54d4-4f79-b7ad-3d81eaead1e5", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "1ddb6e59-a0be-42a1-a5c4-1bdb10f24c49", + "observation_id": "e736f4d4-9800-4d43-93fc-15f1a6b71a46", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "bd54f7ab-2c79-4517-9b2b-8dcb8843c98b", + "observation_id": "761ec0e8-2556-4d64-a3ea-a56fe0885646", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "5580c2fb-05e4-4b6d-bcb6-fef392120403", + "observation_id": "8d1f3827-10e0-425b-9b57-6a4023d69786", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "0c27b26c-303a-4203-90c1-f405db1bf24c", + "observation_id": "5ea2dffe-c03e-4630-abf8-1846d3770bbf", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "780e6d40-0f95-43b3-bc0d-bc3149ccf6d2", + "observation_id": "5f6326d0-c2e9-425f-bc71-d8f508102502", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "94c54d72-f143-409b-9e6d-21045ea8c2e7", + "observation_id": "46b011f0-4d20-4908-9111-85a78a16c203", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "60be79c8-56a2-4d88-b1a1-04ac5ceb96fb", + "observation_id": "7e5378ea-5c20-4fa0-8b0f-7d5f5c13b7fc", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "b93ba6f1-a35d-4e8a-911d-1a0e85ce3951", + "observation_id": "ceac91c0-0c5a-40f5-9b58-68e8f67a373a", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "8092fed1-d109-42f7-bc43-d1a9b12c7bd2", + "observation_id": "950ab794-b261-4e79-b424-5339a12558c8", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "8289611d-c820-4c8e-8792-9e4c1f924c2f", + "observation_id": "c44d33a7-2f52-474b-8df8-c74ab0243963", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "d2633d75-efd8-4c95-b754-d037fb676a68", + "observation_id": "36bdb9ec-f67e-46a6-a702-f3e406e25054", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "d2458e3c-fcfb-42cc-9be1-ad16b0b0862f", + "observation_id": "9c2d675f-6e78-49fe-ab65-ae17ecedbfa5", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "ed6efeae-8715-4bca-80e6-51eb9b26dfa6", + "observation_id": "57e9f010-f1a8-4edb-a2c5-812d8c2e438f", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "a8d05503-bb6a-43c9-8237-78633ebb2660", + "observation_id": "b12404a5-f32a-4a89-8c19-855c5cd7569a", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "24d9a719-df21-46e3-a7e6-334b440daede", + "observation_id": "8817e5ba-cd95-4cc9-aec7-63e2a2c61d59", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "70c90a39-e217-47ba-a9dd-dc633255b79c", + "observation_id": "a26754c2-a1fc-4336-bd4e-9527b5ef52d6", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "98be7bd2-646e-4ba3-ad93-6ef326e058a7", + "observation_id": "b5d5a298-b806-4311-b900-13e99c8a9cf3", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "1e69726a-b9cf-4cb5-8017-8be4284145b3", + "observation_id": "0b7182c2-431a-44a3-b4b6-7ec2b509a4b3", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "0b43e6e6-86a4-46a9-b51b-b1eb776e83e0", + "observation_id": "ecc0b79f-3910-43de-b1f8-d7c4fe028c30", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "0abfa265-0f3e-4723-9b91-13bb368fd9ec", + "observation_id": "fd8e9206-81d6-47e6-815a-0941fc8119b6", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "83d8990a-80b9-4b23-9f89-2c17b566358c", + "observation_id": "1824d16b-a9f1-4d14-97f8-4e5f43f34776", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "ea62ce0b-b87c-4328-aea9-9ed7f447dabd", + "observation_id": "f2d81ab3-6f54-45e5-ad64-5dbc8cc3453b", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "0806b348-768d-48fa-8005-e03ad5152ecd", + "observation_id": "e73eaf94-867a-48dc-9f4e-f96d7bc59318", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "674a38e5-bdcc-4b4d-a33f-3eb6b9b34684", + "observation_id": "182da98d-4ba2-4dba-9245-8ce04659791e", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "f7bc0b6a-9704-4228-bf3e-2eed921d860b", + "observation_id": "d33caef9-a47b-44fc-9c64-f549b72b8201", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_aefg/render_a_camera_pose.json b/data/camera_study/Scene10/k4_aefg/render_a_camera_pose.json index b42e60e..137c2a6 100644 --- a/data/camera_study/Scene10/k4_aefg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k4_aefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:27Z", + "created_utc": "2026-06-02T22:36:50Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_aefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_aefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k4_aefg/render_e_aruco_detection.json index 18cd15f..2a5f924 100644 --- a/data/camera_study/Scene10/k4_aefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k4_aefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:25Z", + "created_utc": "2026-06-02T22:36:48Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "05b69173-7008-4fd9-b455-41beeaed39b5", + "observation_id": "68c92ecf-06cc-4e11-a0d4-1c959dadcdbe", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "51382ece-287d-4e01-abc9-8243cbe4783f", + "observation_id": "b0b25773-e240-44e6-b064-8cabd2088957", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "4b8fcd27-9a69-4c50-b277-f7f82ada009e", + "observation_id": "0a982615-72cd-49a4-bdc9-447988d28c7b", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "f35ea58d-ee3f-43a1-9282-f2c29d9e9725", + "observation_id": "caccd363-150e-4591-8a0c-70970b9fe756", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "99d42139-702f-4cc0-83a3-19a6e2a19ad5", + "observation_id": "94fcae4c-d22d-4cf2-b4c3-158136b68afe", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "f1ca57d7-4d43-42dc-8be7-addc262538ab", + "observation_id": "02f36c7a-e05a-425d-80ee-6dfe3f34e7ed", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "520b30e3-4ab1-4942-b28c-362eb64490b2", + "observation_id": "b1634eeb-d176-4927-9a79-10eeb04b9892", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "1eab725a-3f33-4966-b841-841e06177574", + "observation_id": "23bfb8e6-fd80-4ba8-b71d-d96c6dbbc67c", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "31ca991e-b504-42cc-b161-8de2eb7f6d64", + "observation_id": "e87de2da-f3b2-434f-89b2-815fce481722", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "240dba14-8128-4ec3-b9c1-cf35b0e1ac67", + "observation_id": "ec17819d-1fdc-4768-9df7-8580fb5d1734", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "0f1a48aa-9a2a-4448-9149-48425857f683", + "observation_id": "de5e4085-f3be-4513-adc5-c643e26a4692", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "360e0e38-a349-480b-b79d-03d13b1f4b9a", + "observation_id": "8e195125-9da2-438d-944a-2086d87c66d8", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_aefg/render_e_camera_pose.json b/data/camera_study/Scene10/k4_aefg/render_e_camera_pose.json index 28c72d6..a05aa7f 100644 --- a/data/camera_study/Scene10/k4_aefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k4_aefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:27Z", + "created_utc": "2026-06-02T22:36:50Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_aefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_aefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k4_aefg/render_f_aruco_detection.json index fec001f..b1a2201 100644 --- a/data/camera_study/Scene10/k4_aefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k4_aefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:26Z", + "created_utc": "2026-06-02T22:36:49Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "6cfa49e7-39c3-4a30-a60d-2699b2b6e1fa", + "observation_id": "3f62b887-b8b7-4894-95b0-5f1803beee5a", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "8b2fb5a5-12fc-497d-81e4-7ce8a30cc274", + "observation_id": "5e752228-7fa0-40d6-8f20-0b40b687bac7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "9595a680-c382-4341-a926-556a13a2e9eb", + "observation_id": "f7d8d433-a768-4807-a818-3248ca5327de", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "2993016f-d6c9-4738-99d4-00dba4c32862", + "observation_id": "6163a099-6103-4999-ad03-b2a3779cb8d6", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "f2c72d29-70a4-4ec7-8b6b-577a8d883c82", + "observation_id": "d9f6aa80-58fb-4e64-a809-e784f852eeb9", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "90af8257-61a5-43c1-a8e0-db98d840e071", + "observation_id": "99ce2e39-dafa-4c8b-874e-45ea6370deeb", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "2c7903ac-1993-42be-aabf-648d9848fda1", + "observation_id": "3e833be6-c8e6-4147-a29e-7403fe68a91d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "924ff262-abe9-4e10-9184-3bdeed0769d1", + "observation_id": "e8ea9d3e-5c9f-48c0-a99c-b9cd307a5878", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "884bd8c3-6e96-4f5c-a1ae-932058e9cde3", + "observation_id": "9c02e91b-981d-4c5d-b348-727e73080d4b", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "b3541831-c369-4792-8fb5-1daed6b73c5a", + "observation_id": "9e9e255e-6448-4336-83ba-68d958d46846", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "28a1c62a-b1b2-45b1-835f-0dc82151ba3d", + "observation_id": "66b229b9-0ea1-4fc8-9afc-e99b673234d3", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "6fae829a-73f8-4b1f-998d-1ba175a8e11e", + "observation_id": "965fb352-dffd-435e-85ae-a207d4999dc6", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "b011278d-b189-449c-833d-3afa5271b878", + "observation_id": "08f26194-d6e5-45ce-8f93-95a57b15b6a3", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "f7fde669-c280-4365-9b7f-b4bbe687f37f", + "observation_id": "65b41e7e-dac4-49ce-a166-33b7d39a935c", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "765c5afe-ece9-4f76-aa17-68f558d8f000", + "observation_id": "3da89a7c-f37e-41e5-91be-43c37415a51a", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "d96dadb4-801f-4ebb-ba66-387d89c2c7e4", + "observation_id": "274b9f21-11d7-4c95-b44c-a4ee3b954ac7", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "ef2e37ca-e36b-46dc-964b-725eee2b5364", + "observation_id": "34f52aac-073c-42db-b0d7-385dc866af05", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "68077a1b-27b3-49c0-838e-370dfb5fd338", + "observation_id": "98eb6173-d4ce-46a2-aea2-04e257e9f1ec", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "427dacc4-335d-4608-9c5d-573b03dafd80", + "observation_id": "dd19547e-4c66-4f5c-afe3-85b3f5794ebb", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "985dd0ea-1c5a-4b32-b7bf-ddea8f6d6d75", + "observation_id": "eea1c687-0894-46b0-bdf3-de6b5ec8988c", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "21d44b9b-027a-4fe7-9527-bdec742fbf20", + "observation_id": "b69abcbb-740f-4c8d-a6fb-2844ec81ae9b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "a4f06d8b-aeb7-4403-bf6a-cdb966748d19", + "observation_id": "20ba5d76-c307-4dbe-9a06-84f5e55912b6", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "873b2d74-989c-44dd-862a-f2673af87f8d", + "observation_id": "bb53cd4c-0014-43a7-81c6-64a7cac60383", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "e8715a65-fb24-4292-ac60-45940c037dd0", + "observation_id": "9fda5021-4ba0-4d3e-833b-65710d85aa6f", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "9147d9ae-e22d-4ff4-b619-0237fb8d101b", + "observation_id": "8b15d518-36d6-4bc9-a382-9d91e95b41fe", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "2a6bd2d1-ebbe-42b3-900f-594f8278ffa4", + "observation_id": "f6298a80-5fc6-4780-ad85-2ac5941f98c5", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "59e9f7a2-d883-4cb2-bb25-77e4d5390c42", + "observation_id": "195d22f9-ab37-4dc2-b2c8-a5699d581ece", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "7576c678-ac31-4820-b1e3-70d18663966f", + "observation_id": "31fa6dd5-38d8-4b0a-9b3f-813d92e5530c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "6974a3c7-b9ba-4396-aab6-f2f6e0730843", + "observation_id": "beb9636d-6a36-4500-ad57-094fc47c53d7", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "1549a9fd-ed7e-467f-ad33-635fa44a22c0", + "observation_id": "11525380-ba72-46b0-80fc-74f10fd2ae15", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "6c5af081-3bb9-4f0e-b8c3-540ebb00b381", + "observation_id": "a1c4dd92-9063-43bc-8617-022df82d314b", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "d2ca7106-3fc4-46ed-af56-939034fbcae7", + "observation_id": "7fc14970-d4f3-4d7c-83d7-904f2879be1d", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "15ff01a6-66f2-4634-b8f5-1f2f4af9a8ef", + "observation_id": "f3b141da-fe38-42a6-b71e-ef4c6a6c61da", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_aefg/render_f_camera_pose.json b/data/camera_study/Scene10/k4_aefg/render_f_camera_pose.json index dda3571..4aca5d2 100644 --- a/data/camera_study/Scene10/k4_aefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k4_aefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:27Z", + "created_utc": "2026-06-02T22:36:50Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_aefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_aefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k4_aefg/render_g_aruco_detection.json index f15f15f..ba0e013 100644 --- a/data/camera_study/Scene10/k4_aefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k4_aefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:26Z", + "created_utc": "2026-06-02T22:36:50Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c348c58a-3ed1-487e-8edf-f1aafc0dcba7", + "observation_id": "01800bf3-6680-4f9e-a127-1452982c8b65", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "bf2af9c3-02bf-4791-a1d9-10bca48b1b60", + "observation_id": "354547aa-5db8-4272-8892-ff7bcfa5bf22", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "ef3b57c9-b356-4fa9-8774-d1ce5ace9344", + "observation_id": "0536c4c8-ab19-45fb-a934-479194fe2cbb", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "786be484-f713-4da3-b602-c84b20a2b35b", + "observation_id": "c910e149-305f-4dc6-a273-a71b0ed8cdad", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "d698421e-1d52-49e4-a7a9-286cddb57681", + "observation_id": "8864872b-9a7c-4f16-9b62-8e6c8c2a43d3", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "31cb78ba-d719-4156-9cb5-f0dbad30ef20", + "observation_id": "5837aa2b-1625-4ec2-8322-f9b0196eb7a1", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "24871f2b-45d8-4d62-bca6-f626954d64b3", + "observation_id": "29a13bab-62d9-4a2e-b19b-b48dc6504a16", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "8d8aa233-8c5f-490a-a93a-78b6a5714ecf", + "observation_id": "245bdf8a-fad3-45d7-bc38-9c1bdcc6500a", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "6a70fedd-6a95-45ad-bcf2-26a3a16aa9a5", + "observation_id": "d19561b3-3a2b-4c10-ac85-a8f8ab688a37", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "c746aa60-6905-4ccb-a9ad-96a2209b1536", + "observation_id": "599368ec-ea7f-41c0-87ed-a946dc9306bd", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "4ede53e6-3b5b-4b19-a9d2-fb7ebaca9f35", + "observation_id": "caf3c420-587f-4778-b265-6aced633dabb", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "8b12d0ce-d5f9-46a6-bba9-781f30056075", + "observation_id": "bd590394-3e31-4cf3-8fe0-00b1a1aad12f", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "6c26c36a-01c7-4de3-a904-50070ada77b3", + "observation_id": "96863b17-7631-4384-90e4-5ff2361736e2", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "b120e82c-0509-4ec7-a07d-a26b72da7f02", + "observation_id": "a7a8e2a5-d270-4979-b92c-99635920a18b", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "841707ec-21a5-4e24-b8a9-386be36ef47f", + "observation_id": "82a62c27-1ed1-4de0-9bea-26f592d29851", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "f477ac26-316b-4c58-916a-db3ab4a5b5da", + "observation_id": "42907ede-99a9-44c0-bcac-c038aec8c941", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "2701ed9c-6793-42ab-9cb4-40b178c38acc", + "observation_id": "35f9b602-c7ec-49c9-a39f-112bf79edf91", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "81e7c298-ce5c-4172-853f-d7ddf2aa6f55", + "observation_id": "bc3d6840-a4b7-4f21-b8c5-36b96921b94e", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "4726fa46-0401-4e6e-b41b-8b03f91ad3a6", + "observation_id": "fa945fea-35bf-4afa-8565-c1e9e15019b1", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "421f3698-3419-436d-98a9-b74e91872d58", + "observation_id": "d7f35344-3740-4b8d-954f-5b5fe797f4ef", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "627c3a06-13af-446f-aeda-7d699d38eeaf", + "observation_id": "069210eb-ccfd-4bd1-aa4a-dd14358ccb2a", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "e8cfbb65-71f0-445b-9a45-509ca0b096de", + "observation_id": "6c031855-1408-4fc4-bef2-28fcc249241e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "a2ddf08e-2ced-4cfc-abdc-b530d36a6b1f", + "observation_id": "8633a5f8-2bf2-4bee-ac94-8ed192e6090c", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "a3871bfa-a4c0-4f19-b19d-9eb5e512830a", + "observation_id": "b2550f80-0609-4b37-8fb2-965fe65e1e8b", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "180b49c8-a228-43f7-b338-fecd3e8f0063", + "observation_id": "76f0142c-9e39-4326-9aac-26640177afb9", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "b12b9cb6-c717-4ec9-9e0b-2c67dac4d2f9", + "observation_id": "06de4f46-5523-4e19-8db1-2eb40e6f9e5a", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "611417cf-2f28-4c9a-9109-dfaa22da99d6", + "observation_id": "a272b49c-905b-4e17-aa01-553d8a5547f2", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "c2b862fa-afb0-40d0-b749-16f14f5e0404", + "observation_id": "7b94612e-08fe-4922-ae86-dd3ae3124495", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "02f21d3c-1a18-4c64-94e1-b62b1cc3afd4", + "observation_id": "34015405-0495-478e-8a86-596da983264e", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "e6ec86fe-648c-4da9-904d-eb1b9630fd20", + "observation_id": "71efe8e8-f6ef-4ca4-b5b8-d7c897964b1c", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "a91c0b3f-2472-4ed4-a618-1757f5ce2434", + "observation_id": "4466b965-1019-4eca-b7bf-a2bc4b32be71", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "3b3c68d1-a41b-4dd0-8d9b-1f5a4121b6da", + "observation_id": "15416a8f-b5e7-458f-8db1-178133897dc0", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "53f46dd8-4eb3-4158-b0a8-9136a8c9ab6a", + "observation_id": "e05398a9-69d1-428f-b513-b1be9e8011ff", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "317f4038-1476-4c8c-a5dd-2e1473be3340", + "observation_id": "b8e8b827-6761-44b6-b4fb-8f89be89fb0f", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "385ed327-4794-4335-bbe3-24bb8e69faae", + "observation_id": "ee76eaae-1c38-4f12-bee2-0fa1afb24dff", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "80863369-6e71-4912-a8d5-793b0f41e152", + "observation_id": "6e15f687-f9bc-4e4a-a471-904783ac84c4", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "9280325d-1197-400d-be5f-8dc1c1569276", + "observation_id": "2e5ad6f5-efe0-457a-8d33-403dfc4459aa", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_aefg/render_g_camera_pose.json b/data/camera_study/Scene10/k4_aefg/render_g_camera_pose.json index da7ad70..69b7def 100644 --- a/data/camera_study/Scene10/k4_aefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k4_aefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:28Z", + "created_utc": "2026-06-02T22:36:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_aefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_aefg/robot_state.eval.json b/data/camera_study/Scene10/k4_aefg/robot_state.eval.json index 110077e..2c9e14d 100644 --- a/data/camera_study/Scene10/k4_aefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_aefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.9741746960595776, "mean_abs_mm": 0.8587205155569553, "max_abs_mm": 1.1604282796941447, - "finger_error_mm": 1.7216101519692895 + "n_unobservable": 0, + "wrist_error_mm": 1.2503948119679098, + "finger_error_mm": 2.1106682380772726 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_aefg/robot_state.json b/data/camera_study/Scene10/k4_aefg/robot_state.json index 54fc3fd..1eb5d92 100644 --- a/data/camera_study/Scene10/k4_aefg/robot_state.json +++ b/data/camera_study/Scene10/k4_aefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:33Z", + "created_utc": "2026-06-02T22:36:56Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_bdeg/aruco_marker_poses.json b/data/camera_study/Scene10/k4_bdeg/aruco_marker_poses.json index d979272..944137b 100644 --- a/data/camera_study/Scene10/k4_bdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_bdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:19:35Z", + "created_utc": "2026-06-02T22:36:01Z", "summary": { "num_cameras": 4, "num_markers": 28 diff --git a/data/camera_study/Scene10/k4_bdeg/aruco_positions_initial.json b/data/camera_study/Scene10/k4_bdeg/aruco_positions_initial.json index 792c0e3..1de165a 100644 --- a/data/camera_study/Scene10/k4_bdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_bdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:19:34Z", + "created_utc": "2026-06-02T22:36:00Z", "summary": { "num_cameras": 4, "num_markers": 28, diff --git a/data/camera_study/Scene10/k4_bdeg/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_bdeg/aruco_positions_optimized.json index 757dd65..89ad6d8 100644 --- a/data/camera_study/Scene10/k4_bdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_bdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:19:35Z", + "created_utc": "2026-06-02T22:36:01Z", "summary": { "num_cameras": 4, "num_markers": 28, diff --git a/data/camera_study/Scene10/k4_bdeg/render_b_aruco_detection.json b/data/camera_study/Scene10/k4_bdeg/render_b_aruco_detection.json index dff9d48..c520dee 100644 --- a/data/camera_study/Scene10/k4_bdeg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k4_bdeg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:31Z", + "created_utc": "2026-06-02T22:35:57Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - 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"observation_id": "86bd9306-f4dd-4b81-98f9-45527aecbbc8", + "observation_id": "fa23dcfa-59e5-4111-abc7-5a1f4b2119a2", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "6f859779-f740-4212-80e7-d6c33c8f2f59", + "observation_id": "a22e59ac-47a9-4904-8bc1-22078a49f0a5", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "ebff1de1-d9cd-4424-b96b-72ff171cd000", + "observation_id": "cd5cd593-4ff6-43ed-981f-15aefd636fe5", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "0ed5689f-168e-4623-a86a-6c66d06e3642", + "observation_id": "7d0a3d9b-e647-423c-b465-cdd178048207", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "b9ae5855-3561-4f90-bf61-6d5467ed95b2", + "observation_id": "f38cf8f0-9806-4278-8369-b4552d89503f", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "6484a280-8b4d-437f-ba09-9f1289d522e9", + "observation_id": "8117a787-feaa-4dbe-ba2a-c23339208af4", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "0bafc77b-11b6-40aa-9ff3-22d1d6713398", + "observation_id": "3b4b6e99-3598-40be-9100-b225e96e83f1", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "ce50ea20-c2c8-41f6-aedf-6dde6ec04edf", + "observation_id": "bf7edee3-123c-4165-8701-027d5006aab3", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "9515328d-0eca-457d-ac4e-549525f84139", + "observation_id": "864a11d0-6266-4f00-87c8-bcb1390efde3", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "eb40c342-4ddc-438a-a397-4cdd5e17cf45", + "observation_id": "e4bbedef-c4d8-443a-8126-4744810ad975", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "0294f736-47ab-4a96-ae36-ae9e4f807cdf", + "observation_id": "4b762b09-49b1-4b21-b264-a46f55541529", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "ea7a0c4f-3893-478d-ac68-280aaec427a0", + "observation_id": "22745d0e-26ef-4d18-95a4-f43937a2b8c3", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "c2309157-1d1b-4afc-9f19-67945ee80de0", + "observation_id": "ce67f51c-701f-4023-9136-6d8c5dda551b", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "7f9478c3-a261-466c-af6c-30ab6812d904", + "observation_id": "be285e0d-c5d5-4859-ba82-33a960e33f70", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "c705492c-08c3-406e-8455-60ec21a929d0", + "observation_id": "c3304ed4-f038-4b07-b8dc-3faaf8ebd139", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "f518541c-d77e-402f-9067-318fbf17935e", + "observation_id": "84b69bf1-1310-43d5-9b41-539712766643", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "a9bc56d1-5241-4850-be99-454f9d98637b", + "observation_id": "856d3c66-14bd-4dea-ab4a-52311c7cb7eb", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "ad8e55b0-a459-488d-a56c-65a06afadc74", + "observation_id": "fa01886d-ae92-4131-945d-b143869b7aa3", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "e4295bdc-0435-4269-aa16-b473debdc2e8", + "observation_id": "45b932ce-4571-42e5-bd41-db6052cbb241", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "75cdda03-0852-4a5b-913c-28767bfb38ff", + "observation_id": "e54f3c49-3115-449b-aa05-0ab56f8e8301", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "b46ca24e-2d26-4e9f-ac8f-d155ceae1bab", + "observation_id": "62dab405-5408-4090-92d8-b5c9871da210", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "f445e327-61f8-441b-b37f-c2c8fee1ac14", + "observation_id": "f53f2988-eaf5-4235-9670-7bf42bedb6f1", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "19d855c1-5a14-4f85-a917-cc5cc40a68c1", + "observation_id": "7059cdd7-55ef-43d7-85b0-28c3ac52b65e", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "4cfe992c-b012-4e4d-bad6-916eb960bbbf", + "observation_id": "5be2156b-c004-4497-a389-22c4c7d94009", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "38d44a42-c1d1-4cbe-968d-7b2e4c602858", + "observation_id": "87bca03e-e449-43e5-b4b6-50a0e7267fd6", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "90f5bed3-36b9-401b-89d3-b9e3c5a13280", + "observation_id": "a5c8b777-2e6e-4adc-88f1-80d522c72ce3", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "32aa6ddd-7f83-4116-b318-1ffc8cf941d1", + "observation_id": "bfaf5afe-62b3-4b39-bbaf-9f8cbd57321a", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "0eeb5c04-e146-4722-83a2-1a5793691dc7", + "observation_id": "492baec0-4524-4e28-a7aa-e58dabfccb1e", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "a64cfc2d-8de4-4bfa-96be-12dcbe24cb78", + "observation_id": "8763a9c2-fb6b-487b-87e6-d6f25af225ff", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "c34c1b11-eb71-47d7-a4b9-99be4081dbed", + "observation_id": "f9745e27-205a-462d-bc66-b40daba3977d", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "c284199b-7de2-4d6b-a03e-fb64cc006b62", + "observation_id": "88d14803-a62e-438a-8be7-ca92164fb7d0", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_bdeg/render_b_camera_pose.json b/data/camera_study/Scene10/k4_bdeg/render_b_camera_pose.json index d71bc2f..234cd4a 100644 --- a/data/camera_study/Scene10/k4_bdeg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k4_bdeg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:33Z", + "created_utc": "2026-06-02T22:35:59Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_bdeg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_bdeg/render_d_aruco_detection.json b/data/camera_study/Scene10/k4_bdeg/render_d_aruco_detection.json index 67132b0..73bb29b 100644 --- a/data/camera_study/Scene10/k4_bdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k4_bdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:31Z", + "created_utc": "2026-06-02T22:35:58Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c7cdb0cd-4da6-4e8d-aacc-255e0bd639ab", + "observation_id": "5a34befd-ac3b-417d-a5ee-dbcc12c3fe2b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "a912d680-2884-415f-840c-b7454422e6c3", + "observation_id": "2a6cc7a3-3448-42c2-aa8c-b668a1c20e6e", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "a302d3df-2871-4524-8916-4e2c059a81fd", + "observation_id": "08cac506-a3ee-450e-910a-7deb4fa23b05", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "dc8a75d1-b8be-4171-83e9-693aaa5cc51d", + "observation_id": "2ac3adbe-7442-4333-a2f5-4ecd99b6a73a", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "02db5373-d9de-4db1-9828-ef6e196385fa", + "observation_id": "422c4f16-d74a-4117-b33d-4c56cedfd671", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "3b48937e-5e7d-4a48-bc5e-b2fb6f3e344f", + "observation_id": "7e5f1087-06b9-4db8-825f-c7782f2c26ef", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "3a9aa5b6-25fa-4c56-a592-74e65c0af55d", + "observation_id": "6b36a083-619a-46ee-82c7-ca3ae2f9394c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "1eda63fe-4ef2-44b5-8f64-e342872285ca", + "observation_id": "eb60f1c3-7458-47a9-92cf-67e2704033e5", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "6564240f-9f81-4b0b-ba68-94cc712a883e", + "observation_id": "2877f0f7-3759-4840-b38c-c9abd3643ca5", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "f4a3bf92-fead-4986-9e44-7f89ac35e5af", + "observation_id": "e213006e-8372-4d26-ab58-b6bace5a57a0", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "9274379f-a9dc-470b-87ad-5ed7b693b371", + "observation_id": "21228081-9efa-4698-92f6-a839e64d5249", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "69158315-b00e-44a8-b4e0-586fde6f4eed", + "observation_id": "9b527467-283f-441f-8eed-0e0aa7491d56", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "823e748d-c63b-4cd2-9c67-5658f3ec2b7d", + "observation_id": "427a7745-63b4-4d54-8afa-6e98b719e729", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "6fa6d8f9-82d4-4c53-8209-2e6b658bca57", + "observation_id": "c7bf80bd-a019-4737-81ab-18bc5f957167", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "3ccb5605-591e-45cf-a889-114becef0008", + "observation_id": "27684625-ed84-4797-a541-fcbc72d2afba", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_bdeg/render_d_camera_pose.json b/data/camera_study/Scene10/k4_bdeg/render_d_camera_pose.json index 9c36cdb..454f3d2 100644 --- a/data/camera_study/Scene10/k4_bdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k4_bdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:33Z", + "created_utc": "2026-06-02T22:35:59Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_bdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_bdeg/render_e_aruco_detection.json b/data/camera_study/Scene10/k4_bdeg/render_e_aruco_detection.json index fba94f1..66d6267 100644 --- a/data/camera_study/Scene10/k4_bdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k4_bdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:32Z", + "created_utc": "2026-06-02T22:35:58Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bc1801e7-4bd1-4a6a-bae4-5d1208667caa", + "observation_id": "eb72015d-66c1-4218-abfb-02251c900d58", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "3b904aaa-1498-4303-a73c-38a36718f3d9", + "observation_id": "2ed9deff-2120-4c02-81bf-458aeae80be5", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "18ae9add-5409-4c63-92d1-0af935ee14e9", + "observation_id": "350013b5-6383-4312-b366-3565461f5beb", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "6c960dee-3a78-4366-abf9-7126e2313171", + "observation_id": "bc1a854e-5e7d-4e22-b138-c653e5c44f4a", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "1e53a8dd-675a-4816-a2ab-f279f2ecc63d", + "observation_id": "b2727229-424f-4c49-96ce-06a180865e58", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "48a8e286-3b63-47da-8775-e35b0a9f3773", + "observation_id": "ecaaedbc-171b-47f3-9317-2dba862ea584", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "d0a932d7-20e4-472f-967a-cc8337c80fbf", + "observation_id": "8e941422-f2d0-42d2-8957-9d384b5826b2", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "b62d37e7-9d33-48df-af58-1bf3937f42ac", + "observation_id": "b7eaec09-46fc-43c6-97b6-2717e3563134", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "0c2c7a0d-72ea-4f4d-a4ff-4e116d9dc283", + "observation_id": "d90b7c3c-1c53-4b32-8245-ac18f9e0320f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "9d5887ca-e9e2-40a1-bc00-788db85e47a8", + "observation_id": "7abc3cd9-44c3-4deb-9ac4-53c6eb79b0da", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "14129a87-e865-4342-8867-2b03fc1e6453", + "observation_id": "2bdc123b-b66a-47a0-abdf-aec13711bbe8", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "f470e215-7f26-41d5-8dba-234391f351ab", + "observation_id": "a7d6ed42-eb2b-4e17-a52b-a125256b795e", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_bdeg/render_e_camera_pose.json b/data/camera_study/Scene10/k4_bdeg/render_e_camera_pose.json index 764d76e..57723f8 100644 --- a/data/camera_study/Scene10/k4_bdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k4_bdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:33Z", + "created_utc": "2026-06-02T22:36:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_bdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_bdeg/render_g_aruco_detection.json b/data/camera_study/Scene10/k4_bdeg/render_g_aruco_detection.json index 5c8bb70..b8f0183 100644 --- a/data/camera_study/Scene10/k4_bdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k4_bdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:32Z", + "created_utc": "2026-06-02T22:35:59Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "59ab3788-0af4-441b-a919-e2c8338e9a7b", + "observation_id": "a41ed76b-3125-4768-ba91-e514ee157831", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "7cab665d-1e69-47ff-ae4a-4ecea3b4c7e2", + "observation_id": "52202b7e-8647-43de-a47e-285095ba3e68", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "db6d1295-c6e1-4f63-bccc-f4f1118752f5", + "observation_id": "b4787f5a-5f45-449b-a0df-208d6ecd9314", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "1d6f251c-6fb7-45e1-9b4a-879fc1c3000e", + "observation_id": "fdaf34eb-1208-4449-82c4-d497bbff3f11", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "1c90d4b7-45f1-421a-967b-7cf974fab27d", + "observation_id": "08b9cc5a-df70-430d-8fa1-28d61f2db7db", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "e69aefaa-9b49-4cbc-9993-3bb2155ae55b", + "observation_id": "4f66d065-13dd-434e-bd56-907e26d85ade", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "484e9ead-3a96-4936-9244-760468cb2e36", + "observation_id": "4dedfe53-9481-40ef-801a-211597fac834", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "d778df44-e1af-44d4-af6a-34fb42e8eaa1", + "observation_id": "c30636ba-f8d1-44b1-bc85-dd95026d1989", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "6e00bc74-d26d-49dc-8a43-999932547b38", + "observation_id": "b9073346-cae8-46e3-a756-02cf5c445e4d", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "15143da9-880f-4319-8dda-0aff2375530b", + "observation_id": "e1aa8c25-6211-4d33-bf39-a24ab63508b6", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "05bb4b27-2c03-44f3-8086-9957205b4af3", + "observation_id": "6dc249b9-9333-47df-b294-aabbb48433c6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "e2b56a9a-584f-4c74-a262-331455cca322", + "observation_id": "627d2b7d-cc24-4dad-9dd1-8972fd1e95f2", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "d84a137a-8519-4b2e-b322-0710521242c7", + "observation_id": "4fc83963-b2cc-4dcf-9be1-9370b706eb26", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "69bf1a3c-23e8-4e2c-b7e4-7c5689a4de7f", + "observation_id": "f305b85f-21ae-400a-bc46-af82e4ce240b", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "54328f88-fab6-412b-a452-d83c55ab1564", + "observation_id": "b34d18ba-f974-4d86-ab39-8f1c315b7dfc", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "629ae125-4bb7-45e1-98bb-8f946644e3cd", + "observation_id": "58303865-6d87-4f47-94cf-4e9164c89515", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "df132c12-efa7-435f-a4d2-212b1e8b4cd3", + "observation_id": "7660d443-9863-497d-9797-efaa5b8912f7", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "5a842ebf-3956-4708-b570-31a7bf2e0f88", + "observation_id": "bb1b4075-55a0-4c4e-bdfa-e57a073e3235", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "1aaf561f-af41-4f8d-bcb7-b2d68de3eeca", + "observation_id": "15579e9f-a243-4929-b5b2-f1fda18e06b0", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "301d0398-5ef2-48df-ae86-e900cf514a61", + "observation_id": "d9abe1b7-1ab6-4d8b-8a7c-cae102459676", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "59b3f883-a15f-4e1e-a712-17cf0cfc6d94", + "observation_id": "fbc0dd35-307a-4285-891b-9962dbe53d25", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "622bb23f-992f-46a0-9d32-04307689bce4", + "observation_id": "e9391d88-a8e4-451f-a0a6-555ddbdec324", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "3645d1dd-48b2-4c6d-9bd2-21ba02c8561b", + "observation_id": "21ad5113-c3b6-4cca-874a-890fe2ab9d11", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "7111504b-6cda-4311-94c3-9d502cac6ad8", + "observation_id": "e506c1ef-440c-424f-9f59-e85b8c5a9e25", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "428e153f-33c8-4c40-a546-06b38961b0a7", + "observation_id": "21b7532d-d2c8-4797-a2aa-8a4abcba5a70", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "1be011ca-f627-46e0-8ce0-101afe8fd3ca", + "observation_id": "b86e8e42-e48a-48d3-93a8-a0754e45e32e", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "7e4c5b78-5b8a-4e7a-afe4-40a8fe132798", + "observation_id": "5591ba27-f200-422b-9e97-eb8594bcd082", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "e8c49d4a-4b7a-4fd4-9401-83aabc393684", + "observation_id": "034f57c6-2d38-4d27-8581-57e47e08453e", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "49324c50-8396-4f4c-b8f5-6cc9ee0114c3", + "observation_id": "6a9120d0-3c6e-4635-915f-19e80c298da4", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "33b78a1c-85df-47ce-bdaa-2f319854b0e6", + "observation_id": "be75bd2b-9ffc-49c2-bf3c-f586b6243403", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "79b6e1a0-4593-40a3-8fc7-c38cd621a417", + "observation_id": "553a482c-3796-4a26-ac40-276b5e2eb66f", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "cc2776f4-15d6-4a52-a647-ccbe8fab6f2d", + "observation_id": "c592c37c-ed19-46ca-838a-e9cab974f224", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "8b4904c1-56ee-4fed-8418-9231a350b5b9", + "observation_id": "bdf1e0ef-ee2c-4960-80f1-dd9b7f336fbc", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "9c55e3de-f071-454a-92d8-d627c6b4a3d6", + "observation_id": "4ff8774f-0818-435f-9425-5032bd732040", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "a6e2e69a-d9cb-4ec8-9e57-e54b2e9be4b4", + "observation_id": "969ea574-ed45-4f7b-8d05-c210948feef8", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "5b8ab1d0-6d36-4224-965d-8a2c6df39615", + "observation_id": "32638e1a-2b8e-4dd6-bdca-a08eca87ccfd", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "cc495b2a-2e1b-4dd2-b11f-26feb0eeab7e", + "observation_id": "59c61937-5e8d-45f2-9e5c-5a7eb02fd35d", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_bdeg/render_g_camera_pose.json b/data/camera_study/Scene10/k4_bdeg/render_g_camera_pose.json index bd37ea7..e9b7327 100644 --- a/data/camera_study/Scene10/k4_bdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k4_bdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:34Z", + "created_utc": "2026-06-02T22:36:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_bdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_bdeg/robot_state.eval.json b/data/camera_study/Scene10/k4_bdeg/robot_state.eval.json index d1a8686..5604006 100644 --- a/data/camera_study/Scene10/k4_bdeg/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_bdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.4182997797158237, "mean_abs_mm": 0.6987943487467922, "max_abs_mm": 0.9055241939495886, - "finger_error_mm": 1.6610409475717045 + "n_unobservable": 0, + "wrist_error_mm": 3.5262608777849027, + "finger_error_mm": 1.9936740336948622 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_bdeg/robot_state.json b/data/camera_study/Scene10/k4_bdeg/robot_state.json index e24cdb1..a12d676 100644 --- a/data/camera_study/Scene10/k4_bdeg/robot_state.json +++ b/data/camera_study/Scene10/k4_bdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:37Z", + "created_utc": "2026-06-02T22:36:03Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_cdeg/aruco_marker_poses.json b/data/camera_study/Scene10/k4_cdeg/aruco_marker_poses.json index 5386e5f..6d9a9fc 100644 --- a/data/camera_study/Scene10/k4_cdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_cdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:19:58Z", + "created_utc": "2026-06-02T22:36:23Z", "summary": { "num_cameras": 4, "num_markers": 19 diff --git a/data/camera_study/Scene10/k4_cdeg/aruco_positions_initial.json b/data/camera_study/Scene10/k4_cdeg/aruco_positions_initial.json index 2f993e5..b865b2a 100644 --- a/data/camera_study/Scene10/k4_cdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_cdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:19:57Z", + "created_utc": "2026-06-02T22:36:22Z", "summary": { "num_cameras": 4, "num_markers": 19, diff --git a/data/camera_study/Scene10/k4_cdeg/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_cdeg/aruco_positions_optimized.json index 8e47ba3..8c13751 100644 --- a/data/camera_study/Scene10/k4_cdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_cdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:19:58Z", + "created_utc": "2026-06-02T22:36:22Z", "summary": { "num_cameras": 4, "num_markers": 19, diff --git a/data/camera_study/Scene10/k4_cdeg/render_c_aruco_detection.json b/data/camera_study/Scene10/k4_cdeg/render_c_aruco_detection.json index d49da59..5cf6a70 100644 --- a/data/camera_study/Scene10/k4_cdeg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k4_cdeg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:54Z", + "created_utc": "2026-06-02T22:36:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "7a9bb902-77fa-4ec6-a3b6-190a65981284", + "observation_id": "c95230fc-9e79-4194-8f88-2f2b87edd766", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "e759ecba-9acb-4558-950a-0c72a4e90ea5", + "observation_id": "d7c33281-5650-41ef-ab07-3cc211436894", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "8298c9fd-2e57-4561-8006-3bf35a960710", + "observation_id": "408c54b7-5c1e-4a0d-bf56-7c53a1ca3d84", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "55fc263f-2fb4-4f70-a4bf-f380567da8cb", + "observation_id": "a06e445e-b0c9-4dd7-81cd-88eaf1abd921", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "ef490aea-2530-4355-b36f-50f82841a9f4", + "observation_id": "17b16614-fd3d-42e9-90d0-c78102dc3965", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "840b75ab-d15e-4b03-b321-25454845f3ba", + "observation_id": "577dd1db-fa90-4dfe-a774-7acdf793e693", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "9d34e449-70a7-4940-a4f9-c23ffa4a7af4", + "observation_id": "e7508f83-f01d-4695-ac30-af99c3efef5e", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "1e502398-21d3-4ddf-90ca-525bdd3eb2a3", + "observation_id": "c94a1b7c-9873-4a17-83b1-9a7cf07baa93", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "6b657892-a795-4aa1-9413-edbab1c41455", + "observation_id": "09a9d2c0-e389-4b5e-a55d-de94a56f0ff1", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "641c0afe-d38c-46f7-9908-209f60856db0", + "observation_id": "c7bf65fb-db74-45a2-a93e-d9eaa5769bf7", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "06277fab-3588-4750-89c6-20b6bab3d90c", + "observation_id": "48a68539-c7c8-4630-9cba-4fa7ceabd4c3", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "6e98f367-7578-48c1-9c36-7b00ced4c76b", + "observation_id": "d145a759-3f27-419f-9371-36f148330383", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "957997cb-c14d-434e-bb1b-df71441744e6", + "observation_id": "a3d8836a-fac3-4b04-a3f7-d8965a073285", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "fdc0b8c6-391e-4563-aae7-d945b84456d3", + "observation_id": "5987d2db-462e-4541-a52d-9ec4ea2a32b2", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "fbd4c67a-c943-48c9-b31a-60207820ce44", + "observation_id": "addd73f6-2579-41d0-befd-0e986383e885", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "a9c21b40-caa9-463c-aca1-09f66cb1c644", + "observation_id": "85ebd12f-5e69-41c3-8087-1027ab3322b0", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_cdeg/render_c_camera_pose.json b/data/camera_study/Scene10/k4_cdeg/render_c_camera_pose.json index 88f49d5..b4cf7b0 100644 --- a/data/camera_study/Scene10/k4_cdeg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k4_cdeg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:56Z", + "created_utc": "2026-06-02T22:36:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_cdeg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_cdeg/render_d_aruco_detection.json b/data/camera_study/Scene10/k4_cdeg/render_d_aruco_detection.json index 750630f..8408dfc 100644 --- a/data/camera_study/Scene10/k4_cdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k4_cdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:54Z", + "created_utc": "2026-06-02T22:36:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d7f4d6f7-f981-4e1c-a860-d0cb636a1d68", + "observation_id": "2389bca4-dcf5-40f5-94f6-daec8b4c9573", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "7201a71e-b624-4811-a41f-560ff40bb580", + "observation_id": "3bec86a7-4e7f-4933-8639-2012598c0580", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "1acd0c61-b895-4f7a-bc40-b76875196bf1", + "observation_id": "c2a3eacb-de3b-464a-b26d-215c1f29e984", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "815528d1-f43f-43c4-a32d-4f2656de9654", + "observation_id": "6c8ed579-04d5-4159-90f7-932973b7cd8b", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "30b50567-b3df-480f-b8ed-17b965237ee6", + "observation_id": "50154c90-e767-42b1-87cc-498d23382646", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "58128d1b-251a-48e0-a7fa-a58058e2a8b7", + "observation_id": "8e2b7869-7335-4ed6-922a-003b3fcc5f6c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "6e679f99-21ab-41e7-946a-e1f1be63484b", + "observation_id": "3c706aa2-0f55-4ff5-9585-e922bc6d0741", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "3f05452e-480c-4f96-8408-bd75bc06204c", + "observation_id": "1f917d18-93a3-4884-b0a9-a12259e5267f", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "d2f761fa-2eaa-4544-8cc7-e206a0d08446", + "observation_id": "ea6c3976-0082-4a47-a061-adb7782e3477", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "0d901f74-5db2-4236-a8cc-26398ef622ca", + "observation_id": "5dfc7972-7142-4cca-b7c4-18a643bc5764", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "4fb254b2-8850-4178-9ee7-4f16d51cf115", + "observation_id": "4f071d3d-2941-4b6d-8773-5a099a773cac", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "1dd7bac2-f6ff-4da2-854f-387d1d0b1cc4", + "observation_id": "0063f594-15b3-42a2-9010-a4117965e22c", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "8a24d58c-61c6-4e43-8081-29b22247df65", + "observation_id": "4b8c17a8-5b17-46cd-9cf9-b6636f7ca2f5", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "f51fabf8-817e-4071-9ffa-9304c4737ac4", + "observation_id": "0a3c8d30-efee-4cb3-9387-64ff8abd7cf6", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "43051b7d-5e4d-445a-ae7e-a83559d8563d", + "observation_id": "ba2263b7-11a3-4cb8-a3c5-ca829ccb9015", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_cdeg/render_d_camera_pose.json b/data/camera_study/Scene10/k4_cdeg/render_d_camera_pose.json index 77c0e8d..1e3868f 100644 --- a/data/camera_study/Scene10/k4_cdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k4_cdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:56Z", + "created_utc": "2026-06-02T22:36:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_cdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_cdeg/render_e_aruco_detection.json b/data/camera_study/Scene10/k4_cdeg/render_e_aruco_detection.json index 0fedc0b..fcc6ae9 100644 --- a/data/camera_study/Scene10/k4_cdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k4_cdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:55Z", + "created_utc": "2026-06-02T22:36:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4a655031-b469-4978-a12e-d76e05aa61af", + "observation_id": "b0efe794-c1b8-43c8-9010-635170920f25", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "aa707ec0-0d0b-4af4-9017-0ff61d46d00e", + "observation_id": "58152916-2a37-424f-a3f5-f1c9755faf68", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "9fb7e017-24d3-460d-9bfc-0e7c0e981598", + "observation_id": "3e3bda87-248e-46ad-aefb-ca542521e428", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "0c3eba8b-3467-4f1a-8a4f-836712d67541", + "observation_id": "d120e0a3-23fc-4c6d-ad65-e40417b9b02e", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "6e07a6c8-faea-45be-a595-364fd7ebca3a", + "observation_id": "94f5e2e0-ec1d-4940-bccc-54965aebeb7e", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "14722ea9-a1a7-4c94-a902-e6201ad103e3", + "observation_id": "45fe7134-7845-40de-88be-ae540a3f1c3d", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "a455b9b7-c577-43ea-b848-a5dbda184164", + "observation_id": "5245960a-8163-4483-bd15-cb6bc196ab8c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "bec93da3-fed4-4235-bc58-c53cee32628e", + "observation_id": "a7b99679-257d-4a34-9f35-0f652a430e5a", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "bb78444d-cb93-4fc4-ba59-3fe839d31cd1", + "observation_id": "9de86092-993a-4dc3-824b-b39a7d862001", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "d9f03817-5aa6-4946-9972-e955a43d609e", + "observation_id": "ac9a1d5f-b474-474f-9e5b-8193964b10bf", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "ab001242-c84a-43bd-b6bd-615beb1b279c", + "observation_id": "903cfe9f-c87c-47b3-a025-01d31ffb33b7", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "f7fac6d5-2063-4096-b029-886b678188c3", + "observation_id": "477623dd-e0f9-4adc-a529-004806510211", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_cdeg/render_e_camera_pose.json b/data/camera_study/Scene10/k4_cdeg/render_e_camera_pose.json index 6934645..8527f45 100644 --- a/data/camera_study/Scene10/k4_cdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k4_cdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:56Z", + "created_utc": "2026-06-02T22:36:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_cdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_cdeg/render_g_aruco_detection.json b/data/camera_study/Scene10/k4_cdeg/render_g_aruco_detection.json index 283b297..cdc72f0 100644 --- a/data/camera_study/Scene10/k4_cdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k4_cdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:56Z", + "created_utc": "2026-06-02T22:36:20Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bd62469e-d51c-4551-939e-fd84b9d3093f", + "observation_id": "fe27cf80-dae4-4af4-ae07-cf526832de60", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "218c78f9-70dd-438c-9582-3e3969d02c2b", + "observation_id": "d35cb8f8-d3d6-449e-bd4f-888ce0ce7897", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "af88b386-47b2-4d58-8178-ed564a3695b7", + "observation_id": "1f7219c1-a79c-4e97-bf92-46cefca8966b", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "ac199ad8-aba2-48c1-869f-5008ec08b5fe", + "observation_id": "318eb706-2ae6-4c88-8aad-81afc9c962e7", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "d6001c3f-a5bf-42b7-b6dc-7ca761b9b1e4", + "observation_id": "24f21adb-b88a-4fca-9a29-b402415ffac8", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "d28cadc4-189e-4ae4-af3b-0b572c298669", + "observation_id": "0199bfd2-d3b0-476d-871e-57bb8f3211c9", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "e3ad444d-1d81-4604-8fd0-a92842a16286", + "observation_id": "7b3a7afe-883d-4b90-9f06-2fbccf90705f", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "8cf16795-74fe-4437-9557-9268ab8b7b05", + "observation_id": "dff00779-624b-4bb8-8690-757a41864a71", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "76321a8d-e1fb-4464-bc19-697a8342b314", + "observation_id": "90685e4a-79ea-47be-b9c9-03db343298e4", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "027e68c3-29e9-4852-a960-447b35496d91", + "observation_id": "c9e1f68c-6626-4c40-ba8d-07a08e2b724e", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "bd9fd90a-ce51-455c-9d0b-96ac88fbf84d", + "observation_id": "0a047165-4ebf-4681-b46e-1e62b3b9ee09", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "291b35b3-bf55-44f0-aee1-0084f8726ca9", + "observation_id": "310e26cc-4b61-4387-9d21-c0746cc858d0", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "7d97f8e1-70e5-46ae-a133-4afcfb28344f", + "observation_id": "3db3713a-5f92-40c5-9686-7218adb958f5", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "bec08167-6ac6-4856-a3ce-a441698e1f28", + "observation_id": "42f8680a-8a2c-4526-a7d6-efe6802bbc87", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "52336af6-b6d1-4044-830f-ad47aff9847c", + "observation_id": "8252a8e1-cf40-448d-8ce6-1dcf0065ccf8", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "2b45d618-37b0-4580-b1fa-c0df52530757", + "observation_id": "fc33b1d9-e258-4796-9cfe-306e33fc1112", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "4b2d458b-d6df-44f7-bf3f-5167ce8a8158", + "observation_id": "7fa7aefd-aa7f-462a-b701-47b31a768bd5", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "04062640-e850-4daf-bbad-86e8b8d24300", + "observation_id": "c1d8cc64-ed5c-4e6a-8d3d-1e1605cda269", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "a25de482-813c-4b01-b846-4f07be28a397", + "observation_id": "16a74f44-9091-4aac-8066-666756e8889d", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "19cd65f6-7c12-40c9-a122-786504407a66", + "observation_id": "ec402d8b-cfbd-4931-baa4-24ed470cc724", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "f66bcace-49c7-4da1-824c-0aac8847dfd8", + "observation_id": "e234d5f3-6375-4060-9cfc-70f7c8175524", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "2c52a0be-d9fb-43e5-bcc5-a9bee2ec8b5e", + "observation_id": "e7e13dc1-f752-412c-899b-b1fc0c26c96e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "1f09afba-144b-4ab4-bd5d-ae1c702a9d15", + "observation_id": "980efe32-806c-41b0-9fc2-187e0c91c53b", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "f02091a2-c666-49c1-90f2-bde950936015", + "observation_id": "64cad0f6-0612-4851-9169-6218be23d8c7", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "3ed96195-178a-48a9-9f79-18bf37bf2a17", + "observation_id": "a2397ba7-f567-4f9f-b735-d61ce928ee13", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "296e0394-0642-4a37-934b-00692c441411", + "observation_id": "df58ce67-e608-4374-aefd-a08ed7037105", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "882ca2c1-7e8f-44cb-a416-a8ceee1d66f0", + "observation_id": "dd2bc458-dd9a-426a-873f-b72be9ceb6bc", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "38526777-1131-48ff-ad32-f1d255681166", + "observation_id": "8867bb23-9308-4c94-9bd5-6f3688dfd12d", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "0f7895d1-92f9-4c43-bde8-a03fb8bcd266", + "observation_id": "9e85acde-d552-4bff-951c-315f07617700", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "c0905ccd-6076-4db2-b0d2-faf6b825d402", + "observation_id": "95bcc8d9-035a-44af-bd84-f1731b752899", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "25fd0261-f375-402f-8d25-8d2e10b062e6", + "observation_id": "1a3af45f-036c-410f-ac58-f254a3de3a09", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "046eb54f-6da2-416d-bf7e-2dba2bf98139", + "observation_id": "11ba9fc5-0276-4d13-8e70-b3e8024d7005", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "f4945d34-8e54-4bfe-821d-48583374b768", + "observation_id": "482d296e-29ce-40ee-816d-6f7bfa0af821", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "2c11a2fa-b136-49ed-b385-7c09337b5db7", + "observation_id": "33143cd7-2e6d-4646-baa0-db2950e787e3", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "cc742ebb-15ea-4ff7-b57b-46520fc2b050", + "observation_id": "7666b368-785b-40ac-96e4-69bdf31f8af4", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "86975eb6-64af-4856-863c-1c31c5d461af", + "observation_id": "b24c207c-0724-4610-bac2-3bdc47ea7aac", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "12e4b788-fd15-43f6-8e19-e7ba9705bdf9", + "observation_id": "7cbc5dc7-c94e-4e8c-b652-cba5e1d18a30", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_cdeg/render_g_camera_pose.json b/data/camera_study/Scene10/k4_cdeg/render_g_camera_pose.json index 7b1ceba..48f9f77 100644 --- a/data/camera_study/Scene10/k4_cdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k4_cdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:57Z", + "created_utc": "2026-06-02T22:36:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_cdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_cdeg/robot_state.eval.json b/data/camera_study/Scene10/k4_cdeg/robot_state.eval.json index 338a8d9..eb55c5e 100644 --- a/data/camera_study/Scene10/k4_cdeg/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_cdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 2.0845443878848755, "mean_abs_mm": 1.346211918775265, "max_abs_mm": 1.8078405401611661, - "finger_error_mm": 1.5490050992599103 + "n_unobservable": 0, + "wrist_error_mm": 3.0579831844208964, + "finger_error_mm": 0.5026160395136416 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_cdeg/robot_state.json b/data/camera_study/Scene10/k4_cdeg/robot_state.json index 713ed8a..350b559 100644 --- a/data/camera_study/Scene10/k4_cdeg/robot_state.json +++ b/data/camera_study/Scene10/k4_cdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:00Z", + "created_utc": "2026-06-02T22:36:24Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k4_defg/aruco_marker_poses.json b/data/camera_study/Scene10/k4_defg/aruco_marker_poses.json index 21d3280..fbc9717 100644 --- a/data/camera_study/Scene10/k4_defg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k4_defg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:19:19Z", + "created_utc": "2026-06-02T22:35:46Z", "summary": { "num_cameras": 4, "num_markers": 31 diff --git a/data/camera_study/Scene10/k4_defg/aruco_positions_initial.json b/data/camera_study/Scene10/k4_defg/aruco_positions_initial.json index 55fed0d..932c9cf 100644 --- a/data/camera_study/Scene10/k4_defg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k4_defg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:19:16Z", + "created_utc": "2026-06-02T22:35:44Z", "summary": { "num_cameras": 4, "num_markers": 31, diff --git a/data/camera_study/Scene10/k4_defg/aruco_positions_optimized.json b/data/camera_study/Scene10/k4_defg/aruco_positions_optimized.json index 57ce625..05fe396 100644 --- a/data/camera_study/Scene10/k4_defg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k4_defg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:19:19Z", + "created_utc": "2026-06-02T22:35:46Z", "summary": { "num_cameras": 4, "num_markers": 31, diff --git a/data/camera_study/Scene10/k4_defg/render_d_aruco_detection.json b/data/camera_study/Scene10/k4_defg/render_d_aruco_detection.json index 5d1a58e..d5a103b 100644 --- a/data/camera_study/Scene10/k4_defg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k4_defg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:13Z", + "created_utc": "2026-06-02T22:35:40Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a1f749e0-02bb-4bf2-9157-ea0367cc7415", + "observation_id": "b4d9d3bc-1064-4b52-b8db-9441def1bd06", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "a3e279ea-6b4f-458c-9e97-0e9a7a154f4d", + "observation_id": "be1707b6-2b0d-444a-92e9-c5cede5d2a6e", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "c47da33e-345a-4085-b18d-24c059706106", + "observation_id": "6f7d84dd-a51a-4475-a8da-fc4d3b1f77d8", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "0e56d6d5-ad95-42df-aa49-c7d975b795e1", + "observation_id": "f6aba1ae-7808-4c1d-92f2-a262e4ab0d89", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "3aa8d4c6-7dd8-41e5-9f7f-a4b303fc7e6c", + "observation_id": "479aec28-817e-4cd4-8af8-7037a490df0f", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "eec48f99-9f44-4e3b-bf9b-bfe70a9e986b", + "observation_id": "8a6adaed-6aea-4e3f-91a7-8358ab96df7f", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "11ea557f-13ea-407e-8d9b-1c434718991d", + "observation_id": "f0d36326-d3e4-4dc3-a50d-378dba9209f6", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "a8ab61dd-9d9f-4c2b-a7da-b3b5dff16764", + "observation_id": "98e053c1-e4b3-4242-9f0e-c94adebff0e7", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "b1782924-c606-42c8-a812-412a62f2dfaf", + "observation_id": "e1131822-8779-48eb-aa91-15db3571d4a6", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "cef66f7e-0a82-4bca-83e2-fa5b6fdd2240", + "observation_id": "8d78839f-17a1-4201-ae78-31e3e46ea2f2", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "6ebed485-a5c8-4091-85b0-9182d0895f49", + "observation_id": "9e5b6a14-c71e-4ea1-a37b-3bd8fb84e919", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "e64288c7-b857-47a5-9185-3ca41f973a99", + "observation_id": "8ff85494-b5f1-46ae-b1dc-34232c4465ef", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "32725eb2-2fdd-4298-b8d1-0e1fafb0c3de", + "observation_id": "cc93be22-b308-42a5-8413-4db41a35c307", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "cf11ab27-5624-4b5b-b158-932b1c3ff431", + "observation_id": "48a49d05-07ad-4e31-aeb9-550813a7634a", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "cb224f1e-7ed9-472d-8e1f-15485c774706", + "observation_id": "290e8ea4-7eec-4453-bb89-1bbc4f20ea2b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_defg/render_d_camera_pose.json b/data/camera_study/Scene10/k4_defg/render_d_camera_pose.json index ded146f..f396d99 100644 --- a/data/camera_study/Scene10/k4_defg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k4_defg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:15Z", + "created_utc": "2026-06-02T22:35:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_defg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_defg/render_e_aruco_detection.json b/data/camera_study/Scene10/k4_defg/render_e_aruco_detection.json index 7133c9f..d1ffaf7 100644 --- a/data/camera_study/Scene10/k4_defg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k4_defg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:13Z", + "created_utc": "2026-06-02T22:35:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "85bdd1a6-a062-4dc7-abee-d2b2266d3882", + "observation_id": "cb163753-4105-4fc3-9911-f59e95e8cf3b", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "a6436249-1bcf-4b7b-af79-d91e1b04836e", + "observation_id": "388bfe27-8704-4b8e-a8df-de643e1bb76c", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "4ea32e88-6b9f-4641-86b5-d8b907f3caf1", + "observation_id": "ff8d476a-9808-456b-afa0-6574a92d4f72", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "e73f481b-26d3-4a42-94d1-157023c47bca", + "observation_id": "f80af7f8-5934-4319-bb50-0f55fbf5e847", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "e126f545-496f-4cc8-b51c-78ed3a48b89b", + "observation_id": "b4987071-c26d-4352-b78e-79923f55ea63", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "8df6f728-7d0b-44b4-bc5a-e19c699bdfa8", + "observation_id": "2024d850-aa8b-4d64-bc01-06b15a87c3ae", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "27dd176b-2905-4f53-b58a-eff8541b6f73", + "observation_id": "5edef3bc-4771-4386-bdc8-6a9f9f4c5800", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "2d7d1964-70d3-4ae7-889d-78da92326571", + "observation_id": "0842f26d-e950-4083-bd1d-66264d976964", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "d2dfcf73-acdd-4123-b6e2-36b1fbe1cf21", + "observation_id": "0421ee5e-0377-486f-bcfd-c022bc9b145e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "5ee5662f-1939-4c18-b1b3-16d6852ff4a3", + "observation_id": "2118ce1a-b4c6-4c96-8d7c-48b5da146289", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "70239dd1-1a71-41be-92d1-f5a2a48600ea", + "observation_id": "1d7a708b-fdf8-4107-a8c8-89675e42402c", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "736712ba-751b-42cb-90ee-08a38f461f3e", + "observation_id": "c14b6653-2d7b-406e-8f9d-f4d0b4735cef", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_defg/render_e_camera_pose.json b/data/camera_study/Scene10/k4_defg/render_e_camera_pose.json index 127bc72..3aa0876 100644 --- a/data/camera_study/Scene10/k4_defg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k4_defg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:15Z", + "created_utc": "2026-06-02T22:35:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_defg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_defg/render_f_aruco_detection.json b/data/camera_study/Scene10/k4_defg/render_f_aruco_detection.json index 3515ea0..a8df1d2 100644 --- a/data/camera_study/Scene10/k4_defg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k4_defg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:14Z", + "created_utc": "2026-06-02T22:35:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "42f65748-115d-4d76-a1c8-4718c95a9a8b", + "observation_id": "49fbdc94-809d-4b47-be75-8ca553bdeaae", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "5ad2f4cb-27ba-4412-8e24-407824742188", + "observation_id": "a2566ed9-a599-4ce7-86f4-47ea46ea4c19", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "ef8c149c-77a4-4dec-b312-11ec93b3c979", + "observation_id": "243e0a35-5e96-45fc-98ab-2e507c1032c5", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "d14690a4-6f8c-4dfc-b872-a59e62412608", + "observation_id": "21300ea7-6259-45cb-9f54-e3cae6dd95fc", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "8f572dfc-bb85-4904-bce2-c0bb992e4d99", + "observation_id": "c8d6b7a7-b5f2-44d2-94c8-efc6c2b60922", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "6392dff3-3665-44f5-9d81-d11a68152c99", + "observation_id": "47f74ba3-059e-4ee3-8e0b-06e4e4a2d0dc", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "976912b8-f77f-4bc0-b159-c5489cf3d306", + "observation_id": "0603da90-c33a-44aa-bd1b-197a3ef2fda5", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "23024242-6c7e-4fae-a308-285c0dbf6d1f", + "observation_id": "833d92d6-616d-4d83-9add-6b40e9df3677", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "d2e3ef3a-e684-4aac-975c-77f529a3af54", + "observation_id": "01a5844e-b52a-4667-9bb4-5b1dea198034", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - 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"created_utc": "2026-06-02T21:19:15Z", + "created_utc": "2026-06-02T22:35:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_defg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_defg/render_g_aruco_detection.json b/data/camera_study/Scene10/k4_defg/render_g_aruco_detection.json index 9ebe600..b62de85 100644 --- a/data/camera_study/Scene10/k4_defg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k4_defg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:14Z", + "created_utc": "2026-06-02T22:35:42Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a89b87ae-0535-42e7-8b26-ea9fe8963dc8", + "observation_id": "45ec1abc-cf70-45f6-a93e-3b9ce0574a93", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "00c59fbb-be6a-49ec-8f33-2eaca3a8f45d", + "observation_id": "91cf47ed-76e2-4407-aed5-65f5fdfdcf33", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "5484127d-0079-464d-af78-3a63129fe621", + "observation_id": "6003d2d9-f980-4a76-8e9a-0ff597b5749e", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "d09d9731-170f-45ed-b52e-1b1698284499", + "observation_id": "0d60fd48-f6fd-4d66-8e17-d6cde15ac34a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "8c66c514-6e9a-4033-bfbb-dfa28607c4a9", + "observation_id": "ab8b0e39-d08c-42a8-8575-cd78af59b18f", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "87f7c29a-189c-47dd-92ed-df38c90ba6f1", + "observation_id": "754210ab-b31c-4e12-b8d1-82bb7b5274fc", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - 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"observation_id": "9955aa87-a94a-408d-ab68-e0d3b5ca0faa", + "observation_id": "67feb8e8-45b1-448d-9fa5-ea3323548673", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "1c92c277-55d9-43f0-b0af-9ce5dc18852a", + "observation_id": "a3d1d35a-05a6-40ed-b3ee-d635400b53cc", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "ff6b2bce-b991-4f38-9fe9-aada402ab945", + "observation_id": "b1907121-3f53-4846-b361-910117c79986", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "0e2d7780-31fb-4084-af71-f7a38ca9f46a", + "observation_id": "d0b0f750-d936-4f2e-8adf-590d42dc9abd", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "e3bd8018-688b-45a4-84f0-e86d624e98bf", + "observation_id": "52b009bc-8cf6-46a3-b044-50797dd4d573", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "c83e8a5d-0218-4bca-8dd1-ac4cf0190cdd", + "observation_id": "528e2354-eb62-4e05-b509-b837c3ecc4f0", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "c344bc5a-7690-456d-920f-a4139901317b", + "observation_id": "42cee3cc-7dd7-443b-b0cf-5230538b0b65", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "2f3f9ebe-a667-4a6c-b409-86086086a63a", + "observation_id": "77617681-63ed-4cff-b8c0-a49f77fbc51c", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "aa9147d1-0904-481d-ad5b-bf82fcd7ea15", + "observation_id": "1df3636f-1d4c-428c-80b6-464d1b4b791f", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "91dcbda9-c721-434c-a4bf-b6eb34c482f3", + "observation_id": "2f575e16-3680-4f4f-95fb-3970f965218a", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "0a807718-ee7f-4a3e-baa4-59fa8190b575", + "observation_id": "8bbc5e00-068f-49a4-9f3e-1b438c9fa457", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "168eb10f-2145-4fa3-8a5c-76a836500d5f", + "observation_id": "69a2bdc7-1706-4411-9ce7-132ec061fe34", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "660ba07f-f4bc-4684-9e5a-90bb970d25f4", + "observation_id": "76ac1dfb-d5e5-47bb-be3a-ce8117d9d920", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "9940e8a0-e007-43e5-8dee-e5486066e01a", + "observation_id": "d2036cb1-3088-41f9-971b-a7515602fbeb", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "a55279ec-7db6-4d94-925d-2c4a51813162", + "observation_id": "f693ed5c-0979-4c72-98f8-fcc5f2813bc5", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "aa0ccaff-8b6b-4878-b600-ca2412c9f475", + "observation_id": "55915574-7529-4544-a3f5-6f0355543c17", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k4_defg/render_g_camera_pose.json b/data/camera_study/Scene10/k4_defg/render_g_camera_pose.json index 66c1200..1d4657a 100644 --- a/data/camera_study/Scene10/k4_defg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k4_defg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:16Z", + "created_utc": "2026-06-02T22:35:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k4_defg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k4_defg/robot_state.eval.json b/data/camera_study/Scene10/k4_defg/robot_state.eval.json index 27d6dd8..7398c2a 100644 --- a/data/camera_study/Scene10/k4_defg/robot_state.eval.json +++ b/data/camera_study/Scene10/k4_defg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.1605381329632394, "mean_abs_mm": 0.3488952882969989, "max_abs_mm": 0.4575273591975515, - "finger_error_mm": 0.8873584997126499 + "n_unobservable": 0, + "wrist_error_mm": 2.522574635596028, + "finger_error_mm": 2.290984918906712 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k4_defg/robot_state.json b/data/camera_study/Scene10/k4_defg/robot_state.json index 325450e..b247262 100644 --- a/data/camera_study/Scene10/k4_defg/robot_state.json +++ b/data/camera_study/Scene10/k4_defg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:19:21Z", + "created_utc": "2026-06-02T22:35:48Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_abcde/aruco_marker_poses.json b/data/camera_study/Scene10/k5_abcde/aruco_marker_poses.json index 4d0a338..2016e3e 100644 --- a/data/camera_study/Scene10/k5_abcde/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_abcde/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:20:40Z", + "created_utc": "2026-06-02T22:37:02Z", "summary": { "num_cameras": 5, "num_markers": 31 diff --git a/data/camera_study/Scene10/k5_abcde/aruco_positions_initial.json b/data/camera_study/Scene10/k5_abcde/aruco_positions_initial.json index 98ccb99..9188c53 100644 --- a/data/camera_study/Scene10/k5_abcde/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_abcde/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:20:38Z", + "created_utc": "2026-06-02T22:37:01Z", "summary": { "num_cameras": 5, "num_markers": 31, diff --git a/data/camera_study/Scene10/k5_abcde/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_abcde/aruco_positions_optimized.json index ebf0e7e..1ea1c8e 100644 --- a/data/camera_study/Scene10/k5_abcde/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_abcde/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:20:39Z", + "created_utc": "2026-06-02T22:37:02Z", "summary": { "num_cameras": 5, "num_markers": 31, diff --git a/data/camera_study/Scene10/k5_abcde/render_a_aruco_detection.json b/data/camera_study/Scene10/k5_abcde/render_a_aruco_detection.json index 21a8039..ea7c2b7 100644 --- a/data/camera_study/Scene10/k5_abcde/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abcde/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:34Z", + "created_utc": "2026-06-02T22:36:57Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "558ca5a8-c449-450d-a87f-00ff10f9c9fa", + "observation_id": "2a69aef3-2403-44e2-8ba1-765b179f0827", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "ba527941-6614-4b22-8231-2f59b8ce0fe8", + "observation_id": "977dc6c3-c431-4cd5-9f23-ed2a82bfe807", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "7f9b2010-9f52-4222-8ae4-c5aaabcb2a76", + "observation_id": "85de206d-2e98-4a9d-8087-dc1e92c9373b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "2ffbe934-8a2a-4b60-8761-6d5608f90888", + "observation_id": "93c82ea7-3606-45eb-bdad-4952b6e64546", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "7310bac4-3d23-465e-8e8a-c4c8e29deb69", + "observation_id": "ee4dad1c-2135-469c-aace-712954d0a89f", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "0e2ecfd2-91e5-45af-83d9-9dea2dc765e5", + "observation_id": "7820fea1-ad5f-4f88-87cf-bcd6100c8c24", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "a9a0b295-68c6-4c58-aaf3-8506ab64c3b5", + "observation_id": "d12d942f-54f5-4b8c-95a6-9aac0df1ca8a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "5cde1b72-2de4-4af6-b6d5-fa2cb6131a51", + "observation_id": "7b46a8db-829d-4695-8e43-2787f7b5df73", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "4914f3a3-5f64-4630-ae07-88fafd3a4cd7", + "observation_id": "1aefaa21-89d0-4973-9bc2-cb5b4bdc66c7", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "42774654-7006-40e0-85a5-6cab9d73fb47", + "observation_id": "f148b98d-f1d4-446a-ad0f-d98379f1b957", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "5c61e60d-53ad-4b9d-8121-adb06a0a28fd", + "observation_id": "41206d12-89eb-4ffb-999a-b9fde1c0fb6c", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "73fb1046-970a-44d6-b7eb-20e9ab04abd0", + "observation_id": "6d1dc5b4-1a1e-48ee-bc68-775cc23a5d8b", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "9a259c93-4be3-4187-88a9-c516a7395167", + "observation_id": "6acd642f-4c0a-49c5-893d-2b19b1715e64", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "54d8b821-ff67-4a4b-bdfe-2970a629bb87", + "observation_id": "d647da29-053c-4977-b72b-ea6aaaf17a7b", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "b758349e-a803-48ef-8493-2bd1e4ca76fb", + "observation_id": "8e256c8b-a24b-473a-9b91-ab0150b196cc", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "17e060ff-09c6-4f51-8ac4-2ee2353caa87", + "observation_id": "1d28bc95-cc5b-45fe-9c8a-5c0bad1d90ea", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "03740f65-6deb-4b90-b22b-46ac3a2436a7", + "observation_id": "003f2c6a-5173-4614-bd4e-fb482fa742e1", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "a6786972-3b8f-482e-a135-e2146893a902", + "observation_id": "5114ece4-47da-473c-a73b-533a2c5ad5ec", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "28bd2e90-b9da-4fe2-bf88-678fb47095a1", + "observation_id": "2ee82d90-3080-4694-a682-cd44f8a11644", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "74a432d1-6328-4c0f-91dd-00e0e8b49c8e", + "observation_id": "bac05623-7bcc-420d-9f9c-2b335651be27", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "ea8eae61-2267-472f-a04e-90f49cfb76c8", + "observation_id": "3f328ff2-3297-4406-a298-9c4ad146d9ad", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "a52d08b2-ac29-4cfa-9653-99f77c2e50c5", + "observation_id": "c1ae236f-fce6-471f-bbbf-b30d06efe0ea", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "0f576841-d123-4b97-b784-06ceb327aca2", + "observation_id": "15005252-f9c9-48d3-9549-a5984f4300b3", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "13ce9289-4360-4a5d-a9e2-85521c2143c5", + "observation_id": "7a621e84-77cc-45a3-9628-b49290eb46cd", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "257b30ed-b82e-4e78-9e13-47323492c489", + "observation_id": "03ab14c6-41a1-461f-ac22-92ba240a8201", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "b4997457-1038-4e93-90c1-0ebc16e4f5a7", + "observation_id": "cbe64f77-1633-426d-9e87-70b6f8bcb3ba", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abcde/render_a_camera_pose.json b/data/camera_study/Scene10/k5_abcde/render_a_camera_pose.json index 07f84a2..54e4ec5 100644 --- a/data/camera_study/Scene10/k5_abcde/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k5_abcde/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:37Z", + "created_utc": "2026-06-02T22:37:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abcde\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abcde/render_b_aruco_detection.json b/data/camera_study/Scene10/k5_abcde/render_b_aruco_detection.json index a242b6f..f6d9275 100644 --- a/data/camera_study/Scene10/k5_abcde/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abcde/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:35Z", + "created_utc": "2026-06-02T22:36:58Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "fb6600dd-bc9f-41aa-9258-e39b31fc75c7", + "observation_id": "3c8ec497-1b96-4662-9db7-2997c5a745fb", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "11ed33fc-3870-4c06-a58b-92ebc4526c2d", + "observation_id": "6f3e0fdc-bff1-4725-9eac-416062f11422", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "c1bc8eaf-571b-40cb-a2fc-70cf3e9d74e7", + "observation_id": "7b402397-766d-4ca1-946c-5f1d2b47569e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "15284520-ae42-414d-8759-28a00d1a5391", + "observation_id": "f88ecf19-52b4-403a-92e0-6f71b96a5f82", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "8c253867-ce0f-467e-92d4-9954cea7759d", + "observation_id": "d7e9176b-c258-451e-a642-a3517459f7bc", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "60744b1e-42f9-4d95-ab59-095411ead7e3", + "observation_id": "1e549a43-179e-4f21-b115-24b250f79d5e", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "b4d74996-8421-4862-b93c-328704f6d8d7", + "observation_id": "7598874b-adc5-43e9-93fc-272ad1caa618", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "d57b5c63-87fc-4bfd-9c02-32a41ebd4487", + "observation_id": "b25bcc82-ce8b-4dbb-9be7-bbfd9e33b0fd", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "9b42daed-c654-45e9-8c04-e7e6dbb4cfd0", + "observation_id": "05a478a1-5e6e-4625-9923-966e2107c877", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - 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"observation_id": "7dfcdd80-c845-4b76-b397-13913b20b1f1", + "observation_id": "554305ca-a474-4fc4-9673-835402b0ebd8", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "c1feb720-05e7-4438-a8ee-014c348f37fc", + "observation_id": "984876f9-d1f4-4981-8e69-8da71de0fc44", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "375de411-abfb-49df-bb0d-9bcf25c89d52", + "observation_id": "c2578b71-10c2-4a37-a397-766b285a58b8", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "867991da-9e8b-41a6-91f1-a34dab334634", + "observation_id": "5ba3b8e2-684b-4281-8f94-03ee5c46b456", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "60fbe040-2b16-4375-bf3b-a0367225ea31", + "observation_id": "ac28224a-8727-4072-b48b-23283e332951", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "1582619d-2eb4-4ef1-b7b1-6caeb753d5d5", + "observation_id": "fbf879f1-d395-49fb-b2e4-2e21071c4944", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "e2150e05-0f1c-4d6b-aedb-001c4ceb97a7", + "observation_id": "73d84d21-c512-4bec-bda0-51252a584b2e", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "b22c5625-70ac-4aec-9919-0f38a0ccc355", + "observation_id": "b6da710d-abd0-408e-bd2d-8ab03d7e4714", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "2ae2677d-fdbe-43a0-af55-a2f9b37b9d28", + "observation_id": "fba6ca7e-ad2b-43d0-a485-3c3e061f6a19", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "9f939226-bd12-45a2-ab02-6571904f77d1", + "observation_id": "5f58494b-8b02-44c5-be5c-d8c2e8138cc4", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "cb1cd9bf-6d4b-478c-a1d3-19ce124a5851", + "observation_id": "652f3e57-dccb-4efe-8f28-3e87f756787d", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "d1b79b2d-7515-44a9-ad63-97472347088f", + "observation_id": "b502fa9f-5e09-4408-a7a3-a5d659634c61", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "da4157a4-9333-4f05-a9d2-e83122b8f3aa", + "observation_id": "b37979ec-a2e8-4ce8-97f4-e0bf9167d5c1", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "d5c42df5-e58d-45b6-9328-867f6690d3b4", + "observation_id": "f36f2b05-e6aa-4d84-944e-7b2965b32bef", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "3e851c6d-5b04-4b18-bc2d-7bac646e27c3", + "observation_id": "b83168b7-d9f6-46ab-99ca-a7a4138c8a4b", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "fbef8cd1-468a-4a85-afc6-b94e920e8e3d", + "observation_id": "0e889802-1603-43f2-b443-6d4d886e07cc", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "41abd9c8-6808-4015-b79c-42bec7a47bac", + "observation_id": "6864b752-979e-46d7-941b-71876006bdbb", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abcde/render_b_camera_pose.json b/data/camera_study/Scene10/k5_abcde/render_b_camera_pose.json index e348186..17e1188 100644 --- a/data/camera_study/Scene10/k5_abcde/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k5_abcde/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:37Z", + "created_utc": "2026-06-02T22:37:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abcde\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abcde/render_c_aruco_detection.json b/data/camera_study/Scene10/k5_abcde/render_c_aruco_detection.json index cdadf4e..e3fbc51 100644 --- a/data/camera_study/Scene10/k5_abcde/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abcde/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:35Z", + "created_utc": "2026-06-02T22:36:58Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b318598b-3c70-47e1-a2f6-606696415f1b", + "observation_id": "a0cae6ea-7f5f-45c9-ad92-242ad76d1c2c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "034f0ed3-0e86-431a-b2d2-649a1ce71df0", + "observation_id": "7c427e94-be4e-4ef4-8a5d-e0b2970f3904", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "18bf3c60-646f-4772-a236-823a26046a38", + "observation_id": "339b2318-ff25-4671-8b15-3ee6c69ca5fd", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "566ef919-9c1c-420f-8d45-43190ed3ef8c", + "observation_id": "2314aa97-98f0-425d-ad2b-5b48694b0ad7", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "e27a5565-caaf-4df5-907d-1f94d66241aa", + "observation_id": "2706f8d6-5e76-4745-94f2-609f0812bdf3", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "3c35652f-5870-4d17-a624-1cdca7a2b544", + "observation_id": "8bff0707-4575-48a2-8cb6-d486126b768f", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "2eff45be-9c99-4da5-91ae-796bfa088da5", + "observation_id": "ab0fe078-b554-42c2-87b2-057f720533b8", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "16f13f9c-9e9d-4196-a4d1-fa3d9090c30b", + "observation_id": "10d7ee4a-4dde-4236-837b-68f9df4d9f1c", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "fffbb13a-7e19-44ec-8545-d034d8e752df", + "observation_id": "a75f5222-ae0e-401a-a551-57408728af2a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "7d9ddf5b-469b-4dab-bbc6-0bf6bf7dacf6", + "observation_id": "f82ff114-f95e-4f68-9fa6-51f0444dd21f", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "48be3597-3601-4eca-854b-424ef249d137", + "observation_id": "5c83760d-a9e6-4ee5-bdf7-2fbca3268654", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "90d7143c-7d95-403d-a620-c0cc22d0a4a4", + "observation_id": "6d3c545d-15ea-44de-bafb-1e1dc51a3e13", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "a7981dd1-2d92-4d4d-9a2c-79350d7aaa02", + "observation_id": "395dd29d-ce80-4ca6-8151-18a84aed9fa6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "30bfe757-6e7e-46ad-99ea-f3160b18ad07", + "observation_id": "e78f931a-7792-4afd-a9d6-18d253ee04ad", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "98081c5c-b02a-483e-83a0-e2c0adc3967d", + "observation_id": "b47ccec0-4d29-49e7-a0c0-7422f2c21952", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "74546c20-bf0e-489b-8636-ee0c0e409a94", + "observation_id": "458d487b-cf8f-45f4-bc5d-f9f491eb7f97", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abcde/render_c_camera_pose.json b/data/camera_study/Scene10/k5_abcde/render_c_camera_pose.json index 847242d..a9380d0 100644 --- a/data/camera_study/Scene10/k5_abcde/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k5_abcde/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:37Z", + "created_utc": "2026-06-02T22:37:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abcde\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abcde/render_d_aruco_detection.json b/data/camera_study/Scene10/k5_abcde/render_d_aruco_detection.json index 0ffc4e5..28e2988 100644 --- a/data/camera_study/Scene10/k5_abcde/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abcde/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:36Z", + "created_utc": "2026-06-02T22:36:59Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "75354799-9f3e-406b-87f8-dee85f351a0b", + "observation_id": "5575a937-4ef5-44fb-9a8b-8e837012e1ef", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "aee1333e-97a2-438d-9d1d-46da1902e12c", + "observation_id": "cf9b1ec0-8fcc-49b7-a82f-500a9e314625", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "fd26af7b-393a-4228-ae5a-9b9ecc33ee56", + "observation_id": "ed34c6cb-db51-402d-aa30-be7cf7107e26", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "4f314207-f0d8-4718-97e9-a0f11e8b960d", + "observation_id": "e6aeb917-2c5e-4b35-8b52-c653d8d747f6", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "499cfc0a-6fcd-40a6-ba5b-f40c86ca742c", + "observation_id": "108b6ebb-199e-4409-9ac3-c039ade0c6e0", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "e4b7a417-f1d2-4201-9f03-494de047b6e4", + "observation_id": "a8af07d9-f065-4787-a178-1e77333d0a55", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "bdb0cf4d-c97b-423a-a9f2-2d8bb9160806", + "observation_id": "b0f2fd50-ba6f-4049-beec-1991faaac1e1", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "4ee8240e-9c05-4def-a146-7fbc53dc345d", + "observation_id": "884180ad-a8e9-4c7f-a300-c90af6d0003e", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "a6e6487b-a1d2-44a8-9392-cd49799c8386", + "observation_id": "a7337768-d42b-435e-a24a-d381d5b89a4f", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "19545fe9-3248-4da4-b4d8-2238d31842a0", + "observation_id": "81eb6f8f-8e28-4fbc-86a9-774071b76e40", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "ec59b0b4-b35e-450c-9105-c30e8d8f0cf9", + "observation_id": "86c7893f-ef01-4cdf-ae6e-9698a54d2bd0", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "28e86f80-3e47-4891-a80a-f3eaf093daa3", + "observation_id": "77a2a94d-2fe2-4991-bc6a-17c540833534", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "5b723b10-2b76-4d93-a38c-640ab8cf2d08", + "observation_id": "adc31b06-8695-4f44-87ea-a0ebb2463054", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "bd037242-d8cd-468a-9a7e-7d3c1f0ff7f6", + "observation_id": "048b1994-eb5b-4cb1-883c-688e6ade5080", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "bd8fb74c-16b9-488f-b089-d4d8384a7ad0", + "observation_id": "1304f330-b2fe-47ec-9e55-1572bbe86ff9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abcde/render_d_camera_pose.json b/data/camera_study/Scene10/k5_abcde/render_d_camera_pose.json index f52ba2a..22a14cb 100644 --- a/data/camera_study/Scene10/k5_abcde/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k5_abcde/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:38Z", + "created_utc": "2026-06-02T22:37:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abcde\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abcde/render_e_aruco_detection.json b/data/camera_study/Scene10/k5_abcde/render_e_aruco_detection.json index c21c8b7..9cfa802 100644 --- a/data/camera_study/Scene10/k5_abcde/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abcde/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:36Z", + "created_utc": "2026-06-02T22:36:59Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "cbca4e4f-3151-4a05-b66f-df1741a5539b", + "observation_id": "40e680e0-161e-4b46-b952-688285143ad2", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "d6922f11-6872-4378-9e13-30b0a977b41b", + "observation_id": "f79684bb-4153-4638-a1dd-058b4eb519a2", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "64cba482-8838-4707-ac7b-2936abf59c0d", + "observation_id": "161dc968-a5f7-428a-9118-58ad4ab2cf4c", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "86f2111b-43bf-4692-b49a-28fee464133e", + "observation_id": "74d6b8e4-40b5-42fd-b034-df456d938f7e", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "4edc7a4a-ef9a-49e9-bc76-25c4643afe07", + "observation_id": "1edb199f-4665-44b6-bec6-fa7b03b307d5", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "114e9e4e-a2ec-41c2-a2cc-34b8044cf2e2", + "observation_id": "ef2ac480-ac6f-4db2-b676-2941f9943c40", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "e2cc2a8a-ee7c-471c-aeb8-507b45865e85", + "observation_id": "307128bd-ce2e-420d-b0ae-4c535ae085eb", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "6aab5e7b-766c-42ac-9e41-a58492439bb6", + "observation_id": "48829e96-0966-4e75-b627-a2b701dc22fd", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "a7c70a97-0360-4255-977b-93a0d4c7a26a", + "observation_id": "11aef33d-8761-46b6-8644-94615c4f0ce9", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "390663e6-2dc3-49ee-a43f-e767ae20dcea", + "observation_id": "39be74e2-c0f8-4da7-9afa-4400ca126f81", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "f8308925-b379-45c1-877c-959d318ab76f", + "observation_id": "922dc8a9-61cd-428d-9dcd-a3e33b946b13", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "4fa2104c-70c8-4c59-99d4-05a248479e6a", + "observation_id": "0db2a097-76d3-4bdf-bd41-a9e660c5e7f5", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abcde/render_e_camera_pose.json b/data/camera_study/Scene10/k5_abcde/render_e_camera_pose.json index e9d79f0..00d67dc 100644 --- a/data/camera_study/Scene10/k5_abcde/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k5_abcde/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:38Z", + "created_utc": "2026-06-02T22:37:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abcde\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abcde/robot_state.eval.json b/data/camera_study/Scene10/k5_abcde/robot_state.eval.json index 6a4fb8c..23ea4ac 100644 --- a/data/camera_study/Scene10/k5_abcde/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_abcde/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.5265411765066688, "mean_abs_mm": 1.4937634241964322, "max_abs_mm": 1.5100895101417855, - "finger_error_mm": 0.8634612344613235 + "n_unobservable": 0, + "wrist_error_mm": 2.3930421272930436, + "finger_error_mm": 0.7860924240629567 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_abcde/robot_state.json b/data/camera_study/Scene10/k5_abcde/robot_state.json index 8560fc7..c592dc5 100644 --- a/data/camera_study/Scene10/k5_abcde/robot_state.json +++ b/data/camera_study/Scene10/k5_abcde/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:41Z", + "created_utc": "2026-06-02T22:37:04Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_abceg/aruco_marker_poses.json b/data/camera_study/Scene10/k5_abceg/aruco_marker_poses.json index 37754cc..a934d5e 100644 --- a/data/camera_study/Scene10/k5_abceg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_abceg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:22:05Z", + "created_utc": "2026-06-02T22:38:22Z", "summary": { "num_cameras": 5, "num_markers": 39 diff --git a/data/camera_study/Scene10/k5_abceg/aruco_positions_initial.json b/data/camera_study/Scene10/k5_abceg/aruco_positions_initial.json index 3f99b92..f9a8cad 100644 --- a/data/camera_study/Scene10/k5_abceg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_abceg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:22:03Z", + "created_utc": "2026-06-02T22:38:21Z", "summary": { "num_cameras": 5, "num_markers": 39, diff --git a/data/camera_study/Scene10/k5_abceg/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_abceg/aruco_positions_optimized.json index c895d87..8d49789 100644 --- a/data/camera_study/Scene10/k5_abceg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_abceg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:22:04Z", + "created_utc": "2026-06-02T22:38:22Z", "summary": { "num_cameras": 5, "num_markers": 39, diff --git a/data/camera_study/Scene10/k5_abceg/render_a_aruco_detection.json b/data/camera_study/Scene10/k5_abceg/render_a_aruco_detection.json index 3dfe56e..a207968 100644 --- a/data/camera_study/Scene10/k5_abceg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abceg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:58Z", + "created_utc": "2026-06-02T22:38:17Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "402b0eaf-f404-4333-9519-4be49bbd3468", + "observation_id": "08428730-b1ae-41ee-943b-e3baf4a12575", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "1174caac-19d2-416a-bf47-4a7d98659329", + "observation_id": "37233b31-8be3-4ec3-a5ef-fedc123bdd68", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "6b005ac8-fcdc-46c1-a876-4daaa8d86c22", + "observation_id": "f102d874-5b49-4ff2-b6a6-7d1b0c57f1ed", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "73ed0a34-05c3-4602-b8bb-ba4ca17a06ea", + "observation_id": "5b18bec1-e817-4d59-aa61-ff4392c081c9", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "4ed8c1ea-701e-4180-a813-2605c173719d", + "observation_id": "df3055cd-5727-47f3-bbb0-594d11afab76", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "74dde840-bebc-4259-86f3-a229e5729722", + "observation_id": "77810ab9-bb2a-4e15-8664-6961ca297c2f", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "0fd0a729-66dc-47be-8f63-48fc1a49fda6", + "observation_id": "235656a8-8734-4e23-8ebe-cd388dc40085", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "fa7ca889-7c9d-4647-8551-d07b00f2f048", + "observation_id": "a0ef7fbd-a9b5-4033-838f-8a58918a586b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "8c767c25-ce2c-4fd8-8bdf-4386290dd26e", + "observation_id": "aa4d132a-a3df-441c-bb74-74f88eb37f85", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "5af37719-e4b0-48d8-a79d-f6b6b631094c", + "observation_id": "20de80a7-79c1-43e7-824d-fca4b0f22734", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "d1a5d244-008e-48ed-9e7f-5d9cdd538131", + "observation_id": "65a6df79-8d0c-441a-a4fe-00a76796745c", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "1423dbc3-8d38-4a07-a654-5819a1d37bb2", + "observation_id": "838678fe-20c2-40d9-b76a-bbf0a58832ed", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "992467cc-e696-494c-99f3-20d696125ad0", + "observation_id": "22db722a-22e8-4279-83b4-bd5fb01747ff", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "217160b9-5f1a-41cd-8ee4-5582665cd3a0", + "observation_id": "b97d2106-bbad-4b60-89b8-79fd0529cc74", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "946d4f85-546d-44f3-bd67-23bf01ab9ef8", + "observation_id": "32406eaa-fb89-4593-b96e-d39a1ebfb469", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - 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"observation_id": "3e0d7e72-c131-47a5-8856-77b97ea11180", + "observation_id": "ae239f46-0067-4f0a-9ef1-3a77596b7a9a", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "9c1299d4-2b68-4b59-907b-53ed12ca4c1c", + "observation_id": "53ff706f-2f35-4d42-86fb-73ef7af3faad", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "5c8829a7-d074-4cd4-bae0-cc337b49d937", + "observation_id": "bbad8cfe-c685-4008-b23c-106573855858", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "8e37b9ca-24a1-4f7c-b115-9c8731cfbbcd", + "observation_id": "2097c08e-c62d-4456-b202-d5fad2407de3", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "438c1137-c6b9-43eb-9617-64fb4f0a9457", + "observation_id": "f5e451d0-625d-40de-9efe-b94d7322fb06", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "2d89d8be-d83b-47e5-8ef5-6dd12400d9e0", + "observation_id": "1245c4f2-7284-413f-9797-1b80955b7a79", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abceg/render_a_camera_pose.json b/data/camera_study/Scene10/k5_abceg/render_a_camera_pose.json index 16964e4..1b3269d 100644 --- a/data/camera_study/Scene10/k5_abceg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k5_abceg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:01Z", + "created_utc": "2026-06-02T22:38:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abceg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abceg/render_b_aruco_detection.json b/data/camera_study/Scene10/k5_abceg/render_b_aruco_detection.json index 9524fc8..87acacf 100644 --- a/data/camera_study/Scene10/k5_abceg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abceg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:59Z", + "created_utc": "2026-06-02T22:38:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3b9cee52-b6db-4471-90f7-d70dac159539", + "observation_id": "8d171a0f-d7da-488a-a4f8-fd3ea3da7ccd", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "575965dd-ae05-477f-bf04-6f3992801df1", + "observation_id": "739e0830-c5c3-4dd3-9c07-aea490dfe766", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "932b2c3f-2e37-4272-870e-470aa80bae79", + "observation_id": "621fbbcd-6cbe-403c-ae22-9361f7d91859", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "c3716423-42dc-4507-8478-ac203f2f975d", + "observation_id": "305f90bb-9275-4a15-9dc7-10e2f8a767df", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - 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"observation_id": "581a27fa-45d3-4d6d-8e23-a301b10e4663", + "observation_id": "9e769e73-eaa7-47fd-813a-55a2b9ed2080", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "223bd7e1-7b0a-4536-9590-01d483b96f5d", + "observation_id": "cc17420f-5dcb-4c53-a320-f8e201204cbc", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "e274c099-ddae-4814-a66a-c99693b31be0", + "observation_id": "38b67222-1266-470b-919d-27383ba98fef", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "2b4a7bb8-2d58-4d83-8a67-1f69bdd3029c", + "observation_id": "bdb0d2f4-3277-464c-8cc7-5a207cc3ca86", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "9071f6d9-1f5d-4ff7-93cc-a023a377096c", + "observation_id": "a23770ac-378f-429d-829c-ee69dfbcded4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "dd0eec3a-96a3-4c26-b664-d48896dd0965", + "observation_id": "0805f0f8-55cb-41ec-9e82-f607e0839441", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "5ae918d8-87fc-4848-ba72-feb935ef8c8e", + "observation_id": "2ebbb119-a657-42b7-bc35-d1c4894c54f4", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "38f27757-b832-4720-a085-9b1c408fb4d3", + "observation_id": "7499b6ac-40f3-4727-9b6b-65064ebb0ef7", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "80213a97-67f7-4fdd-85e2-e4e157d245a0", + "observation_id": "4617801e-8215-45e5-b51a-7a521de74628", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "63cd172c-bd2e-47a9-9e7c-75a4ff1f1183", + "observation_id": "5982db4f-1eba-4fff-8489-74c2841fc022", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "18c1430d-864d-4ccd-8831-7d6591037673", + "observation_id": "8b371c09-23f4-48ec-8b1c-acd078645cca", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "5285f640-0a6e-4c81-8aaa-d46e81bf184c", + "observation_id": "7aa8b652-7441-4a59-aa91-9ce1f98ecb24", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "5290a8e4-7d18-437d-9541-7c727c1bc88a", + "observation_id": "d35d123d-b412-423f-8c4c-df412260ccc4", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "d6053e9a-bdcf-4722-b336-aee6405ca63e", + "observation_id": "a8a12fd4-8663-478e-b390-ae5655c01fbb", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "990b4100-3125-45bc-b685-9226996b3ddd", + "observation_id": "8d835615-2048-42b4-9f49-5275163593a6", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "3126b788-9229-499f-8163-ac61ff555290", + "observation_id": "a8e37db3-76fa-466d-8111-44b5d6ec56ed", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "57673ebe-0846-40c8-ae17-e750663d95c4", + "observation_id": "50fe1d50-4464-4a0a-a254-e2607bb9c2a9", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "f0d80ce3-1dd7-4d9f-b45c-dfa0a28e7ffa", + "observation_id": "7965e04f-d6d6-43e7-a740-f14cdfbce2b0", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "6bc2d513-3a5c-4351-9389-e31718c0e2d8", + "observation_id": "f5d3f0a5-c29c-484f-a85a-492543176102", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "60532f7c-b0b9-4cdc-b12c-b4394b4c8896", + "observation_id": "2cb4aea6-ba10-4f77-9ee4-80589f007fef", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "978147b1-97c2-40d2-b742-c2c669a97d68", + "observation_id": "bfc96b36-277b-4599-81b5-613f6f1db97d", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "f68d10c7-49b7-46a6-aa36-5c03dad05db1", + "observation_id": "340b43d6-2e5a-4dfb-96f1-5280cadcb4f4", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abceg/render_b_camera_pose.json b/data/camera_study/Scene10/k5_abceg/render_b_camera_pose.json index b0fe2b4..998892b 100644 --- a/data/camera_study/Scene10/k5_abceg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k5_abceg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:01Z", + "created_utc": "2026-06-02T22:38:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abceg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abceg/render_c_aruco_detection.json b/data/camera_study/Scene10/k5_abceg/render_c_aruco_detection.json index ec2b427..737fd5d 100644 --- a/data/camera_study/Scene10/k5_abceg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abceg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:59Z", + "created_utc": "2026-06-02T22:38:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bcb5cc30-0af4-4fd4-a0f3-65c355f5c651", + "observation_id": "73970516-f233-4a16-8c41-2bf6607cf173", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "471bfd76-37e4-48ab-acca-54e8df0088f3", + "observation_id": "32c2e700-9100-4bbe-9264-f50da15d5395", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "cc78d4e7-45c4-46db-9057-82d40ab3fece", + "observation_id": "defda917-081e-42f0-a73f-ffac44071a58", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "4b826087-0531-4b8e-8b81-683e2a372be0", + "observation_id": "4f94c881-4610-45c3-ba40-c566ac0b12bb", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "cf3f2275-6a44-4e86-bccf-493190dbc8d2", + "observation_id": "62933fad-05ab-4dd9-b391-2d59611bd10a", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "2001e7c5-2436-4372-89fc-2e700490f429", + "observation_id": "114be8d5-b10a-47a6-80ad-5d4307e252a4", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "01500191-2a45-453d-b2c8-311a181de415", + "observation_id": "35b30d57-ee47-4bd4-9017-0ff01d9ed793", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "3444cd3f-68fc-4bfd-a95c-4b3b25fc8c3d", + "observation_id": "f19d9ea0-e9d1-46a7-a5e9-b49e176edb75", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "a05a4f7b-12bc-4e2e-b3e6-b8d4da7af935", + "observation_id": "02c3206f-567c-4eba-abf9-4e05d99f1f48", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "69b3b501-afb8-4427-9a62-b26e43d2f33d", + "observation_id": "28a04949-1dc1-4fd6-86ce-50b21a58abb1", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "d8b1e2ea-e18b-42bd-93e5-cae2a3cb9597", + "observation_id": "da716424-6e0d-4657-8f19-deb76412b398", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "633c798e-38dd-474d-ab26-821a17f737e6", + "observation_id": "373f643b-fb38-40d5-83ff-579068f89c08", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "eb411fd8-d31a-40d1-a43c-4bfbf2eb8d59", + "observation_id": "15a2dff5-22ff-4e86-a167-ee21cb27b0fd", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "14697402-de71-4913-9fba-bb23cc4c831f", + "observation_id": "53358f76-3e50-448e-932f-a28143f10bdf", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "895e9353-6771-4774-a386-86bf2751ac1a", + "observation_id": "8ba441fe-9c23-4e0a-8963-b232965b0c53", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "fdd6c25a-03d4-4ab0-b1e0-ee6f2a1dd1bb", + "observation_id": "c7043cfb-e428-4af3-b483-b61c6288356d", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abceg/render_c_camera_pose.json b/data/camera_study/Scene10/k5_abceg/render_c_camera_pose.json index 6afe67e..6ff116f 100644 --- a/data/camera_study/Scene10/k5_abceg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k5_abceg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:02Z", + "created_utc": "2026-06-02T22:38:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abceg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abceg/render_e_aruco_detection.json b/data/camera_study/Scene10/k5_abceg/render_e_aruco_detection.json index 32089a6..d6acd73 100644 --- a/data/camera_study/Scene10/k5_abceg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abceg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:00Z", + "created_utc": "2026-06-02T22:38:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "86cb37fc-6a43-432f-9e6e-544b1d196c0d", + "observation_id": "9d81334a-e8df-4eb0-ba1d-1fdbab5fea04", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "fb87bf22-ada2-4c8f-a835-5732556ef1b3", + "observation_id": "ca2e75b4-cb42-4dcf-9007-ee9d7d708525", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "d743eefe-d4e9-433c-af52-266ae431ab93", + "observation_id": "4790388e-54c5-47f2-aff4-ca3f4ae4a703", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "5fd4a9e8-7f43-4c30-9b87-9d67dc90c7ca", + "observation_id": "944fc73d-9113-4d86-9b5a-83bc0a00186b", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "f7af3865-c727-467b-a65d-88a8327295a6", + "observation_id": "416c9e51-06f7-4444-9d49-12ec82f54b5c", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "217263f1-5744-46b4-942a-497f0f9fc3e8", + "observation_id": "5cd4f52e-1b00-44c5-b84f-41d0f78d06df", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "2705ec09-83eb-47ad-bc31-967144fd407a", + "observation_id": "39588539-d392-40bb-8bd1-5480635a060c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "c240bb19-9c38-43eb-82bb-5655df5aae9d", + "observation_id": "e6c2f20e-21cb-40ce-9016-4b2979b950aa", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "a2f7346f-0422-4beb-a47c-1e904f786662", + "observation_id": "a9a453a0-77ef-4852-8cb5-efe8719f08b5", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "c6925697-c8b7-4718-a75a-4c1aef27a2a2", + "observation_id": "f96d8dc0-c154-4090-ba13-112450f23411", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "636e94f5-0d23-47f2-925a-cd2c866f2c2f", + "observation_id": "adc48d42-950e-4567-bc29-c4fef9702034", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "1eac4daa-00f7-43cb-9d0e-fafbdb79b47c", + "observation_id": "4614632c-e4ce-491b-8bad-bcd61cd7b697", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abceg/render_e_camera_pose.json b/data/camera_study/Scene10/k5_abceg/render_e_camera_pose.json index 60aba88..be9002c 100644 --- a/data/camera_study/Scene10/k5_abceg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k5_abceg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:02Z", + "created_utc": "2026-06-02T22:38:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abceg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abceg/render_g_aruco_detection.json b/data/camera_study/Scene10/k5_abceg/render_g_aruco_detection.json index d5767d4..51305ee 100644 --- a/data/camera_study/Scene10/k5_abceg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abceg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:01Z", + "created_utc": "2026-06-02T22:38:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ca0974bc-f58e-4793-a8b3-ba9be9db98f5", + "observation_id": "a96b587c-bf71-41ac-9ec7-246da910c44f", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "9640ce69-3be6-4ef4-a2d0-df89d68399f2", + "observation_id": "2ea87387-640d-43df-a529-b2afda111893", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "60db7052-42b2-45b3-a98d-ff267d007355", + "observation_id": "47eb997e-42dd-4edf-8b83-16eab3b2ea75", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "2fbdb168-d08a-4f17-bf91-07a87dbc5754", + "observation_id": "9eba7d18-3cef-4a2c-b559-ff4cb0faa3e9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "635d51fe-eeb2-4f15-bc72-d08c062a80cd", + "observation_id": "efec3c6f-24cc-413c-be28-aa0149212e82", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "be381d59-6fda-4344-a886-a0308dd69f18", + "observation_id": "366e1a75-ca9a-4ce2-b1b6-518a0b07c0c8", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "f1d299dc-b95d-402e-957f-d4712ba4eb3e", + "observation_id": "d881b4dc-5133-4eee-924e-0503baca6111", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "061edb4f-07e1-4456-ac8a-f720d3797366", + "observation_id": "ab41ff77-38f8-4941-9911-301dd7261027", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "4434bbb4-a5d4-47ed-8bf6-8d7bb91960a8", + "observation_id": "29eb95c6-2381-4a4d-84d1-75608728271c", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "fed47bdb-83d8-4193-8978-f1e0dcd03710", + "observation_id": "eeee3622-1496-4b5b-856a-b38062f3ad9b", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "0a76c230-5caa-4914-8e2f-db5ca6ae8cee", + "observation_id": "47edeae7-bc4f-43a3-902a-4e57ee9d6d69", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "e674a856-17bf-486d-9077-28f36f28dfef", + "observation_id": "5705786b-d40f-4cd6-958b-e9fb4aaf2789", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "10105e79-23ed-4203-bab0-074c9f4e3d2b", + "observation_id": "47424ac6-0526-4117-a49c-6fa5adf4a389", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "df652290-1053-4b4f-aa79-8d233ac4aabd", + "observation_id": "ba22fcac-5ac5-4457-95f2-323a3a2a90bb", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "d4412a4a-967f-43f3-9c56-735364ce14a5", + "observation_id": "1ebebb4b-2672-46f5-943c-66bfaa05cbe0", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "75125bb1-1099-4bcf-8095-385dacf4013c", + "observation_id": "03dd0c70-5f27-4a52-b2de-19befceb1323", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "bc2da241-530b-4b27-a952-022400d29b6c", + "observation_id": "6ca6b650-f789-4f2f-83ab-117351ca099c", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "fa718eb5-d41a-4c01-b1e5-361cb2a33092", + "observation_id": "aca3e0f4-a81c-4407-a741-c0474158b29a", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "2b7b168d-3934-47f9-9314-342710857689", + "observation_id": "1c52671f-4b41-4221-ac50-e3f240e4f7a9", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "32e5946b-5123-4032-a372-be41c3216c9a", + "observation_id": "d6646c35-44a2-4afe-b3b9-014cf3163519", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "fc4db1e9-8e55-40d9-8bbd-39a57a4ba3a3", + "observation_id": "28d9d808-04fb-4f1e-817a-5d3b78d2b5ae", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "aec16d40-d114-4ea1-b8a4-c43601ee75a9", + "observation_id": "8952e6fc-1fb2-45f6-94a6-98f4f6d2427a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "b5b75a60-a99f-48e2-b279-f5d7120f22ef", + "observation_id": "2fdc61fe-8202-4723-8bb1-32eaa6d79a8d", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "67fae8ae-b759-4813-b82d-016ac8c253ce", + "observation_id": "df7b1152-cead-4174-bc2b-96e6e0b142fa", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "198f220a-f0ad-4af8-894c-079fd453aa79", + "observation_id": "47494d24-0bba-4d50-b5dc-6291b6646e25", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "17a90d43-9cde-4e19-bd89-0a3b5453bda5", + "observation_id": "f44b652f-af80-4d12-ad7f-b8c2b3410e1d", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "2336081f-e85e-48ed-999b-dcca931653c8", + "observation_id": "5c05ed1c-7e20-4ee5-b958-29cf9670173c", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "f1c7a956-2caa-49e5-aa41-c03c098a956e", + "observation_id": "ac902653-5136-481a-b83f-de655215d74a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "b0a1ccea-9283-4a69-84a3-ba27250e4f06", + "observation_id": "d6ac37e5-b538-422d-89f0-fae5e7180d84", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "5d4d66c6-2659-4a32-b85b-e6fcf7ac4d5d", + "observation_id": "ee0552cc-bba0-41e2-a957-04b0a967fa17", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "57c08b22-d191-417b-9013-f7f7b0c9d4c8", + "observation_id": "cc476538-0d75-4bef-9efb-54e72a66add3", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "708558a6-1365-4a1c-b224-688fe94fd06f", + "observation_id": "5cbd81ef-39dc-4fa0-9662-618bbc1ec5a3", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "e6072a05-f582-49f0-9e18-1138ed4a8748", + "observation_id": "ec2cb790-1b29-40f9-a39d-9cca6371a24e", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "8958e792-2cdf-4249-bc6e-4d0774b49e75", + "observation_id": "932cad55-d692-4aab-991a-d126e7b442aa", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "07ea74f9-b051-4f5c-a514-5761bd4f9cd8", + "observation_id": "8d0e0758-7f45-47a7-b9b0-21c14c33c896", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "58f521d2-346b-46a5-8d7f-4af30c58f493", + "observation_id": "8cf2d5f2-70a8-4c9f-a6d0-e7506e563f5b", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "a66db5d8-9f93-46cc-afcb-c526f3e31f18", + "observation_id": "fe49f858-15f5-43c7-8697-45e22d5e9675", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abceg/render_g_camera_pose.json b/data/camera_study/Scene10/k5_abceg/render_g_camera_pose.json index c27d928..3702707 100644 --- a/data/camera_study/Scene10/k5_abceg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k5_abceg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:02Z", + "created_utc": "2026-06-02T22:38:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abceg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abceg/robot_state.eval.json b/data/camera_study/Scene10/k5_abceg/robot_state.eval.json index 5e3b9b6..cbedd63 100644 --- a/data/camera_study/Scene10/k5_abceg/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_abceg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.4015871659422032, "mean_abs_mm": 1.1113790290700365, "max_abs_mm": 1.4880733110980344, - "finger_error_mm": 0.8316886921923902 + "n_unobservable": 0, + "wrist_error_mm": 1.7256829480908098, + "finger_error_mm": 1.0487065821994708 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_abceg/robot_state.json b/data/camera_study/Scene10/k5_abceg/robot_state.json index cd3c7c8..3294e88 100644 --- a/data/camera_study/Scene10/k5_abceg/robot_state.json +++ b/data/camera_study/Scene10/k5_abceg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:06Z", + "created_utc": "2026-06-02T22:38:24Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_abdef/aruco_marker_poses.json b/data/camera_study/Scene10/k5_abdef/aruco_marker_poses.json index 449704f..7663de8 100644 --- a/data/camera_study/Scene10/k5_abdef/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_abdef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:21:01Z", + "created_utc": "2026-06-02T22:37:23Z", "summary": { "num_cameras": 5, "num_markers": 33 diff --git a/data/camera_study/Scene10/k5_abdef/aruco_positions_initial.json b/data/camera_study/Scene10/k5_abdef/aruco_positions_initial.json index 6e5e8e5..0f4b995 100644 --- a/data/camera_study/Scene10/k5_abdef/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_abdef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:20:58Z", + "created_utc": "2026-06-02T22:37:21Z", "summary": { "num_cameras": 5, "num_markers": 33, diff --git a/data/camera_study/Scene10/k5_abdef/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_abdef/aruco_positions_optimized.json index 44d049e..ba3ef04 100644 --- a/data/camera_study/Scene10/k5_abdef/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_abdef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:21:01Z", + "created_utc": "2026-06-02T22:37:23Z", "summary": { "num_cameras": 5, "num_markers": 33, diff --git a/data/camera_study/Scene10/k5_abdef/render_a_aruco_detection.json b/data/camera_study/Scene10/k5_abdef/render_a_aruco_detection.json index a977986..0b18153 100644 --- a/data/camera_study/Scene10/k5_abdef/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:54Z", + "created_utc": "2026-06-02T22:37:16Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4dea23aa-1bf7-4ea3-9a24-c9ddc7c42305", + "observation_id": "42ee8759-bdea-4cbd-b81a-a7e06c74f7ab", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "42b4bcb0-c92f-4123-bfc4-4bca4a21575e", + "observation_id": "0170cba8-1aad-4a12-a86c-a96d2da7fe5c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "d04d1b96-b80a-4c99-8d8b-7daf440fada7", + "observation_id": "35cb33bd-a861-4d1e-a7bf-533e1a8f0c36", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "09e06e97-66a3-46f8-a6d1-74a94f123670", + "observation_id": "fb3b6326-bc63-45c0-afdc-6e3d65b25531", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "961379c3-f8fd-4a61-b480-d7b07fb044d1", + "observation_id": "60eb4b74-ae13-4cc7-a33e-feee56bf9291", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "e7fa70b7-08c8-4ccd-a235-51b92a3072ce", + "observation_id": "cb569f5d-ef13-454d-86e1-86aefcda4d54", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "780c8e8e-9a21-4ee5-a91c-991b5fedb03f", + "observation_id": "318c9313-f639-4283-b8c8-9ce69973fd5c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "178333c0-2726-411d-8d8f-b7c3b423d75e", + "observation_id": "631ac6d3-265a-46a6-9dfe-69345c9db376", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "10c2294f-b19d-40cd-984e-714a256e0f67", + "observation_id": "34c91678-b4b4-4faf-bfef-de5b19cea989", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "531efc2f-defd-4b99-9b8f-92e5f2d3e253", + "observation_id": "3b2cac78-9fba-4131-abe0-44cc33e8f7cc", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "b568d010-def9-4dec-bd4c-ebcb06ee0157", + "observation_id": "9b015796-15b0-48a7-bc37-b75aa74c14cc", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "8d7aab66-9ec2-4255-ab90-5963d5abd82a", + "observation_id": "81d05ff5-81a4-400f-bafe-1585f6b64745", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "0dcf9621-862a-4add-b9a0-2dfb05a02392", + "observation_id": "d1a116a0-b7d6-40de-8545-ac72c38eefca", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "d994325f-9966-4e3c-9f6d-53df44c6dee2", + "observation_id": "d14545ca-789f-4cda-af85-3b6992589518", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "0221c873-f30e-40ba-8b33-63ef511130bb", + "observation_id": "a6624979-8a2c-49fa-bee6-2d931a2afcc9", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "1d15aafb-f3fa-47a2-9aa6-31cfb110ed5f", + "observation_id": "c007ebee-23a5-4e7c-8f69-bd7ed4a7e1c8", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "bfe5839d-7e86-449f-b5f4-6b872b607409", + "observation_id": "b6289b6e-5566-400c-b40c-2c003f7e9ae9", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "2440e1dd-7d68-4ae5-869f-fde743bee75c", + "observation_id": "55ea8d9c-4e20-404e-8220-f9a9906158b6", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "2d1c31e2-8db8-410d-98b4-bbc121ec6c3e", + "observation_id": "9120beb1-ffb5-48fb-9186-7cecb11a8fa3", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "5fef8576-32fe-4cfa-b1a0-6a2a3d63d322", + "observation_id": "3174832d-eb21-4ba2-b088-690a4b74b28c", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "5761d8eb-14d4-423b-985c-6482cfe1a1f7", + "observation_id": "e676b092-424b-4943-a962-f4f9ff51ec25", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "ea6a3e64-5160-430f-9dc0-50c49b2eb083", + "observation_id": "3fd4b186-4048-43da-8407-7ee4b51de933", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "ad26c05e-71bb-4b48-9faa-e6b5774c5c6b", + "observation_id": "30964506-189e-4eef-8702-c7dbd4752f33", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "591faa8b-8942-4c7c-aab7-58baa9b0b304", + "observation_id": "a2e4c61a-3dbe-4b68-820e-4b7596179bcc", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "36b2d3b3-f142-4da0-b10f-b57fd7e41f41", + "observation_id": "1fb8f8f8-d104-4cc8-958b-80dafccaea94", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "0513c958-1992-4f0e-a010-94968b6e6d9f", + "observation_id": "287b79e2-253e-4c3b-86dd-9542829532d7", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdef/render_a_camera_pose.json b/data/camera_study/Scene10/k5_abdef/render_a_camera_pose.json index 8d7dfde..3ad1e6e 100644 --- a/data/camera_study/Scene10/k5_abdef/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:57Z", + "created_utc": "2026-06-02T22:37:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdef/render_b_aruco_detection.json b/data/camera_study/Scene10/k5_abdef/render_b_aruco_detection.json index 850f60c..5edeb23 100644 --- a/data/camera_study/Scene10/k5_abdef/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:55Z", + "created_utc": "2026-06-02T22:37:17Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d2068ca2-f3fa-4080-a117-0e244f99da30", + "observation_id": "a2be8b59-f75c-4c07-abf4-468f263757f0", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "2095e005-3308-4782-82e4-30690b55a6bb", + "observation_id": "a7dadbcf-de75-4366-946a-a3b9a19def76", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "383462f4-0b0e-40f5-8ffa-1ec63505feba", + "observation_id": "7def498e-b453-46ab-843e-8fee24814965", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "e7113a04-498c-4531-8212-b5f2fd81de37", + "observation_id": "ccd6aed9-7f7a-4fea-aa64-8986e3c2374d", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "3eb13393-ba18-459b-8fd9-412e77754407", + "observation_id": "9a44216a-f41c-4bcb-9ab0-f5735b97678c", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "a04c6eb9-9e35-42e5-aeae-ba4599d77be4", + "observation_id": "0cba677c-4fa4-4d61-8245-d00f12d45780", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "dabe56b0-258c-430c-8d7f-0f9dcbf22e4b", + "observation_id": "44a96fbb-e7b6-4b17-8339-7230579e52b8", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "49404505-ef8f-412d-a4bc-50bd9670f654", + "observation_id": "991389b4-081f-4cc7-9382-a7dfb7aa796c", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "a4b28bc8-d9eb-4d53-a90b-1fee6494f5b8", + "observation_id": "def0a365-e5de-40ac-b63c-f2b9f118e685", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "e6c98792-3605-4931-8cf4-f87d67296f49", + "observation_id": "819218f9-2b51-4591-96d6-ecbb956398df", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "d53d553d-8141-453c-971a-15ff4b2a2f0f", + "observation_id": "7b20a4a6-0e24-43ef-98bf-f02a37343faa", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "0a0b312e-8358-4f2e-a8cb-515de8a2de97", + "observation_id": "0af50c53-8e96-4b98-8543-b88cc1c7449c", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "7fa19928-c1de-43ea-8c6f-9b865ccb50d8", + "observation_id": "e91ed090-5efa-4936-a44c-e8967e402ca8", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "2c47d489-ab2e-48e9-92c5-8372ca07078b", + "observation_id": "1f2b3fee-205d-40c7-acea-616d0d6c83d9", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "2ca597a4-2b9a-48f3-8255-7e4685a23649", + "observation_id": "6517597f-4c11-4498-95a1-a163df359b16", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "19736862-079b-4da7-8e61-e739f99eee3c", + "observation_id": "68c26ee6-1cf2-4cf9-9ba6-b73543a90435", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "7589dd2b-d6ca-4cc7-851d-62a04ed691d2", + "observation_id": "2d7439b3-c9cd-4c75-b2a6-243e72c1ed74", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "a937bec9-ca87-4bad-841d-9d6fbb3c3e2d", + "observation_id": "bb9601da-f907-452a-9493-92c595d2a029", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "d5b8fe27-1e29-4570-bfc3-fa8932e4114f", + "observation_id": "6eabfb58-911d-4025-9b87-d12fb3b90197", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "ce457fda-3aed-4ffa-be6c-079a2bbd845d", + "observation_id": "e5b9f4af-5dbc-4a65-a102-3617860b478d", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "9c8f1078-faab-404c-865a-5a6e10934f51", + "observation_id": "de92d7a2-d061-4093-b0ea-8992c5b78fa5", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "a33d6451-7f58-4849-b6a2-92463f0c2409", + "observation_id": "1749b8fe-84c1-46b8-89ae-7b437a44712d", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "7099649f-7cb9-4f4c-9a77-38ce7b68d6cc", + "observation_id": "3334625c-a3dd-4104-9594-41c1884a577c", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "abe6cadc-b7b3-438e-b5d2-e9c18932a840", + "observation_id": "587b0721-c3e5-4701-82e9-7b359562159e", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "180eded9-85b1-409d-9aa2-c95262e89611", + "observation_id": "cfe3e55e-1a4c-4ead-8c25-64008ed03655", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "de6b64ac-96b7-4665-9aec-aefec5b9d4cc", + "observation_id": "823d3307-d36f-4138-9c3e-bb2c7c3d6a10", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "7c971ec8-92d1-42e0-8109-bfbd064e0702", + "observation_id": "a47b87c3-fa78-4cdc-81c1-e0c9accee52b", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "c7bf8e95-b815-43e5-b52a-37ccb5b7c0c8", + "observation_id": "bb64fdee-8e4d-4ff9-b2f7-4d53f717af9a", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "ffa49c7e-5049-4c57-9b9a-d78ca0ad4cd7", + "observation_id": "20e6e2d5-df0a-485a-96db-ba8476f3f6d8", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "6bf2ec4e-6481-4a36-ab1d-07d22849e9e7", + "observation_id": "6364219f-d37b-4ede-83a0-c2a92e424359", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "6a5d6d3b-a1b5-46dd-a205-2c44505de10c", + "observation_id": "71c2c258-76a6-422c-ab93-aa380d893091", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "63f5d618-f460-4925-98ec-3901a29a43d1", + "observation_id": "f6189f53-ac52-4b9d-9e09-f8750b5f4bb8", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "9e627626-2989-482d-8039-c4a5f95f31d7", + "observation_id": "6d22a9bc-1378-4393-950a-e405abd86a79", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "53f738a8-04d1-421d-a2d3-9ea29894b92f", + "observation_id": "a1d22158-8c8f-4c8a-a2fb-a4c270d34147", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "6709df33-793b-4769-affb-fb95f07b1f7b", + "observation_id": "298c95b3-8d8e-46c5-983a-50354290d75a", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "590f329a-91d1-48cf-ab66-4e182a00bf78", + "observation_id": "41ef7d09-3eba-4b34-adfd-decff4831961", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdef/render_b_camera_pose.json b/data/camera_study/Scene10/k5_abdef/render_b_camera_pose.json index 4ce422f..f71f852 100644 --- a/data/camera_study/Scene10/k5_abdef/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:57Z", + "created_utc": "2026-06-02T22:37:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdef/render_d_aruco_detection.json b/data/camera_study/Scene10/k5_abdef/render_d_aruco_detection.json index 537b97a..1fba6a9 100644 --- a/data/camera_study/Scene10/k5_abdef/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdef/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:55Z", + "created_utc": "2026-06-02T22:37:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8dcb6ba8-c2a2-493a-86e5-3c6c27533daf", + "observation_id": "a880d0bf-e941-4661-acbb-81929df5d120", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "e2d95f4b-cab7-43d4-b274-a71b1790d932", + "observation_id": "e4f2f25c-9663-448f-b919-62d0306ed343", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "6c814576-44b2-4c7c-b5c1-bf55d682a666", + "observation_id": "4889c773-39e4-43a2-a642-525d8dded234", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "98ce32f1-5ced-4f36-a4d5-1b9c9c551382", + "observation_id": "d8a8455d-a0f8-4be8-b7d3-d60d83afa68e", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "2b0021f8-7993-4ff8-94ef-89b3ac8dbe0a", + "observation_id": "1b9ff4c2-da3a-475a-a382-72a469d03c83", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "b37d2693-e54d-4d68-b14d-ecfe38b510b2", + "observation_id": "be234736-10e9-4b9b-a784-a2b2b919de8d", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "617eed43-a6ba-4bdf-ab4c-07c12838da9d", + "observation_id": "feb7f8d3-c8e5-47c5-a7c7-786aa9000ac3", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "8c0e1072-a62b-4233-8b4a-739847e4f7ee", + "observation_id": "fcebb4ec-ca59-4526-9741-4161744faa82", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "3f3ede61-f306-4f78-b481-10f489d295da", + "observation_id": "c24b50f2-5d07-493d-9f87-6ef199f8f28c", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "ea7fe8bb-7d68-4895-adf1-c88c128611c0", + "observation_id": "e021a622-23fc-4e5e-a903-50c75763e698", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "b084c076-dcff-44b4-99e2-c7a33663d539", + "observation_id": "c3fb8199-1920-4f04-881a-9aa5a4507e53", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "431d3da3-3743-4ca5-8dac-56752cddc710", + "observation_id": "5d31998b-dce9-492e-9e1f-89391e06302f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "4a0f5079-1eca-45d3-b56c-965ab36451ee", + "observation_id": "5f619818-738d-49c9-ac8e-afe916a0f888", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "47b0a843-918f-4b58-bb21-ee79d012b9bf", + "observation_id": "5d564c3f-95f5-43c8-8a29-91b7c79a0e32", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "bee83280-c497-433d-9045-199c3acdaa75", + "observation_id": "51f9e188-978d-468a-84ab-3e870f1241a6", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdef/render_d_camera_pose.json b/data/camera_study/Scene10/k5_abdef/render_d_camera_pose.json index 8a81608..b897d5d 100644 --- a/data/camera_study/Scene10/k5_abdef/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdef/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:57Z", + "created_utc": "2026-06-02T22:37:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdef\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdef/render_e_aruco_detection.json b/data/camera_study/Scene10/k5_abdef/render_e_aruco_detection.json index 0ac6f23..936d3dc 100644 --- a/data/camera_study/Scene10/k5_abdef/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:56Z", + "created_utc": "2026-06-02T22:37:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d32e046a-6259-4ca4-b4cb-41bcae9dffd7", + "observation_id": "81f25fae-1c14-4a89-ab39-4b7bae986cf3", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "661b530f-3de2-44d0-822c-09d9beb1f0e1", + "observation_id": "598c0942-b10f-4f60-9447-3dbb7d3261f4", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "6dca981a-c4b6-43eb-80a1-a60cf71cac77", + "observation_id": "0c1c79aa-bfa0-41fb-abcb-05fafca4751e", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "870b5f37-da48-4811-aa9a-65644fbb6747", + "observation_id": "5a2f6a7a-abb8-41bf-9175-4b11da85c2d0", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "bf19cb97-4e8b-45ae-97e5-ec2f0951f85d", + "observation_id": "de280fd5-2100-4182-a981-8c90c3e38099", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "ddada9ea-1346-4154-941e-b5ca9b66466c", + "observation_id": "c3fe5bb0-df5d-4163-bace-79571c33af0d", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "589d8ff0-8b9a-4ae8-a3dc-0ccd65d6a7b7", + "observation_id": "4ae577f6-ee83-43bc-bf80-1bb5efcfbb54", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "9c4e5ac7-6e6b-4678-bf03-fbb773125b84", + "observation_id": "8b34f507-1ead-49c0-bfd3-6ef55e3e159d", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "6b41269c-1a66-41a8-bda1-821dc2232941", + "observation_id": "72d1b1fd-f671-41f6-9cf0-ec2acfbb9215", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "c50abe24-34b4-4087-afe2-883dc713c141", + "observation_id": "bdf52d04-3af1-4041-b2fb-ff8c38973be9", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "38a9316e-ba16-4cf1-a91f-51065b729bf5", + "observation_id": "405a6ded-8b2e-45e1-a022-17ece7ca5b46", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "34836edb-8142-4f16-8e9f-341adbcce24f", + "observation_id": "e792bb1e-790c-4abd-9483-a13d57ec5ff0", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdef/render_e_camera_pose.json b/data/camera_study/Scene10/k5_abdef/render_e_camera_pose.json index d9ecf55..1adee98 100644 --- a/data/camera_study/Scene10/k5_abdef/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:58Z", + "created_utc": "2026-06-02T22:37:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdef/render_f_aruco_detection.json b/data/camera_study/Scene10/k5_abdef/render_f_aruco_detection.json index e9e070d..b59109b 100644 --- a/data/camera_study/Scene10/k5_abdef/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:56Z", + "created_utc": "2026-06-02T22:37:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "eb284a24-c4b9-4188-a456-b7e763892823", + "observation_id": "217cc10e-74fc-465a-bfcf-1c4aa23f5b62", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "5bdd63bb-6e31-4572-ba5c-f140ef0fb651", + "observation_id": "f9f30d9d-7fe9-435c-b672-d4252ec202e1", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "a112c947-28da-4b9a-a819-35af5dd23b2b", + "observation_id": "4a0c2e75-36cd-40ea-a1f8-8e6aefe70b49", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "d31821db-ab46-47f5-9e84-cbd7f76811d6", + "observation_id": "69e4d8d4-0c9f-44ff-922e-1587507ea621", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "ae90b6c4-ed22-4f51-8b54-39d5e573b349", + "observation_id": "3e916b40-f228-4a35-997b-3c3c6578a689", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "495f5408-4a57-4394-b192-f332e3d2648f", + "observation_id": "7978f3b4-606f-4734-a6cb-b1733808dd8c", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "46c3b6c1-80ef-41ab-accc-0ed50dd442e8", + "observation_id": "b5faa1bf-d9b3-4165-992f-d2a0f99947d6", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "def630a9-f34a-4416-a596-d52e7dc70767", + "observation_id": "e0f49c88-c0d9-4f95-8025-37d205eceaf7", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "bc9988e9-a27e-4910-b1bc-5f9add41d331", + "observation_id": "110cb2ff-c19d-47ed-b7ef-3c6d94c89a12", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - 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"observation_id": "d6e9c46d-5921-4ade-96f0-3e44387430de", + "observation_id": "8332842f-272a-41d6-8e19-142611fb2354", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "9dd11c24-ab31-4304-945b-feff0f09a6e9", + "observation_id": "b498d650-c832-4725-9ea9-79229e2b4136", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "0f07c1d8-b286-4955-9601-70db65218fde", + "observation_id": "3dedcf96-7ff3-4c68-92ef-7570ddf74f9f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "8b4f5378-dcb9-4328-943d-5f66cc85346f", + "observation_id": "612a82c8-8a12-440b-bd66-906939f9c8ca", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "cf22d2f0-6cbf-47d3-9693-6d329d17cbc4", + "observation_id": "8fb900f9-816f-44cb-b1c6-64775c984a33", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "ddeb8cf2-d9b7-48fd-aba3-0a54c1d6ba14", + "observation_id": "4d4f53ab-4430-4fc4-87cc-a03f0ec2f73c", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "74b865a3-a0e3-4419-92ba-08d787e02ab8", + "observation_id": "0e47e5ad-208e-433a-b0bc-8fbf55571a4a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "816d4df8-885a-44f4-b262-bb2f104ab82b", + "observation_id": "c9f46eea-03df-4e44-aaa5-dcf188e6440d", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "7fba1611-6608-40d3-b7f7-1b929161363f", + "observation_id": "4bfbccd0-2508-43bd-93d4-66c335ce1466", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "b7f93890-8e0d-4cb5-b1b2-0582dacae794", + "observation_id": "540e120c-458f-4b5e-984d-a193e7157b81", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "8fa828db-24ae-4dff-84e4-0ed8706021aa", + "observation_id": "36e49808-6f60-4d3d-93c7-6a09341c7c34", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "3bed481c-352f-44e2-af52-9bb3cccf7dc3", + "observation_id": "d65beb51-6698-4586-bc14-740ca7ed54ed", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "9e5426d9-5d76-4e4a-b835-314d4e4a393b", + "observation_id": "51acac8c-9173-4647-90bd-c3990835629a", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "590b2769-a422-4aa4-a58e-fc94dec3bae9", + "observation_id": "f9fb7053-d46d-4943-8545-0a30d87277c6", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdef/render_f_camera_pose.json b/data/camera_study/Scene10/k5_abdef/render_f_camera_pose.json index 4555794..a2ab77d 100644 --- a/data/camera_study/Scene10/k5_abdef/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:58Z", + "created_utc": "2026-06-02T22:37:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdef/robot_state.eval.json b/data/camera_study/Scene10/k5_abdef/robot_state.eval.json index 53f42ab..d192351 100644 --- a/data/camera_study/Scene10/k5_abdef/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_abdef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.3458580630074835, "mean_abs_mm": 0.9408102945553982, "max_abs_mm": 1.715667450896036, - "finger_error_mm": 1.753136526383498 + "n_unobservable": 0, + "wrist_error_mm": 1.184642508272548, + "finger_error_mm": 2.0078387026408304 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_abdef/robot_state.json b/data/camera_study/Scene10/k5_abdef/robot_state.json index 91b215e..0b7cb0f 100644 --- a/data/camera_study/Scene10/k5_abdef/robot_state.json +++ b/data/camera_study/Scene10/k5_abdef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:03Z", + "created_utc": "2026-06-02T22:37:25Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_abdeg/aruco_marker_poses.json b/data/camera_study/Scene10/k5_abdeg/aruco_marker_poses.json index 871602c..63fd60f 100644 --- a/data/camera_study/Scene10/k5_abdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_abdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:21:32Z", + "created_utc": "2026-06-02T22:37:52Z", "summary": { "num_cameras": 5, "num_markers": 37 diff --git a/data/camera_study/Scene10/k5_abdeg/aruco_positions_initial.json b/data/camera_study/Scene10/k5_abdeg/aruco_positions_initial.json index a7bc4e4..be30533 100644 --- a/data/camera_study/Scene10/k5_abdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_abdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:21:30Z", + "created_utc": "2026-06-02T22:37:50Z", "summary": { "num_cameras": 5, "num_markers": 37, diff --git a/data/camera_study/Scene10/k5_abdeg/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_abdeg/aruco_positions_optimized.json index 01c1390..7097ea5 100644 --- a/data/camera_study/Scene10/k5_abdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_abdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:21:31Z", + "created_utc": "2026-06-02T22:37:52Z", "summary": { "num_cameras": 5, "num_markers": 37, diff --git a/data/camera_study/Scene10/k5_abdeg/render_a_aruco_detection.json b/data/camera_study/Scene10/k5_abdeg/render_a_aruco_detection.json index 67eee07..d1cca6a 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdeg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:26Z", + "created_utc": "2026-06-02T22:37:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "667368c9-bc72-4e25-b57a-403bb4be66f8", + "observation_id": "89f580c4-bca2-4acb-bc7c-29eec6fc987c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "63fc93c9-2092-41d5-a3de-859c8255e0dd", + "observation_id": "cbe14079-940e-43c9-8874-2824ed7ed264", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "10b844bd-0501-4abb-a8c6-96cc820eb10e", + "observation_id": "a5b541ac-7c34-486b-803d-ef0a89f99ac3", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "6ad4a5ac-08ef-4458-b11c-97412c6a579d", + "observation_id": "47dddc19-2d28-47d3-9418-91b291265148", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "f9be8280-a9d1-421f-88a3-d5b24d8de9f1", + "observation_id": "ac0beb99-9dcd-424d-bbcf-a5ac86e4c929", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "b0af4aea-c1e4-4558-9d5c-38666d59ee42", + "observation_id": "249c7bcc-22e8-4427-bafc-ea9c5a7d6781", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "b8e57b72-48dc-49ab-8a20-0ad19968f957", + "observation_id": "2cc4f824-0df8-498b-a3e8-68458846be18", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "3d9aeeaf-c2fd-4ba4-8012-afd8044132ff", + "observation_id": "6015d3af-4c4c-40e5-98a7-6eb290847425", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "5a768ea8-4895-4b6d-b151-52c9f4188bb3", + "observation_id": "0d093e7e-912b-459d-84cc-4a6f430aaf8b", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "a904b1af-0965-47c9-bdf5-fd9c67c679f4", + "observation_id": "be9bc2d3-e392-414d-80d4-538c33722b78", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "8a5bcb14-45fa-460b-b3e4-0554ba146850", + "observation_id": "700d3522-a4fe-4c8a-a020-c1815fc6a56e", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "1d0cf499-1526-4de7-978c-9feb64e3692a", + "observation_id": "69d61da8-a6d4-4cc3-9cb3-938937e6f362", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "7c977487-1658-496e-85cd-e0412369ac42", + "observation_id": "f43b39d6-4a84-4061-9b90-c857a9f86672", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "71ff4aac-892b-49bf-96a6-afc44fed6fbc", + "observation_id": "544417af-e419-4754-ae9f-d7af311eea69", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "013ff030-d720-4234-88c2-24127a7ab7cc", + "observation_id": "47d878a9-6aa8-4f75-96e6-5c82dc723c03", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "90af3ed6-8b61-4899-920d-eb523d267811", + "observation_id": "9fa90f07-113b-4ce0-ba4b-e51e4f98ef49", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "fc3a5ade-75ea-4b0d-8231-d2336e78ad53", + "observation_id": "4062deab-a92d-4d14-9992-b8571cbd2319", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "a3411a15-40d0-4327-aaa2-a94e0cdfd82d", + "observation_id": "b73684d5-fe02-4b51-a1a4-6f7c0059ceb9", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "0b48448e-3f6a-4a73-b907-8f4563fc6e3a", + "observation_id": "d017435f-8194-4ade-afc1-cc08a65b0693", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "04570bbb-3398-4c69-8e76-6193db8a77e0", + "observation_id": "64ebbf08-17f2-4bb3-b341-30f07710b0ea", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "ac171fe1-baee-4649-a290-5424bc1e057e", + "observation_id": "1403ae95-ff94-476a-90a6-c8acd486a5da", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "e8f3e4d0-2e15-4b1b-98b0-f65b5990c69b", + "observation_id": "26b55b10-6ef0-423c-acab-cdb174a6c25d", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "a316e5f1-6293-4b3e-a390-553a945c5469", + "observation_id": "cb14ecda-f61d-4aa1-b870-224a1931f619", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "6cf1f695-d013-42f7-9e68-9f12cb882bab", + "observation_id": "34e544a6-dd30-4c6b-8555-81eae8ccc3c3", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "4301f747-3c54-4845-96bc-addffdfb159d", + "observation_id": "ff119cfc-74c3-4bd7-b765-106254b82707", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "301a322e-f386-413d-bca2-769667887649", + "observation_id": "91fe461c-d7dc-4860-b4f5-fe751b0b119e", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdeg/render_a_camera_pose.json b/data/camera_study/Scene10/k5_abdeg/render_a_camera_pose.json index 6c0593a..000f938 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdeg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:28Z", + "created_utc": "2026-06-02T22:37:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdeg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdeg/render_b_aruco_detection.json b/data/camera_study/Scene10/k5_abdeg/render_b_aruco_detection.json index bb45de6..ed9bf47 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdeg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:26Z", + "created_utc": "2026-06-02T22:37:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ddee2d4f-1e38-4c66-905a-22f27fa78aa5", + "observation_id": "1ff0f29f-59f2-456d-b2f5-c898aae31220", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "dcd19d0e-3bf0-4a80-a88f-2beebd51e4d0", + "observation_id": "626b8012-21e2-4982-b7bc-97ff35be340d", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "bd1bbb9a-763f-4c6c-8e57-d39750fc31b5", + "observation_id": "5a14290d-d1fc-4245-a039-893b95f14048", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "5f7a11eb-ed47-4c3c-953b-593f8ee2a3b4", + "observation_id": "641a3ce4-f0b0-44b6-97b3-c43ecede803b", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "dbf1f222-b65c-489a-825b-8e5bfc41c3ab", + "observation_id": "40d251db-1477-4d6e-a46d-1b47f4895ea9", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "814ab577-ebe4-4347-91f4-7c06149ce702", + "observation_id": "2a0865b8-ddce-44f5-b2d4-1f8789742f85", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "65679681-9379-467d-bdff-913b0e83b235", + "observation_id": "3623d876-49a6-46f2-9e4e-b7779e758ff4", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "0ed6e50f-444a-428e-b5b5-058e48c210e0", + "observation_id": "35bf8200-9490-4d4f-92c1-71aa9bbdacbb", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "50212826-502f-45ca-b6e0-75a0808e20be", + "observation_id": "a56fd80a-65a4-47a8-8c84-21f170b3ba26", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - 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"observation_id": "3b98c8fa-053a-4506-a697-727a04880736", + "observation_id": "507da729-5cf5-4238-b1fe-9914a0b6195b", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "75c996f1-7c3f-4a90-9030-12ca09cf5c0f", + "observation_id": "14838b06-1407-4853-b447-f50734ae4b57", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "03bf144a-3d29-4105-92fb-e821db115ac7", + "observation_id": "c0946334-ef3f-4037-b9ba-5a6e84bf9cdf", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "9a6fd9b2-7240-416d-a2e5-128d73b8e6e6", + "observation_id": "9f7a00ca-2dfc-4824-a2fb-b543caa11b04", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "9be07d45-a764-473d-a8ac-0088ebfc412f", + "observation_id": "9408de69-4e69-4a11-a12f-5d4bc6fa61ac", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "44b0cd4d-df41-47ce-9ea9-15473742f5e4", + "observation_id": "c43b314a-5577-43a9-8c46-840284411a83", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "639d1ce9-e822-462a-916c-be23ab4ad776", + "observation_id": "435ac949-bf76-4356-92a6-641064fe855b", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "f26c19dd-dcff-47f5-a002-9e3c63db9ad0", + "observation_id": "b0e4bb61-bb38-4591-b36c-45cd5eb09907", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "acd51fb5-5e42-40ba-b928-c4a14e5b748c", + "observation_id": "f7854b93-e1f7-42ea-96a1-f1fdef5e6402", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "13962f32-f162-4d3b-bb76-4f4ea450a2b4", + "observation_id": "097d53b0-e8c7-42cc-a52b-e57af1a60f0e", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "64b170da-4bfc-490d-ab50-4c4218fea30c", + "observation_id": "e3cb73d8-844a-4317-aa37-aef012670c7f", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "40f5bd86-0552-45ac-926a-f008e5edbf31", + "observation_id": "70d5ebb8-7db1-472e-befe-14e1fb22ebe4", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "b20e20a5-57bf-4efb-b530-bebcf82ff417", + "observation_id": "ca5e8993-e469-4790-a0ca-5da040176368", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "35d281e0-f11e-45db-abb2-55d6eb61a8c8", + "observation_id": "08782700-555e-4574-b9f6-30f3d7f9941d", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "f1014907-12b8-46d8-952e-86dd340429c2", + "observation_id": "8983ed8d-69a1-4a60-9e0d-706d4bb9f348", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "3d578536-530f-4a07-8075-c14d36afcc71", + "observation_id": "cd8a913a-c867-48f2-a92d-caa7de93e842", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "66d80047-a10d-4cef-922f-a3e48368aec7", + "observation_id": "72452fab-c10d-45c1-9e91-9a922e6634fe", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdeg/render_b_camera_pose.json b/data/camera_study/Scene10/k5_abdeg/render_b_camera_pose.json index ea0bc31..9efe817 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdeg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:29Z", + "created_utc": "2026-06-02T22:37:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdeg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdeg/render_d_aruco_detection.json b/data/camera_study/Scene10/k5_abdeg/render_d_aruco_detection.json index 6be005d..642feaa 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:27Z", + "created_utc": "2026-06-02T22:37:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f176de95-5636-4615-bf0f-2fab95ef6228", + "observation_id": "aafd095e-87ce-40df-9821-32449f08afd6", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "0e950a42-3785-4da0-868b-48b67fbbbba2", + "observation_id": "a36ba5fd-a3e1-4d5c-b86e-4d9aee8fa76a", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "b49cd9a8-d601-4af9-9e16-0e1795b1f8f3", + "observation_id": "bb245236-c1ce-471f-98d4-d822e8df91bb", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "223d7638-e7ec-4fa4-8d95-efd2277a888d", + "observation_id": "f56e574d-627a-4f79-a2af-f223f58b7aee", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "5395abcf-00a5-4b08-b385-c5d3e8f1937a", + "observation_id": "82726578-824d-4bbd-89a0-a4d5b045100e", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "4eda3773-3c8c-4b78-b5bb-d591363ac90a", + "observation_id": "ec219510-3a8b-4b72-94e9-3cfbec696e3f", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "4151bed6-e2a5-4fa0-ad49-ec6d345e8eb0", + "observation_id": "f53b6d2b-8b44-4992-9640-04075f1f423c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "0038b35b-a620-4e57-a8ec-a480be65bdc2", + "observation_id": "c2c6c413-19e1-4009-a123-421fc47ea5ea", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "43073207-3e3d-46c5-ad00-8241d0306985", + "observation_id": "5381604f-9656-4ff2-a2c9-86f2137ab496", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "5c4df347-8ffb-49e7-8ec1-1a1e2261826c", + "observation_id": "d0ea3689-a565-42e6-8da4-603e5066c5a9", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "e88002a1-8503-4d48-bf51-8996b63bfa18", + "observation_id": "31688c86-e0ea-414d-8795-6ce4e047d152", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "50b949f8-b2be-40fe-9704-b323d06d5ffa", + "observation_id": "8550f93c-2345-47de-a0d7-6a1909303241", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "bb6010db-86c3-4817-8dcd-490084687642", + "observation_id": "8ca5cc54-7be9-4404-9197-6d702fedb9c6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "19a2f103-6d8c-4b1c-bda5-50e937c88595", + "observation_id": "afce3913-f6af-4dd2-b434-3ce6f6126938", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "2a4f9d6c-5f4d-4f41-83c7-074274671fda", + "observation_id": "f3fa2f40-ff16-4034-9f02-24ba4737b647", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdeg/render_d_camera_pose.json b/data/camera_study/Scene10/k5_abdeg/render_d_camera_pose.json index cd5d154..1657b3c 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:29Z", + "created_utc": "2026-06-02T22:37:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdeg/render_e_aruco_detection.json b/data/camera_study/Scene10/k5_abdeg/render_e_aruco_detection.json index 68c4154..309af23 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:27Z", + "created_utc": "2026-06-02T22:37:48Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "5991720b-0abc-4571-b4ae-a96bee2d22ac", + "observation_id": "15b70ba0-8912-4a5b-b441-44ce86cfffb6", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "01d3e722-2945-4f2b-b9af-523e4cb31318", + "observation_id": "98d95ab6-aff1-44d8-9193-e4618c6797f3", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "3ca201f1-9adb-4a29-a2bd-146f673ebeb4", + "observation_id": "65d0f029-3204-4b2a-a34b-a9235449a298", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "8f8d1137-c6bb-4b26-a66c-4862e90a5402", + "observation_id": "a2449316-5f9a-4ae2-bee1-e411762c06be", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "8c44ef34-0e6b-4fff-9327-18056e886123", + "observation_id": "c6936836-4352-4031-a2ef-974229b380db", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "ec8474e8-fc44-4c4b-a0e0-52fdccf49e8c", + "observation_id": "bc89998a-8d39-4341-bbcf-59de837a74f6", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "c704e6b4-3524-49ef-94d8-40491224dad2", + "observation_id": "66cae05c-e322-4d9a-bd1c-4584e5637064", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "b25cbe98-b5be-4f72-8d0f-192fc48efcf3", + "observation_id": "d44189e9-ebc5-41c7-b65a-e553ae2498a2", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "53d127d0-4251-4a41-b4cd-5befa136a3b9", + "observation_id": "83762b48-7f86-459b-8436-ad6de648a1dc", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "b03a78c4-cb66-4965-8837-23eeacc4efe3", + "observation_id": "dee46958-a889-4d75-b81a-a0d8d31d7b31", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "56cd7e78-8705-42f5-9ff6-806834e83887", + "observation_id": "6f6a16c5-9b15-4577-bae6-cbf17168b2b9", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "1953c774-1dc0-416a-b101-42f2bfcbcad3", + "observation_id": "97d7d2cb-fe32-47ed-9824-0df12185d53a", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdeg/render_e_camera_pose.json b/data/camera_study/Scene10/k5_abdeg/render_e_camera_pose.json index 79cc679..22dbd69 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:29Z", + "created_utc": "2026-06-02T22:37:50Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdeg/render_g_aruco_detection.json b/data/camera_study/Scene10/k5_abdeg/render_g_aruco_detection.json index fd0618a..2330441 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:28Z", + "created_utc": "2026-06-02T22:37:49Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "349dc1ab-a8a1-4e51-8bfa-b12ed484a1dd", + "observation_id": "cb395574-bf4b-4d9c-9e89-eec5c30be973", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "7d6502ec-b8dd-4362-96b7-c8d27b9a3c13", + "observation_id": "abbf672a-183a-4fc2-9594-7be1e9eff3ee", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "390f3bd0-301a-4a7b-bd09-9aae61b10a59", + "observation_id": "f882e497-d2a8-4e1f-bee4-9fd8ac77ffaa", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "64986fbf-1110-4558-829b-356c3bdea855", + "observation_id": "214db31c-8f12-40c1-b6da-840b40e517b2", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "828c638f-8cb6-4d9a-be2e-c9df6d5fbf67", + "observation_id": "7a7a0b42-0c4c-4997-8ec7-fffd67ad8c73", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "40497f42-0389-4192-91f6-69c9fabc9860", + "observation_id": "e8649962-e49b-42fa-a67e-97b1540482e6", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "61a52fe5-8d16-4f42-81b8-46aae59b5565", + "observation_id": "a9fba7a0-5475-4ab8-9c8e-463079a959b2", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "38f46540-f051-4e82-b753-c9d2c06b6fbe", + "observation_id": "b33e5923-cb2d-45a6-9ea6-6c0e98753e45", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "aa5210f2-d427-408f-9a25-9a0fabd367d6", + "observation_id": "7573692f-df03-4a29-8821-fe4c72eb8ac7", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "7d742c6a-953e-458b-9dec-0853df1f2c32", + "observation_id": "bfe29bce-2fc7-4888-a1a6-144480adbc22", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "4681918c-1dd5-48ff-a080-9c65d868522a", + "observation_id": "c04a85c4-2a13-4ca2-a06a-191bbe6fcbcb", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "f7eb0156-0ffc-4855-8ee3-0a2147023d48", + "observation_id": "f8327cb3-5fff-40c4-bcdf-c00f29670d92", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "66b5fbf5-fee6-4d3a-a770-eb4b0a53ef23", + "observation_id": "8c4d6ffa-2d15-4d16-88f7-688f5810cc9d", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "2deced7e-3faa-43f7-88ce-80d3135b7838", + "observation_id": "1bc2af54-0afd-4117-9d9c-c465c024d032", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "905f1baf-9af7-42b6-8339-f5b8c8d5c2f1", + "observation_id": "f873997c-048e-4835-8035-d2d84006e797", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "8d3c55a4-2aa9-42f7-93a9-76a016ad8349", + "observation_id": "4b9aab1d-9f31-4907-82f7-3a9bbbf7a349", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "31ab12e4-27ba-4bf8-ad2d-c0f038ac44bc", + "observation_id": "b3c52a05-c290-4ff2-89f9-4b13e04080db", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "1929b42d-5e65-4bd3-9466-de4a1dc9fa71", + "observation_id": "1cfe22ed-e3d1-4e57-a027-5a6c91aa35a5", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "b55c9658-3e81-4d0d-9ccb-501a143751e6", + "observation_id": "006f5c60-347f-4a82-bad8-eb6ef39e7c1f", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "95e80653-58c9-4aad-a8eb-34434bbad7a5", + "observation_id": "9ca7901f-88d4-4f77-a423-a8c468d221a1", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "6719cb4f-ac51-4bfd-99d1-c6736cafb66e", + "observation_id": "1da0bca0-e30c-4166-bd50-67e14817d8e8", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "f9135011-f9e3-4bcf-b79e-8fe727edfdd5", + "observation_id": "cbd4323e-d1a6-4d3c-8130-f264d4026f79", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "508b08d4-0015-44eb-a185-bbad8666a969", + "observation_id": "6edcca6a-9bb2-4c16-be29-6fc3c45395d2", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "9ac6aa02-416b-4f78-835a-f3542a5bf4de", + "observation_id": "a3b73b66-6c70-45c0-8255-a36c77a9ea32", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "edd88f2d-70be-423b-8faa-8a80ab40ba3f", + "observation_id": "99d3a4e5-accc-4e45-8027-38db79b5dd59", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "06e5b4e1-15ec-4bc9-8bfc-8ce95c6850f6", + "observation_id": "105b9313-503c-4a46-89ad-c3ba7b7d6f6a", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "5879e06b-6e2d-40c9-8917-8fd79c8f5206", + "observation_id": "4bd179ed-7e78-4b69-ac52-debcc8137d36", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "a34be9f8-a752-460d-9b8e-b1a6c874a396", + "observation_id": "586e8aab-b0b4-4437-8bc4-06cedbbb62d3", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "0013fa5c-1e67-47d3-bee4-0349002287fe", + "observation_id": "0425b6aa-13c3-4ddb-8641-bed0e660a787", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "46229dce-8cd6-4275-ae4a-e900834eb2b6", + "observation_id": "ee7349a7-cbe5-461e-be6f-4a3e5c024bd1", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "47af34cb-6669-4eb5-9146-0d5aab7ae5ac", + "observation_id": "371051a7-2aa8-4ee9-8421-a50139df10d8", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "fede390a-97d0-4eb2-a4cf-873ac4aae2fa", + "observation_id": "40cc97a3-56e4-4b9a-91c1-c6ade13669d6", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "df4a518a-aa3d-4028-8bba-cd605a620a36", + "observation_id": "6593d784-475b-48bb-a371-94da5198647a", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "5b287791-48c2-4e90-9ae4-3ecbb5acf5d7", + "observation_id": "ff70829f-931f-4ef3-82e9-a79a58e77902", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "db46b8f8-b381-46e3-9e80-dba7964b11ce", + "observation_id": "87dc5353-2f72-4583-8cf6-228dea59d13d", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "d5cbb5fe-fc84-4a44-8d6e-a0da9e5f7afc", + "observation_id": "c5997bed-5886-4701-ad1a-dcd1d65a42b9", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "1a26d5dd-2209-4aec-89e1-1b5f6e899ec7", + "observation_id": "fcfd76a7-db8a-4068-aea8-80d940019f6d", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abdeg/render_g_camera_pose.json b/data/camera_study/Scene10/k5_abdeg/render_g_camera_pose.json index 8188d7f..abce6eb 100644 --- a/data/camera_study/Scene10/k5_abdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k5_abdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:30Z", + "created_utc": "2026-06-02T22:37:50Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abdeg/robot_state.eval.json b/data/camera_study/Scene10/k5_abdeg/robot_state.eval.json index 1a3c2f4..a530296 100644 --- a/data/camera_study/Scene10/k5_abdeg/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_abdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.6217943404604682, "mean_abs_mm": 1.328091297853494, "max_abs_mm": 1.7652834795854284, - "finger_error_mm": 1.3272603441065582 + "n_unobservable": 0, + "wrist_error_mm": 2.2521628716377897, + "finger_error_mm": 1.5961113696906963 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_abdeg/robot_state.json b/data/camera_study/Scene10/k5_abdeg/robot_state.json index 5a12b9c..e64d13d 100644 --- a/data/camera_study/Scene10/k5_abdeg/robot_state.json +++ b/data/camera_study/Scene10/k5_abdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:33Z", + "created_utc": "2026-06-02T22:37:54Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_abefg/aruco_marker_poses.json b/data/camera_study/Scene10/k5_abefg/aruco_marker_poses.json index 6cca33a..8a25450 100644 --- a/data/camera_study/Scene10/k5_abefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_abefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:21:55Z", + "created_utc": "2026-06-02T22:38:15Z", "summary": { "num_cameras": 5, "num_markers": 42 diff --git a/data/camera_study/Scene10/k5_abefg/aruco_positions_initial.json b/data/camera_study/Scene10/k5_abefg/aruco_positions_initial.json index 9dc963d..adb3dee 100644 --- a/data/camera_study/Scene10/k5_abefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_abefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:21:48Z", + "created_utc": "2026-06-02T22:38:08Z", "summary": { "num_cameras": 5, "num_markers": 42, diff --git a/data/camera_study/Scene10/k5_abefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_abefg/aruco_positions_optimized.json index 6695d64..ec12020 100644 --- a/data/camera_study/Scene10/k5_abefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_abefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:21:55Z", + "created_utc": "2026-06-02T22:38:14Z", "summary": { "num_cameras": 5, "num_markers": 42, diff --git a/data/camera_study/Scene10/k5_abefg/render_a_aruco_detection.json b/data/camera_study/Scene10/k5_abefg/render_a_aruco_detection.json index e0b1075..cb08610 100644 --- a/data/camera_study/Scene10/k5_abefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:44Z", + "created_utc": "2026-06-02T22:38:03Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "db708c22-ed5a-48bb-ac23-5deb75d573bb", + "observation_id": "3b373c30-c332-422d-af5f-a31db59f6ffb", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "6d7bbc43-065d-4b73-b7a8-ba71996daf03", + "observation_id": "cead4f8b-28c2-4b6a-9275-b0510d717a2c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "3596c2fb-8187-46bb-a6df-4ad367337a0c", + "observation_id": "3d7f904c-1504-48f2-afa6-de3c3e7f43db", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "f2793e0c-b032-48ee-b7f7-151b00dfb40e", + "observation_id": "bf4ebbe8-5d04-433c-a73c-264265caa5a0", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "1a0fd80c-cca6-4ada-9289-b01680c92d9d", + "observation_id": "8250b8ee-0d29-4c1c-9e16-0f6632e81853", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - 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"observation_id": "5eb0ad01-524c-46c3-8517-9f16dd16f48d", + "observation_id": "0f527282-f081-4ee0-92f6-2367a37634cb", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "b7342db5-a335-428a-8a1f-a886e55263fe", + "observation_id": "00bac9f9-af3a-4ea8-b97a-64920011feec", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "a2a4d5d6-fd50-4db4-8cf2-dbf16ccf7635", + "observation_id": "eb2d471f-84ce-480f-94a7-2bcdd12cfe62", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "3c1c167a-0722-4b07-b0d8-78846c688478", + "observation_id": "1781e1ff-3810-41cd-9a0d-71ada90167fa", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "ce0f62e1-1cfc-4c2a-b9b2-21c1c3dd3bdf", + "observation_id": "7ee91e96-604e-4fe9-aa07-e51af1fb82e9", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "84d0842f-5169-451a-8639-276f03120f4e", + "observation_id": "61933602-1340-4406-a9fc-051f48375844", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "81830344-64ac-44e7-87b5-26633d95bdf9", + "observation_id": "832100a2-4d3d-4c80-ba73-0cacdecc074f", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "8182c125-0f8e-4c3d-b07e-e45f441e7be4", + "observation_id": "b1450dd3-b8ff-4b4b-b54c-28354e96a248", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "42d55bdc-f64d-49f8-be6c-da74c964a41b", + "observation_id": "b446b28f-0305-4b4c-be25-45272d0f2b3a", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "3a492153-79c3-4c6b-9527-2a02a019480f", + "observation_id": "ae7a5cc8-8823-4733-a84d-757e5fdd8876", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "1603f0f5-ecdf-4463-b198-4f94f9630db3", + "observation_id": "f2b7e4b5-11cf-439f-af32-01b6255189a5", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "fd615161-fd8c-4d5d-9d72-6e9418a0f349", + "observation_id": "ae2de61d-1797-4082-ab02-ef3008c79395", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "357b7fc3-60ab-45fe-91ba-2ee1d10ed7a3", + "observation_id": "5d0dad8e-852d-4a0a-a9af-8a101151694b", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "94601e19-235e-4687-89ad-937d5b4333e3", + "observation_id": "9898d3bb-9e7e-4ff8-8169-93d7b8ba6ec4", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "87736583-2712-4ce1-a184-38eed1604dd5", + "observation_id": "8ea02b91-f511-4e5d-ad09-b469e754dd15", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "3a7761d7-0c66-4b93-9df0-92c82ee7d831", + "observation_id": "120a39e7-de38-4928-8471-f2494025348f", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abefg/render_a_camera_pose.json b/data/camera_study/Scene10/k5_abefg/render_a_camera_pose.json index 054d7b6..207c721 100644 --- a/data/camera_study/Scene10/k5_abefg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k5_abefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:46Z", + "created_utc": "2026-06-02T22:38:06Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abefg/render_b_aruco_detection.json b/data/camera_study/Scene10/k5_abefg/render_b_aruco_detection.json index 5801080..65f77bd 100644 --- a/data/camera_study/Scene10/k5_abefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:44Z", + "created_utc": "2026-06-02T22:38:04Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9dbe37da-b078-4a7b-92ca-fc2a284ba5f3", + "observation_id": "8c9b1282-c13a-4b47-90cd-4e30269b1aab", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "c50d7d2f-2f07-4696-95dd-2f051e88eb45", + "observation_id": "a585086e-c13c-4b83-ae9c-6239dfa15920", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "adf74670-0367-4e83-b8f9-4e6d5245f522", + "observation_id": "92d44c1d-2589-46cf-8448-e0b85127eaf6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "ce8350fe-2932-4891-aede-ddf60ae9117b", + "observation_id": "f469ba5e-1b7e-4a21-b647-0f5124d5da1e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - 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"observation_id": "456a9c0f-dcc6-4dc9-96ff-86bb31f1b863", + "observation_id": "a99e0542-d383-4f04-9dbb-63142a5e87c7", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "579ec523-0f4b-4f8a-89fe-8b5afd5220fa", + "observation_id": "8f8d9a34-a058-4417-a5f9-8fa29074b76d", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "422746ea-496f-42d6-912a-fdaddb5f3eeb", + "observation_id": "e2d68d73-a5cb-4ea7-9f71-48f0df9c3c6d", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "c1c872a6-3b9b-4d5e-9a90-7b7d738c4e6c", + "observation_id": "4dba901a-8b15-465d-a9e1-9723490ac2df", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "5c1eb200-e16a-4210-98ba-6354403f63e6", + "observation_id": "4506e675-fd44-40ce-946d-c56823f2beac", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "ec072cef-92d3-4ec3-b0d7-d2333fe24d74", + "observation_id": "528f0653-cfe9-4a7d-a7e5-db5bd5b18176", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "53df6c14-c99b-4a93-8b7f-3aa9f09c0b02", + "observation_id": "3d2a4212-2e40-4d6c-8c10-ade2a31368b2", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abefg/render_b_camera_pose.json b/data/camera_study/Scene10/k5_abefg/render_b_camera_pose.json index 1567c66..451a05f 100644 --- a/data/camera_study/Scene10/k5_abefg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k5_abefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:47Z", + "created_utc": "2026-06-02T22:38:06Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k5_abefg/render_e_aruco_detection.json index 77e5aa9..9a0e1f5 100644 --- a/data/camera_study/Scene10/k5_abefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:45Z", + "created_utc": "2026-06-02T22:38:04Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c9e04834-7fe7-4ade-99b4-094f372c3c97", + "observation_id": "8113e7d8-69bc-4e55-968b-e73ad734c158", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "4cedda3d-5b02-4766-8048-f54cb221a3a8", + "observation_id": "8862c34d-d14e-46dc-ba6f-6a0ae207a8e9", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "223b8c8a-36bf-4f3f-8b42-a6887f38aa57", + "observation_id": "5411f767-25e1-47b7-88eb-4928e2c3eda5", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "3607c630-bd84-4207-b4e9-2960107f5ff1", + "observation_id": "09bc2174-12ef-4786-a866-869a9dd7476c", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "bd339773-2631-4340-9895-d1547c0e878b", + "observation_id": "558c8277-48e2-4449-9fad-6e9389e61bb4", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "b1e9dd21-1493-4679-9b9a-759d58987fb5", + "observation_id": "1faf41fd-b64b-453a-a91b-0933f037cbd7", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "ebb5a744-7051-43e3-8afa-02dfe8385baf", + "observation_id": "caaa23ae-8f99-4c01-81e8-32244a4a7469", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "b140b9c5-f343-45e6-bb73-fc42f73636f4", + "observation_id": "1e4ac7ae-5290-47cb-b99d-426d3812c246", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "cf4c3562-e2e8-4dcb-ab46-f47e64020a04", + "observation_id": "0aed4285-7c42-4520-be28-53af3e1a5b89", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "5c097bef-8603-4bb4-b858-9af528003327", + "observation_id": "4f704c8f-486f-4de0-9064-e37a9e3202f4", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "70494daf-9c1a-4c84-b843-0d65cedd2974", + "observation_id": "ebbef139-52dc-444c-b92e-5bf348fe34f0", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "5ea70ba4-9147-4eb7-94d9-41c0372d18a6", + "observation_id": "106e5435-079f-4914-94e5-9ff84c84bd66", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abefg/render_e_camera_pose.json b/data/camera_study/Scene10/k5_abefg/render_e_camera_pose.json index 3e0207c..2c1c11e 100644 --- a/data/camera_study/Scene10/k5_abefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k5_abefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:47Z", + "created_utc": "2026-06-02T22:38:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k5_abefg/render_f_aruco_detection.json index 57ca012..0ea3f51 100644 --- a/data/camera_study/Scene10/k5_abefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:45Z", + "created_utc": "2026-06-02T22:38:05Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "812a4669-3808-40b0-9bee-83621ea1a8a8", + "observation_id": "ca92b01b-edd1-4821-bea4-febc868ceeed", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "3ac5049d-68c1-4cc5-b866-cca0a85242ca", + "observation_id": "df290295-cda5-4e46-af97-7c86c5219272", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "1f5c095e-178d-436c-9c69-6c5a139878ab", + "observation_id": "a64cd77d-db3e-4c3f-9932-bf20f17d29dc", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "36a6c523-ac5c-49b1-ae59-125ce406d4fb", + "observation_id": "a778fa73-9f52-483c-bd1e-87a08ea6b73e", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "6874fd9e-4f9b-453f-8387-af75d5a46f01", + "observation_id": "4a36f14b-ea37-410e-abb4-8fb0f5e8248d", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "ef471188-d49e-4cf8-a8fc-7be104fb632e", + "observation_id": "c77dcdcb-12f6-4bdb-948d-267aa43ccc51", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "c09d7279-ec5a-4c33-99cd-079141c95ea2", + "observation_id": "f717fef5-bf8c-40b1-9a25-d368fe47233a", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "fccb7dd2-369c-4896-950d-9ffb2a40522d", + "observation_id": "99772866-384d-41d5-909c-7d6220226143", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "7b87645f-5f72-43af-b093-f64b83e3cf42", + "observation_id": "a55d8cf4-4db1-4767-8468-4beeaf14dce3", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - 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"observation_id": "37a7381c-d554-4f25-98b8-75df3eb9e6f6", + "observation_id": "f1139465-e498-4e71-a45e-0b1bc211d1f5", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "a6ba99d6-d85a-41e6-b530-7bd7c4d4bcc1", + "observation_id": "507d6835-ef46-40e3-b64c-bfbe9d77afeb", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "a83a90ba-43d2-4aa5-93f6-2bedb107dd18", + "observation_id": "4dfcff9c-2106-43f4-90ea-50ca22d94d59", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "fd0eafdd-d0a9-44ad-a3a6-004ac92eb087", + "observation_id": "cd384e53-1fa2-48b7-af52-2d438a468511", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "c7659005-dcaa-446d-9ba7-ccf6e44ac451", + "observation_id": "18fc43f0-016e-4e98-8bf1-8aa077bc86cf", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "b6419bc1-0841-4cc4-8b7e-4efbc436b03f", + "observation_id": "f0f08c6e-1796-4c72-b82a-febdb7dc5cbc", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "4e8b4ed6-251a-4ddb-a29b-33fc514e1403", + "observation_id": "0eee1bcd-d923-47ea-8f53-5eaa8f1a0499", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "4a5f17b2-4ac8-4e4a-ba35-f306a4052e98", + "observation_id": "b9e3499a-4587-4f99-9ad8-bc6a69037223", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "ffcd45c3-e4f7-4a2d-9a65-f6c8d9e11ae8", + "observation_id": "ae07c147-bb21-45c6-b33e-246202dbe907", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "3099a292-e8e1-4c3a-a81f-e2247417cc66", + "observation_id": "7f2bfe01-fc95-4fd4-b1a7-760b4891d45f", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "65e71f34-e974-485f-ac06-67ad661ba003", + "observation_id": "c5fb42a3-1175-4dc2-be79-7185fe9942d7", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "fac27474-c73e-4ade-954c-239ba8038079", + "observation_id": "6a4b3feb-a431-4af4-a6cb-6901a63990ae", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "99f78f1b-e38d-4b96-bdc7-ef9f33ec2203", + "observation_id": "8c6f18a5-72d2-4edb-bcda-d65a24a71ae6", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "37aa22c5-cff8-4350-9632-be9bf936a97e", + "observation_id": "f433dead-3682-48b9-8282-6aa5987ce39a", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abefg/render_f_camera_pose.json b/data/camera_study/Scene10/k5_abefg/render_f_camera_pose.json index 2b3f025..ca3dee1 100644 --- a/data/camera_study/Scene10/k5_abefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k5_abefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:47Z", + "created_utc": "2026-06-02T22:38:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k5_abefg/render_g_aruco_detection.json index fc72d79..bacd074 100644 --- a/data/camera_study/Scene10/k5_abefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k5_abefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:46Z", + "created_utc": "2026-06-02T22:38:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "5b2e030d-ae04-4379-9abe-291c8e68be2c", + "observation_id": "ad91858f-3a19-45bb-a0f3-9cbcc6c7839b", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "f54173ba-8a6f-41bc-81d0-b8f1eca3b5b3", + "observation_id": "eb42bc25-49cb-4974-82ff-afd005ccaaa9", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "0b977577-7aa1-449d-adfc-b3d9a6900de7", + "observation_id": "d3f81281-3066-40d2-8838-ac28ca881070", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "16b66304-b924-43e0-b1b3-3076e36694d9", + "observation_id": "eda4e916-333e-4a27-83d5-6a72ffe23a4f", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "09b678e2-ca9c-4e5f-b412-cc7366b682d4", + "observation_id": "bc6a2143-78fe-4d25-bae7-96aead66c7a1", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "495ab795-9218-4b27-9fc9-c4bff9c77f07", + "observation_id": "fb3f7184-f7f4-4bf3-91ce-e173d6c6d3aa", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "282255b8-adef-4e93-b8b8-4ff57dcaccaa", + "observation_id": "14ef6e45-bed4-479c-bbc8-4f682eada0ad", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "de10b228-80e7-4ed7-950e-8b4a56750141", + "observation_id": "d89f90c8-7052-4d40-b7ac-7f3b434449dd", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "ae00fca6-8ee5-4635-b40f-a38cbf7416f8", + "observation_id": "a8bdffcc-f482-46e2-abf5-e82991499ca7", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "2a1cf3e0-730b-420a-92de-a50b0dcb0aea", + "observation_id": "b15d79ae-1ed1-4bc9-b2ac-1f438fe81f45", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "665662cf-131c-402d-b96e-eebe31fd53a4", + "observation_id": "29260ea8-6d81-4d16-8c7c-7dce6f3b9227", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "ca81a196-7519-4b60-9bc1-9490309c6aa3", + "observation_id": "bd34de6c-92d0-4c05-96c7-7456cedd1aa8", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "460d8470-4c95-47ac-ae7d-eb4c122cfe3e", + "observation_id": "f9b3bdc3-a1b4-4b89-ba6e-4d9da8f282d2", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "0fe723cb-103b-4ea5-8bc4-221c2fdd1184", + "observation_id": "f77af0ab-71af-4d01-bb49-8882ca224927", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "38b4f503-cb74-493f-afa4-0f0a92120127", + "observation_id": "91c3c2f3-1908-457b-9c28-1f4f8c3c98b2", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "20d72456-9e23-4f69-a6a3-23116559cb53", + "observation_id": "2786c079-1af8-43d5-bc5a-fecd12c1eab9", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "021fed30-6ca8-410d-906a-0b2604f7cd67", + "observation_id": "bcf4308e-c2e6-4b0a-8b35-c213f23c89ef", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "d60bd35a-7982-41bd-8ca6-2b8853ddb40f", + "observation_id": "3f29c8cb-051b-41d0-98bb-2d85d77a9129", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "526cff36-8f92-40be-a382-bfe59205b569", + "observation_id": "9c954488-b349-4ff7-9d8a-74d31ae5479d", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "a8408066-cffa-4545-aaa9-afd9f50b312f", + "observation_id": "8b5e1d2b-adf3-4833-80c2-db84e13cb4b4", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "3256d2c6-a8ee-44bf-a755-430d1fcaee94", + "observation_id": "7dd78d05-d3cb-4b2f-878a-9e72c0c9fa84", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "6f1ec559-dbfb-4fbc-91fa-23cd4f391395", + "observation_id": "f2c88afd-06c8-4e50-a5dd-85702dbc8379", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "84ebba8c-1cfe-4d57-89fa-a8dc83c01d48", + "observation_id": "7b85b9b8-7c03-4f71-8551-0efb1d3c5e85", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "2f4b038d-909c-4bdf-a5fe-7e7dab0fe0ce", + "observation_id": "f0b11d02-03e2-4101-863d-3b55bd7e99cc", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "bd3a1faa-9919-4347-a5ac-97547ba56f58", + "observation_id": "e46811f3-7953-4e06-a5f7-c41ce2985c7c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "269430b0-b0fa-4b7f-ad7a-ccda758c49ab", + "observation_id": "5df48bd6-a104-40ae-8582-892529ea5e37", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "7cff9f30-800c-46a7-b789-81faa8b9c797", + "observation_id": "ddb7894c-ef90-4d06-b850-9bf75eec92fe", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "14483f91-e6b5-4fdf-a7e6-bfd22bf9b491", + "observation_id": "38dd6c05-5e1f-4f7a-ab6b-72afc489034c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "cccac0ab-cf0d-4967-87bd-6529addacfbd", + "observation_id": "6e60aa0e-8dd5-46e4-b7f2-8280e17f52ee", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "80db60f9-d856-4000-85c3-77839894947b", + "observation_id": "909655c7-59cb-4abc-bb26-401ca94ce2c8", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "be250a68-2aac-4230-933b-22819cbe056a", + "observation_id": "d5b99d4b-1949-4e38-b59f-8beb36845771", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "c57c7a1d-ca6d-45a6-a104-55cc404a6e4e", + "observation_id": "70e3c35e-97f7-48c6-bb17-bdcd251ec5ee", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "86d5b0ca-5367-42b3-b479-b704a1c2e362", + "observation_id": "cdc9021a-a6ee-40f5-8fe7-2ba0f13be1ff", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "a7ce6832-ee08-4fcb-9b41-8331cb40a633", + "observation_id": "8e08a091-31de-4343-ae9f-0faf15d30505", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "c22845ee-c255-4f68-a262-33488b86d370", + "observation_id": "f4e5b40b-b475-4e9c-8a98-32f4b26d55e8", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "cbf3c681-12ec-45a3-85c1-9877f3ebf28b", + "observation_id": "49eb442b-ea72-43ce-b0cf-1aeb8f2cf42d", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "ac8cc1a3-6aeb-4eaf-922a-c407be940327", + "observation_id": "7f3ab21b-3bf0-4a28-ba80-83cac7617a38", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_abefg/render_g_camera_pose.json b/data/camera_study/Scene10/k5_abefg/render_g_camera_pose.json index 124cdc3..f14888b 100644 --- a/data/camera_study/Scene10/k5_abefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k5_abefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:48Z", + "created_utc": "2026-06-02T22:38:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_abefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_abefg/robot_state.eval.json b/data/camera_study/Scene10/k5_abefg/robot_state.eval.json index 5623e84..44ca472 100644 --- a/data/camera_study/Scene10/k5_abefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_abefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.1262271699425241, "mean_abs_mm": 0.9311555475023541, "max_abs_mm": 1.4258507707178385, - "finger_error_mm": 1.7479348346478136 + "n_unobservable": 0, + "wrist_error_mm": 0.859361925058268, + "finger_error_mm": 2.0641066490516162 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_abefg/robot_state.json b/data/camera_study/Scene10/k5_abefg/robot_state.json index 8717070..db7693d 100644 --- a/data/camera_study/Scene10/k5_abefg/robot_state.json +++ b/data/camera_study/Scene10/k5_abefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:57Z", + "created_utc": "2026-06-02T22:38:16Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_acefg/aruco_marker_poses.json b/data/camera_study/Scene10/k5_acefg/aruco_marker_poses.json index bd840cd..34df103 100644 --- a/data/camera_study/Scene10/k5_acefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_acefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:21:23Z", + "created_utc": "2026-06-02T22:37:44Z", "summary": { "num_cameras": 5, "num_markers": 38 diff --git a/data/camera_study/Scene10/k5_acefg/aruco_positions_initial.json b/data/camera_study/Scene10/k5_acefg/aruco_positions_initial.json index 0a6d013..ab94b3a 100644 --- a/data/camera_study/Scene10/k5_acefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_acefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:21:20Z", + "created_utc": "2026-06-02T22:37:41Z", "summary": { "num_cameras": 5, "num_markers": 38, diff --git a/data/camera_study/Scene10/k5_acefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_acefg/aruco_positions_optimized.json index 25f30fd..80dca7c 100644 --- a/data/camera_study/Scene10/k5_acefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_acefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:21:22Z", + "created_utc": "2026-06-02T22:37:43Z", "summary": { "num_cameras": 5, "num_markers": 38, diff --git a/data/camera_study/Scene10/k5_acefg/render_a_aruco_detection.json b/data/camera_study/Scene10/k5_acefg/render_a_aruco_detection.json index b48fea5..b1fb79e 100644 --- a/data/camera_study/Scene10/k5_acefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k5_acefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:16Z", + "created_utc": "2026-06-02T22:37:37Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - 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"observation_id": "01fc9e70-fdea-451e-8c30-e0d0b4b4966a", + "observation_id": "c539bdde-281d-40f3-b151-43c0107f1d86", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "e203e462-3307-4414-8614-292946f566ee", + "observation_id": "27f9fd88-aa7c-466f-9e8b-40a84b4c3a28", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "3ff86bca-0f54-4db7-bf46-759bbaff33ff", + "observation_id": "fdb1b892-52f3-4228-bca6-c17392b4e401", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "0768a2e0-a875-4849-989d-07a8f50e9fa2", + "observation_id": "1ca1f97a-1a4e-4930-b794-d911075c8a11", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "ffd018db-7840-4190-a5b4-aaad191f091e", + "observation_id": "bacfb6cf-35b6-448e-a54f-5f82137f6a82", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "776b7816-0926-4d74-9df4-70ee989d9035", + "observation_id": "333583ff-c867-4e4e-ae10-5b944104b750", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "9135efda-54b8-46a0-8947-ab96f2cc2d6f", + "observation_id": "7f086ee4-fe4f-4322-9370-1cf410a10ad0", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "7e734f6a-0f8f-4862-be75-1f09efc9d5c3", + "observation_id": "d066e96c-58d0-4847-a6b5-0972ab3000dd", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "68845ff7-1dd5-41e9-9432-bce9c43fe825", + "observation_id": "c330e722-9378-4821-9088-c2faad9a8abc", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "061dfd44-26df-4c5a-83ba-b58e9d96800c", + "observation_id": "0ccbe38a-8de4-4045-89cc-02ba0dfebceb", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "bd0bcba9-64ed-4ac2-bdcc-f45c26cdb151", + "observation_id": "be7ea63d-d205-4f71-ba84-0f7c4849786a", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "cdf02550-ea1d-4006-91bf-c7c3e2c4c097", + "observation_id": "519c0d8f-8e4e-4a7a-8c92-925528970f8b", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "27d45dde-29ba-4c50-a24c-0b265243d026", + "observation_id": "54d9db3b-4aab-412d-ab9e-99a813acdc08", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "ba156b7a-ef3f-446e-b1ab-fa3dee92c113", + "observation_id": "f4fa453e-04a5-4ebd-87dc-cc0dded9a61d", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "911fbef4-2cbd-475d-92c4-543e7d323cdf", + "observation_id": "9119ed73-1e3b-4a8f-9698-198df3da68ed", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "c1d4977c-ecaa-4831-8d75-9a14da494d28", + "observation_id": "63cb5fae-594b-4607-9660-fc8c2afdb111", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_acefg/render_a_camera_pose.json b/data/camera_study/Scene10/k5_acefg/render_a_camera_pose.json index 9973619..9bd6ea8 100644 --- a/data/camera_study/Scene10/k5_acefg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k5_acefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:19Z", + "created_utc": "2026-06-02T22:37:40Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_acefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_acefg/render_c_aruco_detection.json b/data/camera_study/Scene10/k5_acefg/render_c_aruco_detection.json index fa577df..9f099ff 100644 --- a/data/camera_study/Scene10/k5_acefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k5_acefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:16Z", + "created_utc": "2026-06-02T22:37:38Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e11a6aa7-b7de-42ed-9aa5-f2903db3e582", + "observation_id": "31069d29-063b-4447-b1f9-8d8b747a7a0e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "a9a83afc-b441-408a-a145-d7c814e745f9", + "observation_id": "01e1d086-4d4e-4dd7-b8e6-d0ac751d3432", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "7b35f604-48e9-4a33-97d7-b1bd00a2b24c", + "observation_id": "51f84294-e069-4033-bf0e-f0bd32f0434d", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "6c602433-3da4-4399-b8e3-74b2f0716d7c", + "observation_id": "98c14bb5-7474-4aaa-b764-a74474d88caa", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "4b48a14b-109b-43ec-abe2-ebad0513cec6", + "observation_id": "eaf57566-9733-445b-bb6d-416069a1bb2d", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "c3aafeac-0c57-45fa-8430-cf6dd256792e", + "observation_id": "8b871856-9b78-4f4d-b96a-499361acd429", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "62e52f8f-e523-4c45-85e8-a45f22838ad5", + "observation_id": "a0f9d23b-8e88-4f1f-afc5-ee6555d94ee9", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "d29bd074-4c4c-43ac-9c47-06bbf0f5d26a", + "observation_id": "a0677ba9-f3fd-4c11-9804-3f7e40ebe76d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "0d1ce139-4c5a-41d1-a08e-397413a1a3ff", + "observation_id": "78cc18dd-51d5-4d77-9230-8606f50cab1e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "d133b1a0-3f4d-4f36-9912-d0afc112a56d", + "observation_id": "4ef32019-655c-4b30-96bf-5bb5259755fa", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "18c3ac59-d891-4c5c-bf44-753027a43e15", + "observation_id": "328a006a-2b6d-47ba-8d9c-07a863930973", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "7b1bb2ce-90f0-4b50-88c5-2cc3f337528d", + "observation_id": "07ae67dd-52f3-4169-8d5c-4db365c1685e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "79322a70-1d3e-47f7-83a6-8094efdd2934", + "observation_id": "6b9e1384-bc86-427a-8c24-855b32c85933", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "977ef337-914c-4a40-b30d-fa079b9590a1", + "observation_id": "d9e0f0f0-f7f7-4cda-b7a9-ca40fa803073", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "78b3692a-7d77-4098-aba8-46bae5bd8060", + "observation_id": "c74912ff-d490-4b42-b290-4c6d0a6b4f66", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "10670d05-6770-4a71-b524-8da2c181511f", + "observation_id": "e78f8758-95ec-4ee8-adca-6850ee70b71b", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_acefg/render_c_camera_pose.json b/data/camera_study/Scene10/k5_acefg/render_c_camera_pose.json index b80f3f7..9b88d12 100644 --- a/data/camera_study/Scene10/k5_acefg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k5_acefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:19Z", + "created_utc": "2026-06-02T22:37:40Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_acefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_acefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k5_acefg/render_e_aruco_detection.json index baa5176..3384158 100644 --- a/data/camera_study/Scene10/k5_acefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k5_acefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:17Z", + "created_utc": "2026-06-02T22:37:38Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "92afc958-cba6-425b-996a-3245dcc2dd18", + "observation_id": "e1925a63-f62a-47b0-b998-fd4dba95b1f3", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "18aea16c-6af7-408c-a6c0-3479a5faf06a", + "observation_id": "86ce66e3-50e4-4db7-8477-2ca7cc6a5fab", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "bb506eab-0cd4-41b6-9e43-d1251a6dbe8d", + "observation_id": "ef102137-c392-472c-9c50-11a1a2540763", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "16b01907-a079-4025-b550-1ca85c882c4b", + "observation_id": "59a5c4eb-252f-4546-b8be-22de493e1c14", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "5990762c-6067-4093-9933-b00f5e76af0a", + "observation_id": "29392ce4-7fa1-4524-9e33-9412ee5dd19e", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "237ecc11-eecc-4963-b62e-f351634ad2b9", + "observation_id": "e7337ed9-9df7-4a38-8ed4-542481f14501", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "a84ab02c-9535-4b3a-8dbb-d7a2c2dbaf74", + "observation_id": "0836ce69-2454-4861-ac2e-8da8e1da4d0c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "96172504-f26d-4b6a-bb53-ac8ce1203a3d", + "observation_id": "2a71c698-e460-46b2-a52d-f54a80df62ea", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "b5c05f27-c09c-4118-885f-cc3d4387c4f8", + "observation_id": "64ae4252-58d7-439c-8f3b-f92a32d3a11e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "00908f30-2206-48ea-b3c2-6dd63610ea75", + "observation_id": "777e8a9a-40ed-4b41-a40b-d38b15b06dfe", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "3efd81f5-ada5-4ca7-bbe2-7204dcd28853", + "observation_id": "5b15db40-8540-4db7-9418-8ebf8fa9d8a8", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "cc16e2c8-47da-40a6-a042-9460e8c90d28", + "observation_id": "fdb5ddbd-4afd-4f46-a1ca-e8ecc1cdd626", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_acefg/render_e_camera_pose.json b/data/camera_study/Scene10/k5_acefg/render_e_camera_pose.json index 1ff8d26..1302986 100644 --- a/data/camera_study/Scene10/k5_acefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k5_acefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:19Z", + "created_utc": "2026-06-02T22:37:40Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_acefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_acefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k5_acefg/render_f_aruco_detection.json index 106a2ff..da0387a 100644 --- a/data/camera_study/Scene10/k5_acefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k5_acefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:18Z", + "created_utc": "2026-06-02T22:37:39Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "6b620ecf-4355-4995-b73a-053c6a6d9a79", + "observation_id": "618e3674-1ff4-4d1b-8f37-8f3fce41dcfd", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "286f112d-83cf-4b2a-9013-34b8dc37d3b2", + "observation_id": "5b0f5595-9dc4-48c7-82e4-a86ed22582f7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "5f07312e-4deb-40ba-b424-e79464f612a0", + "observation_id": "42cf79e2-0e2a-41d5-b766-97f9a1c7feaf", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "e92be791-d77a-4ddb-9c39-93d450524c53", + "observation_id": "17e3df01-31ed-45aa-b6b2-2037a5e11329", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - 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"observation_id": "f806a6bc-00b9-4d36-ac36-71abd53fdd32", + "observation_id": "e7bdb02e-d06e-4cf1-a7a0-f959190d22b6", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "8402b78b-a62f-4da4-aebd-b6badc59e4bd", + "observation_id": "60dab870-84a5-4a1a-9e94-80b6270a2df9", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "94f5fdb0-e6ff-41d4-b689-32b478317902", + "observation_id": "d1fee872-ae9c-4165-8e9e-f0e29543113c", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "1a9df311-7a58-4c6a-9d11-1ba6c36d5aad", + "observation_id": "f4e0aff5-4a0a-4dda-b46e-3827a8389dc8", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "0a027dd5-c4f0-47ac-a8e4-9dfea2b533e8", + "observation_id": "7218718d-40ba-444a-8059-5aee42c3070c", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "585cc0b7-a8d1-401a-a272-6d99d66fa105", + "observation_id": "c9ae362e-d95e-4bfe-9962-bc02dcc5c756", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "f05b5f60-48b4-4475-96c3-2c57fcd08569", + "observation_id": "9d8a4374-7e89-492c-b4fc-c66e6927a744", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "5c63da0f-dcc2-4ecf-8761-3c3a0f788b81", + "observation_id": "4d9eb2ca-6acc-426e-b260-071e93257642", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "2330ab44-f45c-4174-a2f1-127175aa2736", + "observation_id": "0d741f42-2302-46a6-ab1c-cc5fb133d14b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "c5728a5d-76c1-40ec-8256-c6de3f2c2d8c", + "observation_id": "7aed0ddd-0e94-4d46-b996-4baeb3de6e0f", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "e520ab76-28be-40e1-ae8b-6e9928576449", + "observation_id": "520a0ad7-06a9-49ff-9707-0496f62427fa", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "e7b7f1e6-0cba-4287-8451-e7faa3398d30", + "observation_id": "34603e2c-05e3-4728-9718-abc881ebbdf7", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "a52afb4a-8acd-4f9f-8bc6-82f165e96ea8", + "observation_id": "6c9aa3fd-0860-46a3-8d2e-2a8c34c51c7e", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "d7e7711f-6252-45b8-8716-59425ff9fedf", + "observation_id": "648a5174-6f70-4553-8b20-888693bc1db8", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_acefg/render_f_camera_pose.json b/data/camera_study/Scene10/k5_acefg/render_f_camera_pose.json index 2a22df5..ec25f0d 100644 --- a/data/camera_study/Scene10/k5_acefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k5_acefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:20Z", + "created_utc": "2026-06-02T22:37:41Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_acefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_acefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k5_acefg/render_g_aruco_detection.json index 620b454..8f468ad 100644 --- a/data/camera_study/Scene10/k5_acefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k5_acefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:18Z", + "created_utc": "2026-06-02T22:37:40Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e50eb642-11b2-4c63-87e3-9e2d16d73402", + "observation_id": "c8ec5a17-04e9-47d7-9d41-25e6717757fc", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "2dd81b41-d727-47e4-ac2f-6811398cc968", + "observation_id": "eabc55d4-433d-44c5-874a-4f7b277f61b5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "59e04931-8537-4ccd-9dfc-da77df831ba7", + "observation_id": "f40ec588-2f1d-4ef9-aea4-0b499676476f", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "62aba685-f7be-44d9-bcb5-3cef86a2faf0", + "observation_id": "e79f6a41-eb32-4f24-9f7a-80797bac897b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "7291337c-cc11-479b-b74a-632ed33b8b80", + "observation_id": "fd79573f-2c74-4321-9c29-f2bbe7baa979", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "ac7e843f-eea5-4523-a034-58ed50b91199", + "observation_id": "87ed7693-d938-4ec8-806d-431620069bf6", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - 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"observation_id": "b1dd24e5-26cb-4da1-a99d-2c61b9e635a3", + "observation_id": "f52bbaff-4e0f-4df6-8d07-7da0fbdc5482", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "02a59f5e-2c9b-41bf-a0a0-56035f1ea3bc", + "observation_id": "ff31da29-67a7-4045-9c79-6435d6495f29", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "d9a7268e-2e5e-4f0d-a24b-15567e558a10", + "observation_id": "9a4b4987-fac7-4b72-81b9-b8303d72b0bd", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "97a85060-df7f-4634-b5c2-67363967a257", + "observation_id": "dded3196-04bf-4d7a-a68f-1b9a54bc22e3", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "a77974de-820d-49b4-9e71-2af897df6ead", + "observation_id": "975aa276-39e6-4d84-9797-332ff847f9c9", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "4f6ae1ed-9c53-4f02-814a-7553fb9bb5ca", + "observation_id": "d94fcd66-e766-4729-b6e4-6582cfd6651e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "a04a78e3-f6a8-46e6-a4f8-d7e771dbe200", + "observation_id": "d224d257-ffb9-4801-9ae7-f603e05d55fc", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "49c08531-31c6-42c0-beac-5a4ba3be64fd", + "observation_id": "d0029490-fb5f-4326-a4ec-6e1b63a1a03d", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "6348b05a-2f15-4b62-be63-d0f6dea0f9f3", + "observation_id": "698a8d2b-7c1f-49f3-b39a-ce6501ca13c3", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "47ba0c37-0c98-4509-a016-487f2251c56a", + "observation_id": "bf0e1109-56a9-4d40-88c1-0dda1cc02ac3", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "6c947428-9fb7-4406-80f0-af104a3d76e1", + "observation_id": "b33dfa67-7e9c-4669-ad8c-7a986e0c4243", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "aef11f67-a553-4f0b-80e6-f3cc5cdb1d1b", + "observation_id": "40205365-a391-4861-9da1-2a9b369624f1", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "d949318c-0d5b-4033-a46b-a40cc967934a", + "observation_id": "c08069b5-7c88-4860-9d3f-14558a7cd331", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "a0c3b8e9-5773-4beb-8e44-c645979679a6", + "observation_id": "21a9c842-4c23-423b-ae74-a5a1eabe6e02", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "a8f10c90-4cfa-4694-ae66-4b5cfa90ec94", + "observation_id": "13f43979-ddba-4a25-9e36-d2ccb5a65656", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "c5426854-85b2-4e51-ad60-605ee820e6cc", + "observation_id": "dfb6e09f-1892-4b3f-ac5e-2bdfccf4a558", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "f531b07d-cd06-40c8-9348-d53122b3b4e2", + "observation_id": "b0ac47d0-4f1a-4884-9186-d626aa1b265b", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "bc422ffc-c9b6-4ec3-bd8d-a043db13e78e", + "observation_id": "621816fd-9de2-42d2-a555-f3677f5d040f", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "b3693329-4cb6-4ac0-a4cc-8d6870e0c8e7", + "observation_id": "e8fc8652-d625-42d3-a17d-340f0348ce45", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "39e17941-e829-4d12-9c5e-770d84611a4d", + "observation_id": "64ab8893-4e22-4f25-80bf-888b49cecde7", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "0d2571ac-5b78-4024-b733-f7d50ac27fec", + "observation_id": "b67f13a2-b2b7-4806-b3cc-2660db995e67", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_acefg/render_g_camera_pose.json b/data/camera_study/Scene10/k5_acefg/render_g_camera_pose.json index 5cd71b7..60e06a5 100644 --- a/data/camera_study/Scene10/k5_acefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k5_acefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:20Z", + "created_utc": "2026-06-02T22:37:41Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_acefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_acefg/robot_state.eval.json b/data/camera_study/Scene10/k5_acefg/robot_state.eval.json index 519899f..38f2757 100644 --- a/data/camera_study/Scene10/k5_acefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_acefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.129894590102225, "mean_abs_mm": 0.849866022298297, "max_abs_mm": 1.5029497644660026, - "finger_error_mm": 1.5919347422945729 + "n_unobservable": 0, + "wrist_error_mm": 1.0237475562189202, + "finger_error_mm": 1.8405747280733817 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_acefg/robot_state.json b/data/camera_study/Scene10/k5_acefg/robot_state.json index a096815..55f133f 100644 --- a/data/camera_study/Scene10/k5_acefg/robot_state.json +++ b/data/camera_study/Scene10/k5_acefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:25Z", + "created_utc": "2026-06-02T22:37:45Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_bcdef/aruco_marker_poses.json b/data/camera_study/Scene10/k5_bcdef/aruco_marker_poses.json index 9e52cbc..9c243b6 100644 --- a/data/camera_study/Scene10/k5_bcdef/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_bcdef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:21:41Z", + "created_utc": "2026-06-02T22:38:01Z", "summary": { "num_cameras": 5, "num_markers": 31 diff --git a/data/camera_study/Scene10/k5_bcdef/aruco_positions_initial.json b/data/camera_study/Scene10/k5_bcdef/aruco_positions_initial.json index 57f46a5..0152617 100644 --- a/data/camera_study/Scene10/k5_bcdef/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_bcdef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:21:38Z", + "created_utc": "2026-06-02T22:37:59Z", "summary": { "num_cameras": 5, "num_markers": 31, diff --git a/data/camera_study/Scene10/k5_bcdef/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_bcdef/aruco_positions_optimized.json index 7112d00..243178b 100644 --- a/data/camera_study/Scene10/k5_bcdef/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_bcdef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:21:41Z", + "created_utc": "2026-06-02T22:38:01Z", "summary": { "num_cameras": 5, "num_markers": 31, diff --git a/data/camera_study/Scene10/k5_bcdef/render_b_aruco_detection.json b/data/camera_study/Scene10/k5_bcdef/render_b_aruco_detection.json index 845022f..d39c6ba 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:34Z", + "created_utc": "2026-06-02T22:37:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3fe4002a-0f82-48f8-983d-ab06a0b16bc0", + "observation_id": "a09cddcf-aeeb-4d20-869c-8cba1e90b9b8", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "6cb38f3c-6554-42a0-ba79-c59493da5cc1", + "observation_id": "a5274e8a-2b70-4fda-867f-b6cd56bab000", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "b4d8b830-71e7-43ed-a864-8e1a85324f68", + "observation_id": "c7ff84d1-1c69-442a-a4a0-49625e184982", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "5651b653-c9b6-4834-b397-2a755daf6feb", + "observation_id": "307e9af3-a921-41c3-b051-b7e5b0ad6c75", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "aaed2d39-0f03-4fb5-957e-745ddd53573f", + "observation_id": "6b3ab371-c4e3-405b-9722-0258051a8271", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - 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"observation_id": "93f2dc41-c79b-44e4-8f15-62377c187543", + "observation_id": "24483cc7-8b23-4be9-b725-af66dc827c5b", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "81076db6-28cb-4b09-98ec-877592c6aa06", + "observation_id": "ae3c153b-defc-4e14-b606-450be6e1b400", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "6ecc5e38-f0a6-4769-a052-b072467d79ae", + "observation_id": "f4a6858a-a08b-4765-927a-397a8b60ad33", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "e8b0beb9-e31f-42f7-8089-450e5344af1a", + "observation_id": "d93afb10-b9db-4a94-8d7e-86327505a05f", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "5316652d-b214-4f15-b0d7-10b655d3e0e4", + "observation_id": "a6dd5ff8-fb94-46b2-963d-d2944da4fc3a", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - 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"observation_id": "c2059b4a-5aa7-4740-8e14-9de5088bf35a", + "observation_id": "3d3c7d58-bcd3-4122-b2a1-9a75ed944b95", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "6356541b-28ac-4915-8b9b-dbf181613e2b", + "observation_id": "750de437-d452-4930-ad84-b65d95597747", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "e3f9080f-a1b5-4287-9ef2-c2db08916dc1", + "observation_id": "4d31c192-0102-4f9b-8442-8348cabbd776", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "199f5173-c58d-4442-9b96-b3cec056e85d", + "observation_id": "5fa81918-9c1b-4583-9181-fb409d00dae5", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "e98a3fbf-86eb-40da-97d3-8864b3dd8e96", + "observation_id": "aec7b5e8-e9f3-4c4c-b303-39153652cb89", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "744f7f5d-7cc4-4413-9688-bfe83ffb51ce", + "observation_id": "0840c56c-5279-4b06-af47-f92bd8387c55", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bcdef/render_b_camera_pose.json b/data/camera_study/Scene10/k5_bcdef/render_b_camera_pose.json index 8352f28..ff32d11 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k5_bcdef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:37Z", + "created_utc": "2026-06-02T22:37:57Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdef/render_c_aruco_detection.json b/data/camera_study/Scene10/k5_bcdef/render_c_aruco_detection.json index 284960d..8036c26 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdef/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:35Z", + "created_utc": "2026-06-02T22:37:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a9ca776f-d6eb-4ed2-8d41-0fe634aaa7c2", + "observation_id": "fe094e42-f99c-4fa4-9cea-16e51ee5ce0d", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "5bc090c7-9a01-4d62-94f1-6d86459f0557", + "observation_id": "373ab6f8-e151-4a59-88de-b3752abf3320", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "c2ff2f4e-6da2-45cd-a42b-37212b2c4b0f", + "observation_id": "dcc5e86a-3494-4c5b-b01e-cb7f08683769", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "42aedaf8-9ae6-4495-9b08-a48bb41df12e", + "observation_id": "cf4c7725-b9ef-4784-939d-574225214172", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "08a374eb-3515-4cc6-8d6f-30c196d9a0ef", + "observation_id": "68b36e04-19a3-40b1-a862-76d00f065afe", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "d1c11302-23a2-4351-9825-9495f72eddcf", + "observation_id": "cfa6fbbb-011f-4169-9e05-817653a9db8c", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "8cebf2a5-1828-4517-b299-ddac86c5f6dc", + "observation_id": "a4e6dd08-920e-43f9-8bb3-2490617725a2", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "2fdbd1dc-b683-433e-8a7f-966033407aad", + "observation_id": "fac4423b-0742-46ff-b533-be9a5d0df368", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "6e2f68f2-f90d-4ade-b873-5a68d0d9ccf8", + "observation_id": "dd45e1a7-f594-4286-afa2-618fa6098a2a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "d1addba6-b11e-427e-b5de-93c8d0fcb276", + "observation_id": "5eed6ca1-54c2-49fb-9d3b-c0f2744249f7", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "8a00411f-73c9-4ea1-86d1-d65485f31bc4", + "observation_id": "11addd53-8533-45ed-a695-9438211606a7", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "b276d18f-9bc2-4f30-85a9-a920b7217d26", + "observation_id": "fbf40c70-50c0-43a8-8060-ab622d24226b", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "ace94fa2-9c1b-4a5f-a706-6a93219f3420", + "observation_id": "4415a6a1-3ccd-488c-be86-f86b8d298841", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "5cf9f6ae-3f17-4643-af1e-955a12c87a79", + "observation_id": "5455b632-2b29-4981-a88a-15770e69a620", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "9d440c9b-63ff-400d-85d8-34b0599da9a3", + "observation_id": "7cf684f1-fe5f-4b7c-9290-a9e166e79287", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "4b7fa8f7-8e47-4ef2-8bb4-ef284acd6eba", + "observation_id": "314c65f5-3a08-4294-a6a4-a92d97bc94e6", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bcdef/render_c_camera_pose.json b/data/camera_study/Scene10/k5_bcdef/render_c_camera_pose.json index ad432b8..b9e6080 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k5_bcdef/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:37Z", + "created_utc": "2026-06-02T22:37:58Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdef\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdef/render_d_aruco_detection.json b/data/camera_study/Scene10/k5_bcdef/render_d_aruco_detection.json index f8618ee..93d9dcf 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdef/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:35Z", + "created_utc": "2026-06-02T22:37:56Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "95116e96-5818-44b2-bcc7-179615aca774", + "observation_id": "daeb0534-44fc-4aaf-94f7-ac2b0fa5e1e7", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "d85b4e88-a0d2-4213-be45-4726c477045a", + "observation_id": "8bb91997-a4e8-403a-8ec0-e9670e2538b7", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "e2a1e941-43d9-4ee9-b1f9-daaf2bcc8ab5", + "observation_id": "76e1cd18-2641-4303-99a1-3b6c979c891f", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "3a620869-d465-472d-9b5c-b9a2e8e9b9eb", + "observation_id": "b9383966-e316-41ff-aa10-f9bb08de671a", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "88604416-bb83-4334-9c27-880cb6516b5b", + "observation_id": "db999974-aa72-488c-a439-11c4098322f9", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "5892c5eb-a09a-4c73-93ae-18f0bab48c7d", + "observation_id": "bf82892c-49c9-4480-a361-1b5b14372361", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "00a2b000-38da-409a-8144-ed412a96c2f8", + "observation_id": "2b7d025a-c78e-4c5e-beda-9384082cc6ef", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "30c5ddbd-ebdd-44c3-975e-b9c1b72d42ca", + "observation_id": "4402d1fc-0c2f-44b0-a956-5814104e155a", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "fbbea4ca-bc37-47f2-9dc6-0c1cccc2cfad", + "observation_id": "50ecc396-ef17-402d-aff6-1ea60e4bdd88", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "6b21c501-83cc-4cff-8eab-53bed1cd958d", + "observation_id": "c6879c5e-29bc-4910-982c-40e9651af8d3", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "f403a78c-a7be-4dd5-98dc-b54fa61138ce", + "observation_id": "d17b09dd-0940-4681-afbf-a8b81e284eac", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "ae832d69-2f00-4213-89f5-2a3fbf867a21", + "observation_id": "79e12a96-d79a-40d2-846c-5437de4086ab", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "126808ae-bc10-4ce2-a3a1-164f0851d7e1", + "observation_id": "a7517d38-3aa6-44f8-8cbe-aa1575744a98", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "2b2faf09-c452-45ba-b5c0-351312d32a09", + "observation_id": "151c103c-a709-4db2-8f88-9cc700411029", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "7f1d3461-929d-4c8d-829c-fe498226c655", + "observation_id": "c47ab14b-c048-43e7-8511-9c59ceadc092", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bcdef/render_d_camera_pose.json b/data/camera_study/Scene10/k5_bcdef/render_d_camera_pose.json index 10611a1..5496e98 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k5_bcdef/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:37Z", + "created_utc": "2026-06-02T22:37:58Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdef\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdef/render_e_aruco_detection.json b/data/camera_study/Scene10/k5_bcdef/render_e_aruco_detection.json index b074823..e78001e 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:36Z", + "created_utc": "2026-06-02T22:37:56Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "fc966521-05e4-4ce8-b344-ebe979209eb9", + "observation_id": "7232aad4-f732-484e-a4f0-cc569249494c", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "1c9401fe-8242-45da-a873-8ab52ed9fd9a", + "observation_id": "05a059f2-355e-4d83-9033-ad248a485caa", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "dd41962d-b0d2-4306-ae98-de2af21f9e66", + "observation_id": "2a135b6e-597a-49f2-99a7-5b96779ee380", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "2183d88a-5465-47dd-b292-8b83e033c21c", + "observation_id": "05630e60-afa8-4514-acc5-1cc014e4f079", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "4ccef81e-eb45-4138-8575-f2f2346c4d12", + "observation_id": "96f6263f-6c03-4b80-9386-79a88d0c6ba0", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "20179dc0-88b6-4e1c-8259-8105207ef59e", + "observation_id": "7534b4c0-9f71-4582-ab2e-89e9a1953473", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "294ab6c7-ad38-4407-9ee4-cea4ddc9606a", + "observation_id": "3ba4db3a-af33-4781-af48-31b15c21c0f3", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "68d079ae-5409-43b2-8e0b-fa92fed3c4b4", + "observation_id": "c8123ca8-b39c-43fd-a0f7-26bacca36e65", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "7ad06e65-da12-4e2c-9b00-d392510b6720", + "observation_id": "20c20645-256f-4612-b48b-a943693864dc", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "57e4364c-ccb8-4e88-8fba-a5bee1d0d04a", + "observation_id": "f3e58829-2c23-4e61-a4dd-606fde764478", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "80dcd60b-bffd-416a-b91d-42bf7d8d5962", + "observation_id": "1603f6a6-5040-4571-9cfe-7ccb60f658a3", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "a4240310-83e0-4f9f-bf52-0a4e30ae6fd7", + "observation_id": "acf23a90-35ec-49ab-9066-1bad3c77d2e6", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bcdef/render_e_camera_pose.json b/data/camera_study/Scene10/k5_bcdef/render_e_camera_pose.json index 3dce874..ab50a00 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k5_bcdef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:38Z", + "created_utc": "2026-06-02T22:37:58Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdef/render_f_aruco_detection.json b/data/camera_study/Scene10/k5_bcdef/render_f_aruco_detection.json index 59378b2..809c63e 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:36Z", + "created_utc": "2026-06-02T22:37:57Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "410ca432-695f-4b19-860a-2b5dd6a2ccec", + "observation_id": "2dd20748-2066-41fa-8c18-6b86456842c1", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "616f7da4-cc1d-429b-927a-35a7ca8ad583", + "observation_id": "6b06d734-14f7-4d09-9eaa-383130dd2349", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "f5930053-29ab-4be2-8bde-36b7a42d4d77", + "observation_id": "34009a48-0d1d-4dfb-af81-c89dbf98f74e", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "3eec0fad-463c-487a-ba76-6ee03e63af18", + "observation_id": "50d97aa3-2a0c-40f3-b064-d43435542ad2", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "d378f8d5-fe23-454a-ae4b-d8143a7c3fad", + "observation_id": "6e6e0fcb-ea68-4ef7-9cdd-360bbf7f5f02", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "a321e3b7-ee3a-40d3-9c6f-11262e69c04c", + "observation_id": "ae034317-9621-4936-9ff1-b63613bc300e", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "ccdb673f-882a-4773-90e2-5e4008a1a2fa", + "observation_id": "98ebe129-1efa-4c41-9470-8495d3ad2ea9", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "6ce58c0e-972d-4398-a058-865be1e1eeba", + "observation_id": "6eb87108-ab18-4784-8c0b-6ee2732e36f9", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "21857dda-6d9c-4020-8fc3-00a27b374d1e", + "observation_id": "60495285-2ee6-4dbb-9aa6-051c553b6680", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - 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"observation_id": "f8fc34b7-45ee-4a00-b0b9-db3263a0ca76", + "observation_id": "761c026e-b2fd-41a6-b732-778e0eb7cec6", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "e6fcb4bc-bd53-438f-a25a-4b8917c097bc", + "observation_id": "72c241d8-7510-4f34-b599-019257affdec", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "a8a62a59-26ce-4d31-ae84-9343925152dc", + "observation_id": "c192a716-2d6d-4b53-96e3-4c42c721d142", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "9503b6e9-72fa-4751-97d5-579f5c43a106", + "observation_id": "e6fce19c-50dc-4ff9-9caf-ad4d63517e3c", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "70398586-a7a0-4941-8dc7-fb28fc923ef3", + "observation_id": "991d1980-7d3e-4d8e-afd9-4929822db9be", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "22590063-09ed-4f05-90b4-8d7f3c7e598f", + "observation_id": "a3de2838-62b8-4e4e-8610-2f1cac29aea5", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "9eaa852f-9c97-47d7-a3a5-99008bad0d4d", + "observation_id": "6b0df4a6-bd08-4a54-8783-f747056dfff1", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "a9871e19-82f7-485a-aba4-4ccf3d88f55c", + "observation_id": "b2b18e70-f29a-45d2-9ced-ec3018a78c8a", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "b480e7d8-3551-4d8e-9e7a-66f5c9fa07bd", + "observation_id": "ea33a104-d043-47ae-83f2-ecb890caa203", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "6c3e8e51-0116-4997-9af5-af6649dda3ab", + "observation_id": "213c338a-1cd5-4eb4-bb67-70f1ddfb8f82", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "0817f5a5-f906-42e2-9020-d13c7c4678c3", + "observation_id": "3c2485f0-aca2-4abe-bad7-767e1d721674", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "2e13219c-1841-46d8-b98f-734e16241516", + "observation_id": "aa46a73e-5549-4400-bc69-eb285f79eb29", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "cd4a1034-750e-4168-bc65-6382114a7ac8", + "observation_id": "652f1c1d-f79c-4a38-946c-4d3cdaa46f69", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "be269dfb-6d9f-4d2d-b3a8-8e62a9c10e75", + "observation_id": "f912cac8-5d68-432f-972f-95bbecb0a4f5", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bcdef/render_f_camera_pose.json b/data/camera_study/Scene10/k5_bcdef/render_f_camera_pose.json index a70bbba..15576d7 100644 --- a/data/camera_study/Scene10/k5_bcdef/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k5_bcdef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:38Z", + "created_utc": "2026-06-02T22:37:58Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdef/robot_state.eval.json b/data/camera_study/Scene10/k5_bcdef/robot_state.eval.json index dbc82e8..9232fd8 100644 --- a/data/camera_study/Scene10/k5_bcdef/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_bcdef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.227537022189523, "mean_abs_mm": 0.7871956252776995, "max_abs_mm": 0.7954428915653917, - "finger_error_mm": 0.8315689646798669 + "n_unobservable": 0, + "wrist_error_mm": 1.79754383286874, + "finger_error_mm": 0.8053819429554406 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_bcdef/robot_state.json b/data/camera_study/Scene10/k5_bcdef/robot_state.json index 9517c02..a2efb36 100644 --- a/data/camera_study/Scene10/k5_bcdef/robot_state.json +++ b/data/camera_study/Scene10/k5_bcdef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:43Z", + "created_utc": "2026-06-02T22:38:03Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_bcdfg/aruco_marker_poses.json b/data/camera_study/Scene10/k5_bcdfg/aruco_marker_poses.json index 98ab0b4..6b12b92 100644 --- a/data/camera_study/Scene10/k5_bcdfg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_bcdfg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:20:51Z", + "created_utc": "2026-06-02T22:37:14Z", "summary": { "num_cameras": 5, "num_markers": 43 diff --git a/data/camera_study/Scene10/k5_bcdfg/aruco_positions_initial.json b/data/camera_study/Scene10/k5_bcdfg/aruco_positions_initial.json index b9dc03f..9eda949 100644 --- a/data/camera_study/Scene10/k5_bcdfg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_bcdfg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:20:47Z", + "created_utc": "2026-06-02T22:37:09Z", "summary": { "num_cameras": 5, "num_markers": 43, diff --git a/data/camera_study/Scene10/k5_bcdfg/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_bcdfg/aruco_positions_optimized.json index fdbf8c5..f087ddb 100644 --- a/data/camera_study/Scene10/k5_bcdfg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_bcdfg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:20:51Z", + "created_utc": "2026-06-02T22:37:13Z", "summary": { "num_cameras": 5, "num_markers": 43, diff --git a/data/camera_study/Scene10/k5_bcdfg/render_b_aruco_detection.json b/data/camera_study/Scene10/k5_bcdfg/render_b_aruco_detection.json index d9c7233..3f8ec28 100644 --- a/data/camera_study/Scene10/k5_bcdfg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdfg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:43Z", + "created_utc": "2026-06-02T22:37:05Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0aa6188e-a594-413e-be42-92d17c3a44db", + "observation_id": "f296acd4-4068-46ff-94e0-d556841feb8b", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "bb6db7ce-69be-4532-a016-61378a5d6e9f", + "observation_id": "274d6503-4fd3-44a5-ac04-cca2be5eebb6", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "655c9fb4-58f3-4bf3-8b40-93488b6b3f4b", + "observation_id": "bb28fdab-2057-4a39-ac97-492804280091", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "d5793a63-0941-4827-8864-a01baf796a97", + "observation_id": "47a6ae65-fd77-4323-8c5d-7fdcc314cd9f", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "0c605c80-c336-4cc0-a89c-7868f9262e70", + "observation_id": "aef253f0-0409-4bd0-8de3-1ca122e81cb3", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "26b5edb3-9777-40c2-adc8-d3e6e73ad5a5", + "observation_id": "1a023d91-12b3-4dd5-abd0-37a5eac92c49", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "0c4ce786-7752-442a-bbbc-3889efb8fb7c", + "observation_id": "5694fa15-1c81-46ba-9cff-58be363b1614", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "3d733b39-c6c6-48df-84f9-b018e0b63b70", + "observation_id": "b4295db1-952d-4a2b-b35f-4173225aef08", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "7c89c2be-2519-4632-a508-dbabd417c449", + "observation_id": "84a9f436-6729-4b5f-9977-df234f6f6f23", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "4217974a-6a62-4f0b-b49c-9f6bfbbf84da", + "observation_id": "828894e3-e48f-4766-8c37-f541687d3eb1", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "1197b017-d7e4-4d66-8551-4213a295ac46", + "observation_id": "d484516f-1a27-483f-b7ff-1a70aff22784", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "0f5aa9ec-50c0-4af7-97a5-ff042f9eeeae", + "observation_id": "dea6bd52-057b-4b42-be67-e5aa91157077", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "4d75b376-348c-448e-902f-3b178bb059cd", + "observation_id": "697801b0-d18e-4bd1-9965-09e6e66fb506", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "8f341bfc-eb25-466a-af37-3896265022a7", + "observation_id": "d2509854-ba05-4adc-be0f-f4f2572221d1", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "b3a0bfbe-1b96-425a-8b57-cacc2f356ffe", + "observation_id": "210a38c6-31b5-4d50-9871-1a806b6e3947", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "2417b978-447d-46c4-924e-a459876e6611", + "observation_id": "c13e54f5-9d8d-42f3-a10a-b122e629f3ca", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "cd94b228-e168-4eed-8112-d1ee75e23a54", + "observation_id": "014d18cb-e058-4b0d-8555-26c6bb8be3ae", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "3396eeef-3b97-4a87-9bd2-ccd754f9d3b4", + "observation_id": "bfd72160-40c2-4ef5-af31-680f8bf74775", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "62511e37-8573-4030-b705-c9e25499d8d1", + "observation_id": "cbac9401-b2a6-44f7-9356-8c805eb64259", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "fdd5d713-52ac-47bc-8aa2-06d9bc7667e3", + "observation_id": "afd91829-37d7-4171-9b5a-b541ac1d4148", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "f0276254-ab93-414c-8e7c-5aed4d78cf19", + "observation_id": "3b6ed498-f566-4f1b-a115-aaebf2f67219", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "fcbc69f1-f0a0-4c0f-969b-10df0bb11dbe", + "observation_id": "9ca56eea-4f72-43a9-bc97-cc6195f9c8be", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "11e69b09-dc26-460c-baa8-e15f48365f64", + "observation_id": "76435a4a-5482-46d7-8bce-88afa4af4360", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "5c3c2216-83a9-4d63-92dd-b572d6be7965", + "observation_id": "609c983e-a332-4afa-8448-d8a4a9820bfe", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "60d60068-e965-459a-828c-3365bcf63aa9", + "observation_id": "220f2c99-60ec-4d5f-9bb1-39c97d9814bb", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "8ac3181a-afe6-422a-b42b-e0c5a646dc01", + "observation_id": "9814222f-8137-4a8c-b4ed-c86edaa5eb7e", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "254d20bd-f73a-4fe1-9a95-b44ce202bbb8", + "observation_id": "a76dcd5b-f70d-4f12-88ff-b949c6564f3e", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "7c46c68f-2e80-4abb-99b6-16fac657a65f", + "observation_id": "5ef6227b-0c28-4f02-a96e-0ff44bb8b661", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "108db0da-a9ea-47de-80ce-30294d9b2b9a", + "observation_id": "b79fe323-3993-4b6e-832b-c5b4c141196b", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "91fbd03e-80a2-4cd4-8c3b-f200e8e55f99", + "observation_id": "2fbc0aed-954e-4d54-8cfa-693f80415c4e", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "7857ab37-5a93-4276-9860-d96b24c15715", + "observation_id": "bb055ad4-516c-4062-8729-bacec483524b", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "9182c221-a96f-4fc9-b049-cf8fb73f879f", + "observation_id": "54796d34-fd9b-46cf-bfd8-bac5cee011ae", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "6df89397-a66a-4c28-95ef-9779086497de", + "observation_id": "f09de893-50c4-471f-9c14-5dc399d1c100", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "fe7b8d81-877b-4ba9-8d86-82df22a39da9", + "observation_id": "7381c505-e949-435f-b4d3-2317378a7e6f", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "5ada1afb-9f27-4035-bf99-d3c81e1fe1ad", + "observation_id": "6a1246c8-6344-4d9d-bd12-ba0123692de8", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "a57259a3-c03d-4b8f-91df-19c272388d4a", + "observation_id": "dce54154-f227-4fb5-9094-48f972e3079c", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bcdfg/render_b_camera_pose.json b/data/camera_study/Scene10/k5_bcdfg/render_b_camera_pose.json index 7174ff9..9e414a1 100644 --- a/data/camera_study/Scene10/k5_bcdfg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k5_bcdfg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:46Z", + "created_utc": "2026-06-02T22:37:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdfg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdfg/render_c_aruco_detection.json b/data/camera_study/Scene10/k5_bcdfg/render_c_aruco_detection.json index 20b1b27..fc2746e 100644 --- a/data/camera_study/Scene10/k5_bcdfg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdfg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:43Z", + "created_utc": "2026-06-02T22:37:05Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "17b4395c-9e0b-4af7-a868-2fabebc07ec4", + "observation_id": "de93e2d3-ae3f-41a6-8b2a-66aae7674f95", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "06d0c52b-2f51-4a6b-b0a3-a0492e0b04a9", + "observation_id": "15abd8fe-8c3a-4620-97e4-00d2fcf1fa91", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "3f5f2774-235c-443c-accd-867f7a96b7ed", + "observation_id": "2254eebf-b9be-46d8-89de-a664c525994a", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "1ce7cabf-9167-45b1-8553-129aa372aea0", + "observation_id": "5519158a-09fe-458c-ae39-24aae4086854", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "e7bffad7-9ecf-4e28-b7f6-ef0c2d3224dd", + "observation_id": "deb6b7a5-28da-4e17-8714-78baf3c70ec4", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "eec58054-424c-4189-8f71-5d78161541ee", + "observation_id": "8baf9056-5403-42b9-bb4c-5b084afc94f5", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "d4aaee09-eef8-4c8a-8f53-ac1611845867", + "observation_id": "7a106c9c-0587-4c60-9ae8-bef591c0eac1", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "1c1f7aa9-11ed-4e3c-99dd-622bc060d634", + "observation_id": "0a359941-3ca6-4216-ba76-f087fe277f0d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "ce572a89-1e36-457c-92cb-7eaafaab376e", + "observation_id": "af81aaab-892d-4626-a524-89c7045c404c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "b24a0755-bbbc-4b6f-877b-06f2969180c4", + "observation_id": "8fddd929-b1ca-4f37-aa0f-9606f713efc8", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "d43be6f1-467f-470e-bfb2-8a99276e6f1a", + "observation_id": "7816f2fd-1c8c-473f-b5b5-e847f11f1da7", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "9b3dd1cd-9bb6-4680-9721-06fcec73a0c0", + "observation_id": "dfb86e73-c22b-4f6c-9c57-b5b3de49670e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "ab4bbae2-df97-485f-a72f-9f207d1dfc9b", + "observation_id": "5314be82-94d6-40cb-bb4b-81acca21aad0", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "7f7abeb7-6037-4165-b6e7-ff61e975f81a", + "observation_id": "8ba81f5d-e0f7-4792-8441-5074bcd09934", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "76be9d2b-2da4-4401-a3e3-62cc6acd1101", + "observation_id": "86a723a4-18cc-4d57-9175-977a4e60941d", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "ed222b88-a7e1-4d1c-8e79-32e2424c5b15", + "observation_id": "b70597c8-13c9-4d93-900d-716b645b1a26", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bcdfg/render_c_camera_pose.json b/data/camera_study/Scene10/k5_bcdfg/render_c_camera_pose.json index 3dcd5f3..7f9b441 100644 --- a/data/camera_study/Scene10/k5_bcdfg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k5_bcdfg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:46Z", + "created_utc": "2026-06-02T22:37:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdfg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdfg/render_d_aruco_detection.json b/data/camera_study/Scene10/k5_bcdfg/render_d_aruco_detection.json index c148f43..fbda747 100644 --- a/data/camera_study/Scene10/k5_bcdfg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdfg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:44Z", + "created_utc": "2026-06-02T22:37:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8236150c-0d03-4f00-ab84-f960fb3d22db", + "observation_id": "4e4b2484-9e70-4e46-b288-a1296425aa8b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "4d890fec-a053-4c4d-a90a-68546b92d4cd", + "observation_id": "5ffe0e6d-ae59-426d-b567-f121e6b01893", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "9b6213c3-29ab-4862-a244-0380fa81682b", + "observation_id": "74df052d-5a4b-4b4d-98df-bb3e6c5c3027", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "5f666969-9c7a-4755-9048-35b7904c0be9", + "observation_id": "02b73ce8-2f15-44e0-8601-4473bdd3a822", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "2217974d-3e81-4e69-a297-b1cfe9deadd9", + "observation_id": "0306af50-1d1b-480f-b82e-706c6ba299f7", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "a6f02e04-2f05-4b13-8dee-ab3ee5ecb67b", + "observation_id": "934205ec-9dc4-43ad-a554-10cd32517e2e", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "fb2c6974-f5d8-456c-939d-8fc40b6c3e2f", + "observation_id": "abe09297-e123-4378-9be3-0ab7841de9a0", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "c5210ace-7edb-436d-bc32-27b1fe0e1729", + "observation_id": "97c388d9-0887-4d07-972b-31bc0d8783e7", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "85183b0f-b70d-400d-b799-0ed2aea4196c", + "observation_id": "c28d683a-faf1-4d7d-8833-b6bd7ed5c082", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "7c3ed732-06da-498b-b09f-727c5ed30f1f", + "observation_id": "9aece131-397c-4a65-baf1-0091b42dab7d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "782709b6-49dd-446e-bccd-b352bb32b2a4", + "observation_id": "baf77af6-0e52-4b5d-899b-4c8bee925ea4", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "1705e26e-d8ce-48a3-a4e0-0721ea8f51e2", + "observation_id": "65fe5d06-9638-4dee-9a95-73daadebdfad", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "0d047a24-83ae-4eff-99e0-249edc911d81", + "observation_id": "6e615ce0-4eee-4bbe-9abe-3a01a1adab29", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "2939990e-82ea-420a-b988-1034ec55fb0f", + "observation_id": "5b9b494d-6b7f-4b2b-ad3f-f107b6273639", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "ec9af094-09c8-47e5-b36a-6b1265d802eb", + "observation_id": "25fc7227-83dc-4731-867c-619650f10e79", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bcdfg/render_d_camera_pose.json b/data/camera_study/Scene10/k5_bcdfg/render_d_camera_pose.json index 005438f..221af2c 100644 --- a/data/camera_study/Scene10/k5_bcdfg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k5_bcdfg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:46Z", + "created_utc": "2026-06-02T22:37:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdfg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdfg/render_f_aruco_detection.json b/data/camera_study/Scene10/k5_bcdfg/render_f_aruco_detection.json index 74158bd..0f5ae6f 100644 --- a/data/camera_study/Scene10/k5_bcdfg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdfg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:44Z", + "created_utc": "2026-06-02T22:37:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "41e5ec90-1465-4673-9844-03583ee5ecea", + "observation_id": "9bbbb5ba-f821-4515-b744-3f628fa5c17a", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "3745d763-7593-4cfb-a380-b8469083d5b5", + "observation_id": "52addebe-5635-416a-8991-4113c262022c", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "04ac2a6b-59a2-4849-8c0f-642cda86df5c", + "observation_id": "2837994c-2e02-4511-81c8-1eaa45a920df", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "664539ed-9e1a-48a3-8044-35dfeede7276", + "observation_id": "b3525d7a-52fa-48e2-9509-c5163ab0cdcc", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "75b78d69-be33-4449-a2e9-64245099babc", + "observation_id": "6885d9a6-7da1-45a4-a9a7-f3d46aeaf9e5", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "8e4fc6d9-38c1-45b4-b3be-1e8fed28a5e7", + "observation_id": "14ac88dd-9ee4-4af3-bf96-bbbf2c4ad6ff", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "fa59bc9d-b147-42ef-9cc2-b22a7fa7ebee", + "observation_id": "088522a6-f0fc-4ac0-ba61-61f74d2adcf3", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "db37ceec-9abe-4759-b13a-3db09dda42d2", + "observation_id": "c5cb5a35-8ff2-4772-9281-6bfb9d43a88d", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "c9a7cf08-7e68-4909-8fa4-698ec5222a33", + "observation_id": "754b012c-8e8c-4bfa-ae39-0b6ee45d5227", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - 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"created_utc": "2026-06-02T21:20:46Z", + "created_utc": "2026-06-02T22:37:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdfg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdfg/render_g_aruco_detection.json b/data/camera_study/Scene10/k5_bcdfg/render_g_aruco_detection.json index fa437e5..2db1bd6 100644 --- a/data/camera_study/Scene10/k5_bcdfg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bcdfg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:45Z", + "created_utc": "2026-06-02T22:37:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "758c01d4-98d3-473c-b8dc-e2ac430d5ae9", + "observation_id": "943703f4-cc10-4a30-8593-1fe8e5d739c1", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "a165217d-0aed-404a-bb95-bc676101e369", + "observation_id": "05bfead0-122e-45fa-bac3-c7802f40c313", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "974801c1-f707-4238-8d24-af35edf4f3b8", + "observation_id": "96eccb7f-e574-4f7d-881b-3f9768305222", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "72771b0a-1ed0-432f-ab8c-223ef71056a1", + "observation_id": "dade5320-cde5-419e-a0f0-0bf73f59caca", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "c76f2279-8728-40ea-a45d-9a2218da083f", + "observation_id": "f3ccef73-49fe-415a-a159-864a568e2914", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "6b418087-1a6a-442f-9d14-7adbd3df6eee", + "observation_id": "c3d374cb-9184-4e80-9bf6-c0725aaaaf73", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - 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"observation_id": "a1d467d7-f86f-4db1-8c75-c10b6949b5de", + "observation_id": "0d16fad7-8408-404d-9fcd-fb4451de1d59", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "6ff0faab-7a16-4fea-a2ef-3da2b0824b77", + "observation_id": "f5048f51-201b-4766-ad96-cf0017e2a856", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "0b408ae8-e9f8-407b-a9b1-2f657ff8b440", + "observation_id": "daae4c27-71f3-46f2-906c-c47cbcaf5924", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "e27789d8-0194-4b76-a7e6-6f03ef60d375", + "observation_id": "49b5c18d-1272-460d-9c3d-71c6e2f4f6f3", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "0bdcdee1-53f4-4443-ab10-0cd14f592754", + "observation_id": "fd227048-5f49-4fa6-9410-349a17c35b4f", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "0e464b5c-733f-46e5-bb2a-061b2172e26b", + "observation_id": "5731be51-c763-4927-a5c5-03857bc3d66e", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bcdfg/render_g_camera_pose.json b/data/camera_study/Scene10/k5_bcdfg/render_g_camera_pose.json index 95d768d..7754214 100644 --- a/data/camera_study/Scene10/k5_bcdfg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k5_bcdfg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:47Z", + "created_utc": "2026-06-02T22:37:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bcdfg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bcdfg/robot_state.eval.json b/data/camera_study/Scene10/k5_bcdfg/robot_state.eval.json index ea1c0af..8f3f64b 100644 --- a/data/camera_study/Scene10/k5_bcdfg/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_bcdfg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.2485073208110009, "mean_abs_mm": 0.69690535701465, "max_abs_mm": 0.9464511209832267, - "finger_error_mm": 0.6026361535034973 + "n_unobservable": 0, + "wrist_error_mm": 0.6491309774377506, + "finger_error_mm": 0.6836075937786495 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_bcdfg/robot_state.json b/data/camera_study/Scene10/k5_bcdfg/robot_state.json index 4706166..031dd2c 100644 --- a/data/camera_study/Scene10/k5_bcdfg/robot_state.json +++ b/data/camera_study/Scene10/k5_bcdfg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:20:53Z", + "created_utc": "2026-06-02T22:37:15Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_bdefg/aruco_marker_poses.json b/data/camera_study/Scene10/k5_bdefg/aruco_marker_poses.json index b0792aa..6c9a3ee 100644 --- a/data/camera_study/Scene10/k5_bdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_bdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:21:13Z", + "created_utc": "2026-06-02T22:37:35Z", "summary": { "num_cameras": 5, "num_markers": 40 diff --git a/data/camera_study/Scene10/k5_bdefg/aruco_positions_initial.json b/data/camera_study/Scene10/k5_bdefg/aruco_positions_initial.json index 86071fe..6413d7a 100644 --- a/data/camera_study/Scene10/k5_bdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_bdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:21:09Z", + "created_utc": "2026-06-02T22:37:30Z", "summary": { "num_cameras": 5, "num_markers": 40, diff --git a/data/camera_study/Scene10/k5_bdefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_bdefg/aruco_positions_optimized.json index 733464e..5dbbe01 100644 --- a/data/camera_study/Scene10/k5_bdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_bdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:21:13Z", + "created_utc": "2026-06-02T22:37:34Z", "summary": { "num_cameras": 5, "num_markers": 40, diff --git a/data/camera_study/Scene10/k5_bdefg/render_b_aruco_detection.json b/data/camera_study/Scene10/k5_bdefg/render_b_aruco_detection.json index 2764fb5..f84b2af 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bdefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:04Z", + "created_utc": "2026-06-02T22:37:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "cc6a3264-c31a-4aa1-9e88-29c704192b31", + "observation_id": "3503af02-aca6-4b70-9dc8-e090abdeab52", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "90cc7807-954c-4bf5-9aa5-1e6564b82740", + "observation_id": "8a662d6f-d268-40d7-be8b-cbfb9a820f14", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "65a51d74-0f6c-4aa9-aec6-a920195e8860", + "observation_id": "11f142d0-c5c3-4641-a49f-66c0196d628e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "e7ba22f7-885d-4db1-a2e9-3c3d95fdc009", + "observation_id": "041992da-b977-4136-9c76-df9067ee230e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "03e3d477-20c9-45f4-b161-c6b36c280249", + "observation_id": "9673284d-8261-45e0-b2a2-fac6479f5a67", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "d8d4ed2b-7a92-481b-abe0-3ef4e0cec733", + "observation_id": "b67e41e2-5e67-451f-b386-e28b6569d723", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "c23faf19-27fb-4db2-8666-0ff98899d26e", + "observation_id": "80deec21-6c4b-414b-a600-8bfdaa330f9c", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "e235c141-f8fe-4355-b4a4-60caf8788ced", + "observation_id": "518a7b0c-7920-49d1-aac9-e2ef6a2f8a70", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "e41c6aeb-c5cc-451c-b2a4-21f2ddf7a5df", + "observation_id": "9a29cf50-921b-44a3-99b0-da94d3973f5c", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "99086035-e37a-43c1-84d4-53e716b134bd", + "observation_id": "7fa70931-902d-4412-9f0d-70e275e0a80f", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "7651f8f1-cb4e-4d13-b3b8-0013ae84c561", + "observation_id": "d11281b9-eb96-44f3-acc3-d7ee14068750", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "e4e5594d-e25d-44a0-9886-75bd1d4ff603", + "observation_id": "fa8f15b7-d139-4510-bcf1-9986d3e8298b", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "2115e56b-f0f7-476a-b666-85a4c4564dae", + "observation_id": "7fe70141-75a6-47a2-a99d-6d5083f0210f", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "af7b0e4e-369b-4437-9ff1-7cb07ea1fe43", + "observation_id": "515b10d4-b3b0-4dab-a617-17cceb2782a5", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "80e869e7-8faf-43d8-ba87-4f9f492209e7", + "observation_id": "96c2bc77-6c80-41ba-869a-4e6033a43727", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "56610617-9dfb-4062-b492-ff1b69dfb01a", + "observation_id": "6459ffab-bb27-45cf-bc63-5991d08ef700", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "afd4caea-c84a-4cd9-997e-8dbc7d9d0f3c", + "observation_id": "3dfe31cd-7bbf-48e9-b8fa-d9f202292430", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "98324328-70e4-4183-832a-b46a5c783863", + "observation_id": "813038ff-1f1c-4010-91a7-af95dabd474b", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "5fd1dc58-0a6b-40af-95b6-2bd08b9b9c5f", + "observation_id": "1ca85d15-f666-4613-98a0-38db858a7e2e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "045d017f-204c-4522-8e45-25008a082bf9", + "observation_id": "7f031b3a-7094-402c-af8d-a637a03254b9", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "55c1ffd0-e779-426a-a7e3-8cc90781ea13", + "observation_id": "c823a1cf-943c-46bd-8074-85a8ecb4da0f", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "b78e605b-4458-4e6b-87ee-605c7287c47e", + "observation_id": "136c981c-33be-4057-ac4c-b849f42250de", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "b060869c-9ff2-472a-957b-ad086fcea9b3", + "observation_id": "0fd69528-677c-440a-8e84-0ded315ca4e2", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "258e02da-3596-4d04-a47d-e3714ac58a42", + "observation_id": "0996eb1a-98e0-495c-9b73-7a949e55bd9e", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "30278c87-13c6-4255-8f67-0924f0380817", + "observation_id": "27832141-d88e-40b4-b57e-2a8caf715c73", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "a112b98b-f3e9-4c44-ab83-14ad7bcf92d2", + "observation_id": "d698cf46-0954-4dde-b0bd-ddc87d958abf", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "cb0cbf83-94be-4473-9b00-d1c753aa22a4", + "observation_id": "345193c4-d99b-4113-9ea4-8d98d989c1fb", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "c2ba3e67-699e-42c8-b49f-699228d27ec7", + "observation_id": "a8e5de0d-e843-4a7b-8590-304367cda26c", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "17f45879-2ed3-4ee4-a31e-819cce004e57", + "observation_id": "dc154c42-8ba5-407f-988c-62c20df9f421", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "80c79362-7d56-4a62-907d-7945ea231bc0", + "observation_id": "b7ffd63e-db54-449b-9d6e-977034c44b38", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "10f36cc1-33f2-4de7-b618-64e594ae47a3", + "observation_id": "d9211504-0759-483b-bcfd-c8bdc2f03e50", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "2187fb85-7a19-4bf9-bc9d-669b64807b42", + "observation_id": "ff2971ce-cc53-460a-875f-598bf0e30ef3", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "ba36a743-80a3-4365-9e3f-24aff4fe53d8", + "observation_id": "fa909636-11cf-491f-8b8b-87a239ef48dc", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "b417383a-6370-4993-9dba-085d024c5c01", + "observation_id": "c96cb5f7-b47a-400d-8c3c-1186403099aa", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "d8cd1a1a-175d-491d-9fbe-e074ba54bdde", + "observation_id": "433f2959-3c93-426f-8388-70f23605a8a6", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "8f86b19a-ae75-4a37-83d8-bd972f6030db", + "observation_id": "aef6f1fb-56fc-4408-a52e-288e5d2dbd99", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bdefg/render_b_camera_pose.json b/data/camera_study/Scene10/k5_bdefg/render_b_camera_pose.json index d6963ef..08f4646 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k5_bdefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:07Z", + "created_utc": "2026-06-02T22:37:29Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bdefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bdefg/render_d_aruco_detection.json b/data/camera_study/Scene10/k5_bdefg/render_d_aruco_detection.json index 7b1c52e..cbbc75b 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:04Z", + "created_utc": "2026-06-02T22:37:27Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ebf2741a-be64-4a1f-b1fe-52e9237ce34b", + "observation_id": "4573dd38-d7cb-4a0a-86c9-5642b768bb9c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "27f0884a-0d5a-4add-bbf1-593b778278ca", + "observation_id": "953cd886-64bf-45e6-a9d9-9f9b7e75ff2a", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "ba245285-7363-44eb-9753-2b804ba6dee2", + "observation_id": "69b720da-b114-491c-a043-ab849a095bec", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "eb8b8c3b-efe7-4485-acd5-8861a111033d", + "observation_id": "5e76f8af-53c0-4158-8daa-b313e709be28", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "f182362b-f094-4d8b-b5b7-e5e10d2b97e1", + "observation_id": "69527799-48fb-4fe0-a75c-6ac3465e1e8c", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "1d4aab6e-a12b-4d72-ac2b-5c94775c3dbc", + "observation_id": "046a2dc1-1dc9-4459-b178-429a0485fb60", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "c4af4add-08fb-43ba-90ff-f091096ce171", + "observation_id": "04112190-18a4-47b3-b6af-153180854e53", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "127dccea-b3f1-4514-9f96-c5f41775ddb2", + "observation_id": "f503d44e-87ff-44b8-9210-25627a431a30", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "fd910d1e-cd7d-419b-b7a7-a1c282589042", + "observation_id": "ca34bd2a-7592-487c-bf23-1cb01d281be4", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "81420926-e242-497a-b9c0-e9795ff07fae", + "observation_id": "2581266b-4a63-4678-bfe2-2cfcb6947572", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "b6bf1bf8-710e-4370-a5c8-7c6b50bb3910", + "observation_id": "0303431a-75a1-44e4-80f3-070275759b9d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "241df8db-779d-4af4-b550-66b17c9e18e7", + "observation_id": "9f218b1e-5901-4e23-837a-d04b743c68fb", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "d501ead8-d49c-4908-8cc9-ab17bd05258b", + "observation_id": "1310ebfd-7e54-42fd-ab47-7d3132dc883b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "0b496cac-f685-47bb-9591-026611c19b07", + "observation_id": "28d6e9f9-016f-4631-a508-4112de74025a", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "5820f993-4440-44e6-8efa-f75c8f9b3caa", + "observation_id": "b82f3d44-f6b4-4302-8eb2-19154e1553df", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bdefg/render_d_camera_pose.json b/data/camera_study/Scene10/k5_bdefg/render_d_camera_pose.json index f5e3825..e684132 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k5_bdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:07Z", + "created_utc": "2026-06-02T22:37:29Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bdefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k5_bdefg/render_e_aruco_detection.json index 755fb40..375826e 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:05Z", + "created_utc": "2026-06-02T22:37:27Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e30dc558-838c-4151-94d3-92f6a76388ab", + "observation_id": "22579d10-2c92-4cc0-aa94-e9d1d7ebb49f", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "11e23fa6-57e3-4a53-96b1-06b3a0d30157", + "observation_id": "b34d5560-93bb-43ae-a726-81e07255c86c", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "aa39235c-43f8-4ba7-974f-a947d961ab92", + "observation_id": "57c31fd9-0be9-4af2-b844-ec2f3227258b", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "36f3693b-ebb3-4146-8a38-8f3f643cf4be", + "observation_id": "22a17f9f-c96d-4181-b3e8-fec966c367ea", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "27e3adf2-7bbd-48a7-811d-a82f3335c7fc", + "observation_id": "035b1890-c47b-4045-a7c7-7d591f0977ea", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "355d07b6-07b2-4e04-9fa1-bcb4b8bf8af4", + "observation_id": "98444eb5-9c01-47f0-8b77-23ebd34aa816", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "cdae48ec-cdee-4d36-81f0-5e33f216969d", + "observation_id": "71f5c3a5-87e7-4953-a8f0-50576aef0b68", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "2f393e0c-7a95-468b-aa38-9dd1f371a912", + "observation_id": "9a4febc5-9b38-4b74-bc30-fed02a626568", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "54d7749e-4303-44b2-9b11-4f9e342efc62", + "observation_id": "ad40cadb-d23f-4c7c-b8c8-ed80c7ab2219", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "88639531-4077-4b51-a56a-388ed20eeb87", + "observation_id": "d7ec2171-0370-443c-a645-99c94f5df92a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "739f4efa-d194-4774-9897-5ed20116e58a", + "observation_id": "daf227f2-1e8a-466a-9949-c84642b8d259", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "8b9e1eab-b134-483f-84f0-676303ce60c8", + "observation_id": "4811bae8-cd72-44ce-89c5-81db95984361", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bdefg/render_e_camera_pose.json b/data/camera_study/Scene10/k5_bdefg/render_e_camera_pose.json index f81c1c4..4d55832 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k5_bdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:07Z", + "created_utc": "2026-06-02T22:37:29Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bdefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k5_bdefg/render_f_aruco_detection.json index 6c8b4e9..73114f1 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:06Z", + "created_utc": "2026-06-02T22:37:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "650915aa-67f3-4508-a235-b236f840d0c0", + "observation_id": "de341693-6eaf-417d-9ded-e0e171d25d4c", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "0d5abc05-b0c6-4fe5-9646-4549965445df", + "observation_id": "31560a75-ca94-4dfa-b919-a591fd3719cd", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "18651b58-89fc-4fc5-8108-4fb4be305346", + "observation_id": "75129b72-cf07-4e04-a21d-ac88a4565f2f", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "5fd78fb8-2c67-4d43-9b54-2852cf952417", + "observation_id": "5baa9fee-395d-4326-be2e-2eb7c4c8aed2", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "b9440d36-8587-4394-b8e0-0d58da162946", + "observation_id": "df541192-1c27-4bea-8184-9eb3f4d758a0", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "b2d8e4db-9afe-4b7c-9ac1-8819bf7066c1", + "observation_id": "87d95312-180c-403a-b6e2-1e1ff55b8111", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "81f6310a-e759-4c9a-83e1-601fec827c25", + "observation_id": "4c6ed430-aa4f-4592-9da0-c12b3ffa2e4d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "3d73e792-d148-406f-8831-82e64722f789", + "observation_id": "bcbbac80-1f80-4423-9f32-844cb0cdad28", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "ba77d809-4127-4bb6-bb9f-cf72248dd214", + "observation_id": "1cada35b-1400-4ad8-a0c8-4182b985a029", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "9169ff35-b00f-4d44-aef8-98e8153338c7", + "observation_id": "ac453dd1-1fb2-40ad-838f-311724621ddd", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "d6d26ec9-6a9c-4820-8f80-92594a68b723", + "observation_id": "827cf385-64b5-4fa7-9654-f3d222a04a33", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "9006a846-54c4-4f4e-a8f7-32f40ee66723", + "observation_id": "3cf51d80-992e-42e6-93de-c0595487854b", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "b6275473-e50b-40de-b70b-2d650ae5d53a", + "observation_id": "e444c0a9-2d7b-4a70-bd05-9f14faaa1584", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "ea9082cb-4829-4e59-896a-ccdc608c9295", + "observation_id": "0a19337f-c878-46f0-ae9a-b44eb0b3de58", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "c241b196-68cd-4d55-add7-88bbc35f323c", + "observation_id": "25d8097a-8ec2-4836-8f30-94dd7e9007cf", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "bb728ed4-92c8-442f-b880-4d05826f1763", + "observation_id": "ac6f6c38-1478-42e4-aff9-4a0a1055eb33", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "074d143e-f01e-4015-a71b-a4700508108f", + "observation_id": "a541d8b3-5c14-47f6-9164-0516041145f9", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "5f445430-19a4-46ca-883f-7c5ca21aba77", + "observation_id": "89df5ba0-4dd8-4bc0-b1e6-8474c7572696", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "25e645eb-d502-4e41-bc42-9be431de5834", + "observation_id": "b8a687f0-a960-4094-9f39-8ac194ec7696", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "9cffaa54-557a-4d33-9b27-bbf289e55895", + "observation_id": "21f8938a-5614-42f9-a1ba-aae55a952387", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "cc644712-fb8a-46d8-a499-67da72883411", + "observation_id": "72d09410-bdd4-4e9c-8cf8-8d354afa8258", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "4bc8b778-cbfb-4d52-aee9-04c7fb9949aa", + "observation_id": "51f652a6-87a7-4263-a1dd-a3ed1cf5a821", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "ee14ba6a-6bed-46a4-8043-a4d439f3c01c", + "observation_id": "9fc26a32-76db-46e5-ad60-b416af612009", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "6ca68f77-81d3-448e-be4c-cd49716ebfd1", + "observation_id": "23be3f91-025c-4039-bf5c-1fa5b97c4f11", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "8fe751fd-8a6e-444f-8880-149da0d19009", + "observation_id": "a8e2b8f3-d175-47b9-beb8-b7dfbee51eba", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "67bd789f-776f-4fc0-89f1-c8a73a7a6d7f", + "observation_id": "23e9c8d9-3520-4935-bf74-6ffdabae681c", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "e752dde6-3305-48ba-a794-ac11b69ee227", + "observation_id": "66921618-f2ee-4541-984b-7910998f4329", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "56ac8eba-4ae0-463f-97da-049dae5c7275", + "observation_id": "5b3e3067-2220-4a1d-8000-78421dd57420", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "2eff1e80-6309-4bf6-8795-ffc78fd4e3f6", + "observation_id": "d8746a3a-fb8d-47e6-bae6-a30ac31312d3", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "06f517e9-ee5c-4600-958b-5d98d0e7f645", + "observation_id": "6ef4f15a-6e77-42cd-a201-4a8df315902e", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "7431d5e2-5232-47b6-8459-fe0044a8ba66", + "observation_id": "9a5f9186-62dc-4b64-89df-6b32600c9828", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "544c7887-160a-4776-a964-21ea9254bae1", + "observation_id": "e810ae43-9823-47b9-8db6-8801c7dfd38d", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "f7ce65a9-2223-420d-b2a7-e564e26c4c56", + "observation_id": "ccbc0101-5435-4960-941d-518c3274cee6", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bdefg/render_f_camera_pose.json b/data/camera_study/Scene10/k5_bdefg/render_f_camera_pose.json index 2f7b65b..90b1f19 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k5_bdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:08Z", + "created_utc": "2026-06-02T22:37:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bdefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k5_bdefg/render_g_aruco_detection.json index 1a84187..4979397 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k5_bdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:07Z", + "created_utc": "2026-06-02T22:37:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "dd5a5f1c-273f-44bb-98d0-01cbcb33e9ad", + "observation_id": "7d647ff5-a7e4-4ff7-81e9-aa796bec33a3", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "f2c1ae46-18d8-4752-9914-86fccadf5647", + "observation_id": "4176804c-3b19-4171-a77d-a438496686eb", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "2d4cb09c-55bd-4561-90cc-1543d0a7c1d0", + "observation_id": "8ffb2fe1-12bc-4e8c-a9f4-d51b4a475aea", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "f00cae42-d551-4824-82ca-6187b36fcdfd", + "observation_id": "b54f5786-90f4-4a23-88f7-41b6b5cfa6da", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "b7c92526-ee1d-4588-af8a-e4344a7aaf4a", + "observation_id": "12efbb49-a0d6-41c1-affe-9874d7cc19ad", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "cbdbe432-ad0e-447a-a2c2-c94d2aed2f56", + "observation_id": "a5ebf2a3-daff-411a-bfcd-4a195beb75f6", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "2faf664c-cd05-4509-831c-ae9937968702", + "observation_id": "08292cfe-7b7c-4ca5-b9b6-e29eb5de840f", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "7a2ee2fc-ac35-4518-827e-a54e6066933f", + "observation_id": "27562abf-657d-49e7-9ff5-5cf87a4ed031", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "d25aade2-f72d-44cc-9c7c-1fcd542da6ce", + "observation_id": "2720f045-20f9-4ef5-bfe3-cc217427d6f2", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "f85923ca-aa6e-4702-a764-c65a16fbc513", + "observation_id": "eab8e815-1292-49b3-8741-38fe05099b0e", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "3d21c686-30c6-4fe8-8996-9d5e1cacf80b", + "observation_id": "aaf9ba3b-cb89-4e4c-957d-6caaad3d96b6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "ba7766bc-ca1a-4941-bcd1-2bdf773a2607", + "observation_id": "46564321-3930-43ec-8c1d-236c174eb30f", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "424aa7cc-e10f-4daf-911e-dd1151317f5a", + "observation_id": "70fe3d54-977b-43bf-b096-cfad0968ccdc", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "a2048014-15cc-4101-b79d-fc8254c9ab01", + "observation_id": "7158d304-7fcf-4973-8efb-a0c962bde040", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "97417c0c-ee5a-4bd6-affa-2fcfe7b757f5", + "observation_id": "5f4e4c54-849c-4f92-b204-3a583b72d00e", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "e1ef4ec1-6a20-4590-adb9-fe6323abd6c8", + "observation_id": "7f797f0c-5965-48a8-943a-40edcb83aaa4", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "e722fedf-0956-4d73-a710-1145364fd9a2", + "observation_id": "c6997257-235f-462d-8788-f0df63bf09df", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "49ae205a-49e4-4b82-96a1-8c72c11bcefb", + "observation_id": "02223656-fc47-431c-8b75-ece64a593824", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "5ee2aeed-3355-4ee5-8dd6-d5bbecc7bd3c", + "observation_id": "1139eb5f-c2bc-4d75-b1a5-8d9e4d081633", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "acb5d44d-bd91-4a11-bec9-b4589cb88ef7", + "observation_id": "7fe0cb14-bffe-4ee2-b05a-02d4e84c3963", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "4d24319f-e61b-4842-8c2b-b0c61468d356", + "observation_id": "9132e6aa-4a21-467b-be09-2238f2435612", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "c953d648-6418-448e-9e4c-24a2548ee269", + "observation_id": "13017fae-dd14-47aa-9557-4381f625a8d1", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "52766dc6-aa8c-457f-a2f2-eb87c3ccad16", + "observation_id": "d7e6e2c3-5251-4678-9fff-eea06256c5cb", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "262bf86b-f238-488c-ba76-e1e5abde6dc4", + "observation_id": "cd2e75cd-eccd-4997-9b8f-c8c83118f89c", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "0c85b660-5d19-42d3-89bd-f98f75c3988c", + "observation_id": "44bc7d48-0a6a-4670-9e86-b5bd608eee6a", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "45d7ed38-62b3-4082-9ac6-91b4a8cdb87a", + "observation_id": "0d2b998b-0314-4caf-92eb-4da6142beb57", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "8285e35e-636d-4464-9a41-946276106af6", + "observation_id": "613786fb-ec81-45d3-8555-5545cca070c2", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "a06ec5ee-c826-40d5-90fc-390e1246730c", + "observation_id": "36f8e89d-6bde-45ca-a981-79f38112bc59", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "b60cbf1e-fa79-4614-8331-10e3688b8035", + "observation_id": "0f5c5f6c-02b6-4917-ba87-c81920a77f77", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "58b19dfd-49de-4bf0-a6ea-7f21da13d203", + "observation_id": "525b1011-ed45-4414-b0af-5e58e42523e5", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "3e9b9c28-b694-4f5b-b909-58718a6c0ea0", + "observation_id": "89fa40e1-f02d-4a4f-81f7-fd4ce67fc4d9", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "1f1d7cd0-8cd5-411c-864a-ec4a5b40601b", + "observation_id": "11c98ab9-862e-406e-abd8-8def37c928f0", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "7ec8ae98-9bf2-4004-a610-295268d2b0f2", + "observation_id": "bfb38a3f-87e3-43d6-9d2e-43c1a7ac20cb", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "9f83c9ee-6ae0-4a0d-9b8f-69723d43851e", + "observation_id": "ef552ced-1832-4238-9513-9b29d8747883", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "0570b9a2-81d1-4304-b119-f503eb47602b", + "observation_id": "83f1d98b-b49b-4adf-80c3-96f8a188e7b0", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "d2893286-8ca3-44e9-9150-d8fff3a68f1d", + "observation_id": "cd0b1d6b-2b5b-4890-b2f1-7924a1e7f41b", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "77f14bac-13e3-4ccc-b120-6b5a9d81761e", + "observation_id": "518de07a-f940-4eca-86de-47b45be25bf5", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_bdefg/render_g_camera_pose.json b/data/camera_study/Scene10/k5_bdefg/render_g_camera_pose.json index 9074866..24e4410 100644 --- a/data/camera_study/Scene10/k5_bdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k5_bdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:08Z", + "created_utc": "2026-06-02T22:37:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_bdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_bdefg/robot_state.eval.json b/data/camera_study/Scene10/k5_bdefg/robot_state.eval.json index 2878dab..5db35e6 100644 --- a/data/camera_study/Scene10/k5_bdefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_bdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.10653530418287, "mean_abs_mm": 0.3153007450671441, "max_abs_mm": 0.43658216124207794, - "finger_error_mm": 0.7985705968375083 + "n_unobservable": 0, + "wrist_error_mm": 2.312500883980797, + "finger_error_mm": 2.467771980676948 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_bdefg/robot_state.json b/data/camera_study/Scene10/k5_bdefg/robot_state.json index aef8664..5a56553 100644 --- a/data/camera_study/Scene10/k5_bdefg/robot_state.json +++ b/data/camera_study/Scene10/k5_bdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:21:15Z", + "created_utc": "2026-06-02T22:37:36Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k5_cdefg/aruco_marker_poses.json b/data/camera_study/Scene10/k5_cdefg/aruco_marker_poses.json index c0f70c6..d053920 100644 --- a/data/camera_study/Scene10/k5_cdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k5_cdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:22:14Z", + "created_utc": "2026-06-02T22:38:31Z", "summary": { "num_cameras": 5, "num_markers": 34 diff --git a/data/camera_study/Scene10/k5_cdefg/aruco_positions_initial.json b/data/camera_study/Scene10/k5_cdefg/aruco_positions_initial.json index a8752eb..7dc887a 100644 --- a/data/camera_study/Scene10/k5_cdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k5_cdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:22:11Z", + "created_utc": "2026-06-02T22:38:28Z", "summary": { "num_cameras": 5, "num_markers": 34, diff --git a/data/camera_study/Scene10/k5_cdefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k5_cdefg/aruco_positions_optimized.json index ef136f6..c5dc44f 100644 --- a/data/camera_study/Scene10/k5_cdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k5_cdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:22:14Z", + "created_utc": "2026-06-02T22:38:30Z", "summary": { "num_cameras": 5, "num_markers": 34, diff --git a/data/camera_study/Scene10/k5_cdefg/render_c_aruco_detection.json b/data/camera_study/Scene10/k5_cdefg/render_c_aruco_detection.json index 6ddcc29..c3fc46b 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k5_cdefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:07Z", + "created_utc": "2026-06-02T22:38:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "345c60a5-0cd7-4b0c-9b71-bf14352c07db", + "observation_id": "b73064a6-4d98-4deb-8ddd-8f3cfa54e145", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "5f70003b-04f7-4ed2-847f-513b86b581b8", + "observation_id": "5c11e07e-fe4d-4559-b68e-d75df8d795ce", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "53ff0057-593f-4186-ada1-f8a30c094211", + "observation_id": "244a7c22-728f-43b7-b203-7b5bc88cee17", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "6524d575-94d6-4ec2-85ee-56fe91214afc", + "observation_id": "63fa76d0-3910-4c8b-ace7-937b240ca772", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "094a0a2e-3f4f-4f6f-8934-251ab4890bf4", + "observation_id": "cd63b9f4-c611-437e-b35e-b02ba0470d03", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "bcca0c01-3977-45d5-8127-321ae5af30bf", + "observation_id": "1e4ebfc1-0afa-4051-87a8-1eaf5572f5df", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "15485187-ab1b-4118-8af8-65f80a095b8e", + "observation_id": "85bcba85-44d5-42ba-9e49-7cc0032c204a", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "129033dc-9d10-4deb-afd0-9836fad32f97", + "observation_id": "3868f5ad-57c3-442e-9a41-b7cec8120400", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "7e5656fe-5353-46c0-a5b5-913e41adb087", + "observation_id": "20f3e06e-edda-449d-9564-d6d79f323959", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "ab1e5f76-d2f0-4de2-b440-c4ab497282b0", + "observation_id": "47e746ba-bf72-4e5f-9dd6-d203fa166f45", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "6cef5aad-99fc-4a51-945f-86c74cc2ba02", + "observation_id": "9a781594-9fed-484a-b438-ca7d5dfbad5d", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "e8131eff-a510-4f91-8214-74c2bcfc925b", + "observation_id": "6aa1e3e5-930b-4795-948a-a4d4de6e31da", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "3484558e-d2c4-4a64-94a6-910b1a6abc61", + "observation_id": "8d5a98ee-f940-4027-b15e-b7d363d495b5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "70b379d4-eaca-461a-aa44-26887282c8ab", + "observation_id": "d1d94a7f-bb62-4536-87be-14271c6e97ab", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "7c66f6bd-a22f-4935-8ef0-654c8fc2e9ac", + "observation_id": "7d1ba2f2-c7b6-46de-9d22-d4434dd2c614", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "cf843e3d-5101-4d27-837d-cef04cee9210", + "observation_id": "69bd0f0c-9f71-4c1a-9148-0c70b5d5f5ff", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_cdefg/render_c_camera_pose.json b/data/camera_study/Scene10/k5_cdefg/render_c_camera_pose.json index 40d3977..d1b59ff 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k5_cdefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:10Z", + "created_utc": "2026-06-02T22:38:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_cdefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_cdefg/render_d_aruco_detection.json b/data/camera_study/Scene10/k5_cdefg/render_d_aruco_detection.json index eb16148..b1f59ae 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k5_cdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:08Z", + "created_utc": "2026-06-02T22:38:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "fd03374d-e295-4dfc-b2c9-f2d6fca4162f", + "observation_id": "5ef24e9d-b319-441e-b7e7-5e90121b6a33", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "8a73b2f7-9a26-4bd7-8fee-e66d2fe36c9c", + "observation_id": "4678b18b-f8f9-4a7d-b2ee-7d22453b1dc2", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "2c037e28-645e-457a-9232-a537a48c6127", + "observation_id": "1595e3ef-a46c-4986-a499-57ac94352f27", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "27a81875-97c0-4055-948b-f1ae74ef2860", + "observation_id": "9f55eff8-56a7-4def-a1e8-cb27a5047ff1", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "297078de-471d-4f73-a6b4-6d838c41941f", + "observation_id": "cf53f8f6-6251-497c-96f1-69d5c99a14e9", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "6470bf7c-507f-4450-b29c-84b6c6118460", + "observation_id": "b3f86816-6827-498f-a494-657496a4afc3", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "c3faf808-b027-4cdf-b7c8-8a727bc2b4a7", + "observation_id": "f7399cc5-f7e1-4fae-b6e6-f81290184e17", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "7b5fd45a-743a-49d3-9ee7-006ed8d52e21", + "observation_id": "d45c6bf9-8a08-4823-9668-3dc436410ded", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "13d42505-67cc-4202-8b96-216a3cd3fb37", + "observation_id": "74688609-702b-4eaa-b0ea-fd385698b13d", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "71de4470-6a84-4064-90b0-76d76c3ce140", + "observation_id": "caa5b7dd-1959-4029-bfc9-f77dc6581659", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "4ade4b6b-038b-4eec-a88b-4dce6bc288e6", + "observation_id": "208e20ac-d608-486f-8db7-35d1e874db8d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "778c1ac1-d8e9-4bc9-a0de-f9e6d706be50", + "observation_id": "a49b54a1-853b-4b24-a446-8139017147d1", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "cf4af2aa-a87c-4819-9adc-09a8330859ab", + "observation_id": "162aad23-636e-4107-9ea1-3c4c7663a25f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "dd9896aa-8f52-485d-898f-ede929c7ec58", + "observation_id": "6fff840a-edf4-4779-86a1-9129f327a643", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "eb474b8b-d683-42a9-b7cd-0dfe8bd6780f", + "observation_id": "2b39ba53-aeb0-41fa-b629-f946f11d064d", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_cdefg/render_d_camera_pose.json b/data/camera_study/Scene10/k5_cdefg/render_d_camera_pose.json index 679a5e1..e92aa49 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k5_cdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:10Z", + "created_utc": "2026-06-02T22:38:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_cdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_cdefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k5_cdefg/render_e_aruco_detection.json index 734e346..f4a1fe5 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k5_cdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:08Z", + "created_utc": "2026-06-02T22:38:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "10572047-975e-4599-9730-e2e3c5ef38f1", + "observation_id": "6f6d0666-4b3f-42ba-9f91-5810f73b70f4", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "9c4ff90c-ebca-4e56-9f55-a4f4f29f3111", + "observation_id": "f2da6b16-b426-4d5e-b89b-2058a11328cc", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "e665b400-4881-4fe3-a3e2-ca63e6bf725d", + "observation_id": "93040054-323c-4f27-95b5-72cc27db4ca3", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "9382e3b9-3158-4d4f-a9b1-63a5cb71a8f9", + "observation_id": "a7bce30c-3b5b-4476-8b4e-224905d80e99", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "5d793aee-6dc0-40e2-a3be-0cc2aafa864c", + "observation_id": "b741037d-4332-4ace-a4bf-2ccd96e112ba", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "41ce2b6e-1ebd-4310-8cb4-2a5fbbafcd47", + "observation_id": "93cb9bae-5e6c-469f-9ce4-942c5b3a0c6a", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "1d4c8ef3-b103-42cd-b6ef-8126a96e3f18", + "observation_id": "a61ba712-de6d-49cb-ba6d-4b5662e0ca2f", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "466529d5-80d1-44fa-a4e8-47fbc3e7a295", + "observation_id": "748b8863-6102-4ce4-a148-cec10db17182", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "70aaf68b-3874-43ec-a407-e1d166c7596a", + "observation_id": "4d3ea386-aade-4390-a7f1-6e56af904040", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "0564f3dd-643b-4ee8-825c-c4d892451a71", + "observation_id": "a4b7424f-85dd-4824-850c-86c9dea5d73f", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "cbbd9ef0-e81e-4623-96bf-494b1bd5bc53", + "observation_id": "e7367b31-6e14-45d4-b9b9-55765a0c98e5", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "53b05d73-e2d5-42b1-adb1-0a62b249f7c3", + "observation_id": "1276fa53-99bf-412c-af4a-4c5fde467e54", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_cdefg/render_e_camera_pose.json b/data/camera_study/Scene10/k5_cdefg/render_e_camera_pose.json index 55ad01b..7d3f1ff 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k5_cdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:10Z", + "created_utc": "2026-06-02T22:38:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_cdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_cdefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k5_cdefg/render_f_aruco_detection.json index 309e11d..f6ecbbc 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k5_cdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:09Z", + "created_utc": "2026-06-02T22:38:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9720b502-a4b4-448f-ba1b-47a3ddc89b93", + "observation_id": "67702173-2a53-4dcc-a2f1-43731059ca1f", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "6c3be2f3-f24a-41a3-8d97-4d9caf49f3a0", + "observation_id": "4375c6a3-b77a-4b35-9d78-0f98b293907d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "dc79c5c8-05af-4f6b-b4e6-1f1af1dededc", + "observation_id": "bb70da5a-122f-4622-a018-c1628013e506", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "227fc326-af32-4357-b9d8-d9eefa26dc7e", + "observation_id": "bb1fe051-1e28-4720-894b-5c55c9922e41", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "52e05e27-f950-4f95-8a0f-254cc51f97aa", + "observation_id": "55ad3cb1-a06d-4987-9038-413e71c60024", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "15d9d0e7-a5e5-42fe-a5a6-d5fe4c85b51a", + "observation_id": "c59e5b6c-dec1-46bc-bd2d-fde01bd8179e", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "69191494-d43e-4725-a2dc-2f7d95cdddf6", + "observation_id": "b5f5dceb-076e-4529-a302-546001d013ad", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "2391c172-a66f-48dd-a9b0-2e8dc31859e4", + "observation_id": "c5c809b0-bf46-4700-93b3-cd64a0ee2f59", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "2fa63dd5-256f-436e-8147-34a191492be5", + "observation_id": "ec1f7441-eaad-4905-aaab-c2ef2c7bce65", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "61b077c9-1b57-4251-a6df-428d57d578f4", + "observation_id": "09138cfb-6156-4278-9c02-346291ccc3fa", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "4a854789-893c-440f-9d24-c18d6ec11cd8", + "observation_id": "9a0d4c2c-98b9-46f9-bcf0-6b2bc4027f61", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "a9ead126-2523-4fe9-b8df-fd58d5403dbc", + "observation_id": "0fa162eb-5a52-46f9-a0a6-107d9ad80bcd", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "7892d0ed-b2df-4d33-8ade-2eb4b7ac1f91", + "observation_id": "29d32296-2387-4710-acb4-059cb3c67c50", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "8fb9aa57-5051-4378-9bd8-2e9bed2b36bb", + "observation_id": "83e627b2-ead4-4b96-93da-967ba60efe32", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "55587052-b6bc-479a-a62c-021c192d7f0b", + "observation_id": "abfe27de-fe64-412a-8cf8-295293de4598", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "9d30f006-73d1-4fe6-9dc5-a74c7196b8a8", + "observation_id": "4b74450b-dd5a-488c-a3fd-7f71f065d583", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "04f23113-eb5f-42ca-93d2-014aa1e5a4c1", + "observation_id": "9320a8cc-47da-400b-a56d-a4e79c18c11f", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "a49c2f0f-d731-4116-aee0-6e9301714a6e", + "observation_id": "50b1698d-ee9d-4a7e-a693-4cda573fa46b", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "95df95d1-25ae-42dc-9a4e-dde3a63e2a3a", + "observation_id": "79df45f3-3beb-48a9-8165-a395646b0d02", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "a1761552-5a47-48f3-aa8e-a07d9ea4cd92", + "observation_id": "b12e1f94-cbeb-4aa4-9bc8-8240e5925df3", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "8b515e65-e519-4d8c-ade1-7f5af3fa6e65", + "observation_id": "5fa96ff2-eb33-43eb-99bf-cd24da919bec", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "114d5cec-fa4f-497b-9504-ba5880f73ee1", + "observation_id": "c98bbd2f-f776-427a-be4e-9ec114175cf1", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "dc03a887-4719-4ba0-92a9-2520f5323e80", + "observation_id": "c9a3d56e-4231-4f19-89ee-eb2450ebd350", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "17057569-8f05-4c03-8c02-fe2c4451da59", + "observation_id": "970c7192-0b41-4353-a571-6abd4d666eae", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "63d85998-0e7b-40e6-bd4a-e02934abc76d", + "observation_id": "fdc82424-e8b6-4ba7-b830-12941a59b556", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "79431b6d-43a5-4adc-8e31-fc6e2f70ffa6", + "observation_id": "f34c76d9-643c-411b-8ccc-da17d489ec46", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "17a8cf5e-6da4-43e8-bb0b-6113183a9b44", + "observation_id": "1944c871-7597-4100-aeb6-435ec886422e", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "77dbf10c-aa07-4e0d-aaa3-fea791247e94", + "observation_id": "bf335586-bc36-4d19-b89d-5a78ce59294e", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "44d15a0f-cf1d-4fbf-a3e5-ce0795aeec1f", + "observation_id": "dc49d4fa-533f-4374-a600-73e8816cda74", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "5508840b-8fef-420d-8af7-4e41766d8a5f", + "observation_id": "759c1278-f130-46ba-ab63-54116421a42e", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "996c0be5-32a6-4dde-b827-7c45a495277c", + "observation_id": "58a96986-e703-4c3b-adec-aad1557d44e7", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "419c683d-b716-4f6f-9314-02e1a349668c", + "observation_id": "df2a10fe-e905-415c-80a1-9bd4b0c6ae49", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "bdbcddb0-7a78-4bc3-9262-484d207bd6b1", + "observation_id": "fccac746-12a5-4a79-885e-3ec2a4531897", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_cdefg/render_f_camera_pose.json b/data/camera_study/Scene10/k5_cdefg/render_f_camera_pose.json index 358e72f..3e1fe6c 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k5_cdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:11Z", + "created_utc": "2026-06-02T22:38:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_cdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_cdefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k5_cdefg/render_g_aruco_detection.json index c684078..1237292 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k5_cdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:09Z", + "created_utc": "2026-06-02T22:38:27Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4da788e2-a6c6-4472-b3c5-0c470f80e38b", + "observation_id": "989b2afb-6cf5-4672-8384-3021baa87f26", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "be149f1b-18e6-4fe3-baf7-edc7accf9db1", + "observation_id": "897c1006-35af-4020-b686-229caa820a6f", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "d3a427b5-b1da-4bf9-abc1-691c91e941c3", + "observation_id": "d44e1488-b82d-4930-9442-8f2e0d2e92b6", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "e711ecbf-a964-43d7-a5d4-20d3af01c313", + "observation_id": "cd554b67-31e2-4a6b-b860-3af514536857", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "4d047cf0-4b61-4259-8978-f8df18bfbd26", + "observation_id": "5d0552f9-8817-4923-865d-9ad6cfa10f43", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "bca0a271-3345-40d0-a382-b0b35d94480c", + "observation_id": "6cc8964c-283f-4997-b8e9-b224f04363b1", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "6e655b7f-ffcc-4dcf-848e-f0fa0cde4beb", + "observation_id": "86441331-2125-42b7-bac3-84d35fcbf2db", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "4cec65c9-4a87-4e05-b045-5609c8f72719", + "observation_id": "3d66e84b-d700-4341-8329-6d2ab8d597e1", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "2b75ca31-d6a2-4789-9c17-68b44be8d708", + "observation_id": "32f58a6e-5d78-4f69-981f-ba72504de809", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "18eec2b3-c168-442f-a8c9-6d908f325ca6", + "observation_id": "2398d90a-0756-4489-bcd5-6a7611a25818", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "a6a37f6b-a4ab-46b6-8a32-8d3806caaa31", + "observation_id": "3ea81991-a261-4991-9906-45840038831e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "d29db54a-166d-44f7-8ed3-4700a0607af9", + "observation_id": "590c006a-28b2-4f27-9bc7-cccf7b0b02cd", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "033b101c-f8ea-4346-ba82-259c1732fad7", + "observation_id": "e7f12864-dda4-4072-9b1f-82e034bb6cd4", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "150fa0cc-0399-4ae1-917a-86a84785ac46", + "observation_id": "22eac167-a9a1-4b57-bcb8-b6803ae47cac", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "e2e68209-f817-4f38-ac70-723852a3d42a", + "observation_id": "61a0ef79-7aaa-49d8-a1f7-483ba72b42e6", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "5593b4d0-9e56-41ba-a7d2-363bcfe0bdab", + "observation_id": "94318219-2458-493f-88ae-72ff50cb404d", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "c69072ea-7b98-4ccf-90b4-c26f657d4668", + "observation_id": "e9e62516-8aef-4de1-8c8d-ece5d54e8962", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "414bba02-b168-4fc3-bb29-bb9649f78e47", + "observation_id": "d0748924-313f-4cf1-9968-c44739d8495e", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "c5f04fa7-5747-4a60-8826-8cffd135f2a0", + "observation_id": "b657de5e-27d7-4587-a2bd-c1e4d900632e", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "fa9d1096-f605-4d17-8e81-e8ce5a04efcb", + "observation_id": "f52212dd-f8a9-439d-aaa3-ac3a5c490c7e", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "351bb16d-6fb4-4006-a785-cc0d35730293", + "observation_id": "b60a0f51-e745-4ead-9da2-510885f19697", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "704d5d70-de25-4063-8f34-f0f82b01b0fd", + "observation_id": "722a21b6-485f-426d-a9bb-1147a648c6eb", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "1f3beb47-9334-4f4c-859d-5d3e5437b74f", + "observation_id": "935dee40-2c53-4769-a791-d1208166be53", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "8752ef03-446d-4e1e-915d-fa93cf9017f4", + "observation_id": "3ac1c616-5093-4fe3-a152-1153036ba802", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "31497d2a-24d1-4d00-a638-4bdab31489e1", + "observation_id": "44023022-a0c4-4f81-8d2a-0b53502b4470", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "f8ebe6b2-9b88-4a2b-83c6-514c1dbc0779", + "observation_id": "8f8341a2-6dcd-4fbd-a419-44ce4e20b76a", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "cc547c4e-197a-4d43-bb0a-edfa01b2926d", + "observation_id": "732779d7-85d5-4f88-bbf1-f4ea1af69a81", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "a747249e-f793-4f79-aa52-d40b3375d50a", + "observation_id": "7c757503-a73c-40ea-abbc-1d16a5b9d775", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "becf69be-58bd-4eed-a9b5-78475f6a8d7f", + "observation_id": "a185cff3-2834-49fb-bd28-d629343aa259", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "62de2ab8-06c4-4ad8-a04e-57391f126215", + "observation_id": "a8896785-be2c-4a4c-8e8b-029ea9995d8f", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "3df8ddcc-1e0d-4480-925a-355b4ca5173b", + "observation_id": "4388c195-5ea9-42f9-adcd-5ba677a2a3a0", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "d4b0e1eb-6698-4ef0-91ff-ee3b4515cbf3", + "observation_id": "517f0e8c-4163-48f0-bf85-b90571b098d9", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "b34ebc15-1b0b-46fb-8f77-d3502ff257e3", + "observation_id": "b7f4b384-9b8f-4420-a4c3-e0936b8c8637", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "f903a1af-5a11-44b6-9e96-8776653836c6", + "observation_id": "ca77fbaf-38e4-4727-a12a-a6e9d524855e", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "f7118f89-15ce-4a41-82a3-aeef92c9508c", + "observation_id": "98925f02-288d-4a2a-a015-f8cdeb73c830", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "98d49991-9f0a-46a6-a83c-4d2c465edb44", + "observation_id": "c2ffa773-f185-4ad4-9136-9be25886b728", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "e111c13c-f0ea-4222-b74e-6f35c0d9d664", + "observation_id": "8101f0c0-fc1d-4851-a927-fb4bfdfff574", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k5_cdefg/render_g_camera_pose.json b/data/camera_study/Scene10/k5_cdefg/render_g_camera_pose.json index 3bdfd85..1d3bbd2 100644 --- a/data/camera_study/Scene10/k5_cdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k5_cdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:11Z", + "created_utc": "2026-06-02T22:38:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k5_cdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k5_cdefg/robot_state.eval.json b/data/camera_study/Scene10/k5_cdefg/robot_state.eval.json index 1cd9394..645873e 100644 --- a/data/camera_study/Scene10/k5_cdefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k5_cdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.2809142426735889, "mean_abs_mm": 0.690476887914584, "max_abs_mm": 0.8193480980776382, - "finger_error_mm": 0.6217371850681408 + "n_unobservable": 0, + "wrist_error_mm": 1.646580207955615, + "finger_error_mm": 0.6140259456926063 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k5_cdefg/robot_state.json b/data/camera_study/Scene10/k5_cdefg/robot_state.json index 6113ddb..d51c405 100644 --- a/data/camera_study/Scene10/k5_cdefg/robot_state.json +++ b/data/camera_study/Scene10/k5_cdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:17Z", + "created_utc": "2026-06-02T22:38:32Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k6_abcdef/aruco_marker_poses.json b/data/camera_study/Scene10/k6_abcdef/aruco_marker_poses.json index 7d81830..f07ebed 100644 --- a/data/camera_study/Scene10/k6_abcdef/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k6_abcdef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:23:29Z", + "created_utc": "2026-06-02T22:39:36Z", "summary": { "num_cameras": 6, "num_markers": 37 diff --git a/data/camera_study/Scene10/k6_abcdef/aruco_positions_initial.json b/data/camera_study/Scene10/k6_abcdef/aruco_positions_initial.json index a3cd7e0..c1b00db 100644 --- a/data/camera_study/Scene10/k6_abcdef/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k6_abcdef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:23:24Z", + "created_utc": "2026-06-02T22:39:32Z", "summary": { "num_cameras": 6, "num_markers": 37, diff --git a/data/camera_study/Scene10/k6_abcdef/aruco_positions_optimized.json b/data/camera_study/Scene10/k6_abcdef/aruco_positions_optimized.json index 6e84c3e..0413105 100644 --- a/data/camera_study/Scene10/k6_abcdef/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k6_abcdef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:23:29Z", + "created_utc": "2026-06-02T22:39:35Z", "summary": { "num_cameras": 6, "num_markers": 37, diff --git a/data/camera_study/Scene10/k6_abcdef/render_a_aruco_detection.json b/data/camera_study/Scene10/k6_abcdef/render_a_aruco_detection.json index 3a83463..2f06683 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:19Z", + "created_utc": "2026-06-02T22:39:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "cef579fe-1b31-4611-b1f9-ae0f3519306c", + "observation_id": "54f9a962-34e0-4297-840c-e18a30edc8b3", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "ca0eb84c-191c-4cf4-bc66-0d2f9c8de416", + "observation_id": "19736291-40b1-43f9-b953-94da4138418e", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "8dd95a11-d628-4409-ad8e-66d2a6938626", + "observation_id": "ef5bfdcf-5c6b-4d44-87b7-d63c53024656", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "abb432bb-65b4-4598-b3ea-c5ab956f1530", + "observation_id": "1d0f9ace-32e2-43e7-a095-ec5c57b88011", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "b68c7d83-2fcf-4dfa-8ea9-e804af96c746", + "observation_id": "52d5d8f3-c606-4ede-8353-d1435046d6a8", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "a97489f0-81cd-41db-970c-17d8515b66e0", + "observation_id": "2c851204-fe4f-4204-84bf-9eb5d47cd679", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "9158c9f8-deb0-4be7-95ef-82852726a87e", + "observation_id": "a307c3e5-544a-48a5-96f8-a95a4dbcbd60", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "2d7350b7-e6a9-4390-9b98-bf14ab6d2709", + "observation_id": "c362d8b2-0445-4992-bd48-0930d55776ad", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "19e53ebc-0a74-4bf2-a8ed-f7afc2a07e95", + "observation_id": "8bc011e7-c746-4b3d-b1a6-3f89026e8223", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "0c6bbe0f-c582-4656-8871-3bbcee83f6e5", + "observation_id": "382f2f05-4fc9-41df-98cb-1f427f6ccbe1", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "4d0136ed-0b38-4953-a3c9-1c649b0f84e8", + "observation_id": "63fd4ad3-ce3f-4352-bc2f-e0e68315c017", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "805878d8-922a-4fda-891a-83c1db7eb5c1", + "observation_id": "e16787ec-7251-46a4-9a56-aab230f5cfe1", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "c89dbeba-16ea-4ea2-aec6-fb6c89b81612", + "observation_id": "77385653-b05b-4300-9fe6-7e73479d5849", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "c316adf9-d89b-48bb-ba3a-ea524e4244ce", + "observation_id": "6af961e4-fd2c-4fc2-ac09-29ede7b683b7", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "4cac8e95-3936-4b0b-b9d2-7eba91a403d8", + "observation_id": "fdb3b716-2aa8-4525-978d-df592f549b3b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - 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"observation_id": "07bc9eb3-adf2-4d40-bcc2-5ceb40c50f59", + "observation_id": "ce2fa5d4-9666-4999-9072-2a9c030d60d7", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "e7847803-1929-4fa1-8fa4-766bc6e46dae", + "observation_id": "02fd653e-f24e-449b-af23-e02cd4c08aa3", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "8ced69b5-927a-44d6-bab9-baa8010d9e09", + "observation_id": "d0313c35-5af8-498b-9b6e-9fc96f77a2d8", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "326b90f9-702f-4257-a351-799e9f3fcc55", + "observation_id": "e548c33e-dbe2-458b-85df-120fd9c5a08a", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "fe37c0ea-7171-404a-867d-021b53ced1c8", + "observation_id": "266003ff-9eba-48e9-a3bf-e2343ff61a99", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "3532ab1a-23d1-4d39-b96b-2ec59f116403", + "observation_id": "fc097c7c-1ec1-46c3-9eed-cf6afa54536f", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdef/render_a_camera_pose.json b/data/camera_study/Scene10/k6_abcdef/render_a_camera_pose.json index f51d6e1..10d5206 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:22Z", + "created_utc": "2026-06-02T22:39:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdef/render_b_aruco_detection.json b/data/camera_study/Scene10/k6_abcdef/render_b_aruco_detection.json index cb584c8..980b7fa 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:20Z", + "created_utc": "2026-06-02T22:39:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0b69d6e1-613f-4390-84c5-e7d434c6f51c", + "observation_id": "fc378373-aeb0-4366-bb19-ba26681e9778", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "1f2f3697-db1e-49c7-b208-d6e3ceefc191", + "observation_id": "87cbe028-1614-4a48-9545-448137d053cd", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "2efa85f3-81b3-423f-b797-7ac76d34198a", + "observation_id": "4e0a7504-c47e-43c7-85a6-5df854f0db3a", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "55a02c05-a352-4c6b-b485-9606020d73ec", + "observation_id": "a3d2c0f7-29ee-46af-b9b4-c04096e8a1c1", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - 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"observation_id": "7091d806-9ade-4984-8906-dadd423e04ab", + "observation_id": "8e2ca306-1fae-422e-a269-3126328fcdd6", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "367c7cda-3ac6-4d00-835f-12bc54c5a933", + "observation_id": "6981f6a2-2989-4309-aea5-9be07db9e8cb", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "55d5ae8c-a85b-47b8-9791-e3aa060e630d", + "observation_id": "5dec460c-3415-4af6-bb83-8fc416e9b280", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "960143d6-c5dd-4d91-923a-deee0c87652b", + "observation_id": "54c36567-1aa7-4a70-aecb-5efc88fa7757", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "525e39ae-72ce-45f9-b0ae-f710f7ec7f0a", + "observation_id": "e5fbe6a9-8ea8-4e6c-8cb3-747b72784483", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "0e3f3f02-0b6a-4bf7-bc7b-4df66e8fdd7f", + "observation_id": "290d850c-7565-48f6-85d8-d9d83cfd1bf5", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "dc953eb3-eb23-4991-b35e-90e69b8fa78e", + "observation_id": "16565ded-17df-45fa-b792-16aeaeb808e5", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "4d885586-57f6-4be7-a7a4-c7957af29d77", + "observation_id": "d43f8dca-88db-41a6-adfb-23af3f0f5a35", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "9a0c3ffb-58e1-45a2-bcc0-13cee17d80ed", + "observation_id": "26c518aa-d5a3-4388-b924-f3861fbfed54", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "cb2a265e-7736-45fa-9bbe-7c47148232e8", + "observation_id": "0c4216f1-2450-4ec3-9677-7fa0b5ff27b0", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "05164c08-7640-4fe4-a981-39695976330a", + "observation_id": "41b5ec4a-8e60-4e7f-9101-b00f9b1dcac7", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "129e09c7-678b-429c-abd4-4675cd253909", + "observation_id": "ecdbc1fc-f544-4293-956e-2dba38eebd3e", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "7edda1d5-9e40-4463-8b27-b34ee5b58349", + "observation_id": "af1b6f37-83e3-429f-902d-3b3130ee0f5b", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "ea48f65b-7f54-4b86-8ff9-f9ead3f87e89", + "observation_id": "558a151e-4c6b-4dab-bf5c-5d9ab63da135", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "888f79dd-a500-4a10-a2e2-a2f0ab8087f4", + "observation_id": "e4399886-ff4e-4af1-9060-e1c575582e89", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "bcf13d66-3783-4d5c-a617-ec164f0e8adc", + "observation_id": "9cbff2df-4212-446b-83bb-746d48104a2e", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "992bb4eb-06af-4ac7-b5ca-8e1fb26dfd09", + "observation_id": "08497742-2e0b-45f4-b513-feecb397c14e", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "c30189d7-571e-4d46-8611-65ea8fc56011", + "observation_id": "2029465a-12fd-4c2f-ac13-23714fdb8a95", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "72617318-6dc0-4017-a778-dbc746cb62ee", + "observation_id": "1dd4d5a4-8133-4f90-a7d9-ce7092370918", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "2c4b020c-bd63-4aaa-999f-bfe630fd030e", + "observation_id": "edb9fb3d-bea3-422d-8d33-5285f89a4b56", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "2ce25c44-51a9-4e80-95d8-e0d288b84bff", + "observation_id": "22ac28c5-b318-4a82-bdbb-b1f50233e66c", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "33b6a66c-b59f-4c9a-9c6d-f75138bbe999", + "observation_id": "5e957bd1-c24c-4748-aa73-6d27eed8e039", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdef/render_b_camera_pose.json b/data/camera_study/Scene10/k6_abcdef/render_b_camera_pose.json index 6ce93ab..1f59697 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:23Z", + "created_utc": "2026-06-02T22:39:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdef/render_c_aruco_detection.json b/data/camera_study/Scene10/k6_abcdef/render_c_aruco_detection.json index 57fc35c..998b109 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdef/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:21Z", + "created_utc": "2026-06-02T22:39:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "396b4a07-c345-4fae-9d49-a91a630f9834", + "observation_id": "6e9d7fd9-c025-49bb-968c-874182370008", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "3cbd3370-3b2a-47b2-889c-00d62cd19223", + "observation_id": "6f21447b-8ed8-4db8-b060-74c8e54ac2fa", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "232a1a00-0660-4ab8-88b4-6d936fa6f241", + "observation_id": "6f976dcc-3eb7-4115-a14f-de6ccc149505", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "1f460f58-62cf-4081-a041-f6df43a8713f", + "observation_id": "d4e85c9c-574d-47ed-a883-351132876b2b", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "5672a059-e4dd-4838-8347-3ef73429ca7f", + "observation_id": "f3df0647-cb3e-42ee-b776-da9e42011af9", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "b2469024-6486-4fc5-8512-e4c5a3d86307", + "observation_id": "cebad60b-2cf6-40a3-9267-40ee96940383", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "fdf56d5b-ef53-4f4d-917a-0656ac4101b3", + "observation_id": "257de470-8df7-41b4-bc2d-c3dca71b4b7d", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "1d050661-bc95-4488-a1bd-852b71610214", + "observation_id": "36ede464-b754-4fcf-ae9a-72263315adbd", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "c5478a03-ba92-4369-bc14-d41d33d82458", + "observation_id": "a8d9f960-1e82-4d55-89dd-49f60f04c6ec", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "d1abc26e-6792-4865-b52f-ede2c6f58f32", + "observation_id": "21d58dee-d277-4f86-87ca-4fc57aec4ff6", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "c95f3210-cb77-4f04-9885-054bb1ccfbfc", + "observation_id": "e3bb48c2-e491-4dcf-a391-3efd2404bb53", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "07be3e33-fb37-4dd3-a318-45ed395df31f", + "observation_id": "b93da753-f4a5-488a-86e7-a91d859890c2", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "ceda3936-587f-45ea-a261-7e758b01f011", + "observation_id": "2adb2c00-8643-4cdd-8146-e9463b631860", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "df376b68-36f9-4453-969c-ca56c6969a9f", + "observation_id": "600fc8b0-736a-4447-a81c-0a28d8622435", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "40f0b15c-594a-4f0d-b8e3-18c23c217dd7", + "observation_id": "46669f06-aaa5-4515-b61c-a44e57b65a46", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "06e3cfdc-70a2-47e4-a4be-020bc330c6fa", + "observation_id": "9128c63e-c5df-4423-9a9b-55aba81eb547", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdef/render_c_camera_pose.json b/data/camera_study/Scene10/k6_abcdef/render_c_camera_pose.json index d966541..d69e29c 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdef/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:23Z", + "created_utc": "2026-06-02T22:39:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdef\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdef/render_d_aruco_detection.json b/data/camera_study/Scene10/k6_abcdef/render_d_aruco_detection.json index 3848026..7d62b97 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdef/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:21Z", + "created_utc": "2026-06-02T22:39:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b50b5237-cb19-4734-9e9b-ac7dfb90c196", + "observation_id": "1b2452b4-7cc2-4675-8d21-75ebdfa71f1a", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "c9a8ebb8-e3eb-4e6b-b536-6b16fbdb18ce", + "observation_id": "1b143e40-a397-4b6f-a625-6a638ae8909a", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "fcc508bb-622d-40d3-8f4b-fb8d21ad5cfa", + "observation_id": "c6651a05-b328-45c9-b349-fc6fa766fa70", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "2bdcd659-3558-4458-88c4-3c07cae8b3d6", + "observation_id": "7cda74a0-dc0e-42e9-8e60-93cd42cd84b7", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "a3c7573c-f3f8-450c-a602-3a5f4265b1ac", + "observation_id": "037df56b-bc32-4ef9-8d0c-ed451e2b2d4b", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "29f50270-a440-4f46-86e7-f57624fff5c1", + "observation_id": "ec7a979d-df39-47ad-ba2d-19befc1116b6", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "cfbd6987-f5c0-4209-9331-bb699808fd19", + "observation_id": "f0b8ae1e-fa1a-48a2-9e61-1310df4fefda", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "27c219bd-d5e0-4728-bbc1-3e70f69a3661", + "observation_id": "7364e93b-b9d3-4d79-9cf6-7c5762f80e6b", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "4299978e-66ea-4842-85d2-2cdbf5374119", + "observation_id": "32c20ab5-e930-409b-85bd-f0b17de4ec36", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "7639f887-c572-42fd-b2d1-3e2f6fd93d09", + "observation_id": "7750a680-3079-47eb-be91-30115ce6ba19", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "b6f9a09f-9df3-498b-861b-e623c75a6347", + "observation_id": "69a4ddcd-80b1-44a0-a111-b295ee9292d4", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "8883e24f-c5a6-4dd7-943a-1d89c6335753", + "observation_id": "aa8bf223-1647-49f2-856b-fbffd3e22ef3", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "bac8e459-a6b9-4586-acb2-4fb9e3502fd0", + "observation_id": "ceb9f2e1-4123-4c93-a56b-178d3d66f277", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "6cd4ece6-b7a0-4656-a011-ac034d97dc9e", + "observation_id": "ef0d5246-6e94-4736-8737-3c9e2dcfefa9", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "d8fdd375-ffd2-4140-b2ac-3942fc75ceb7", + "observation_id": "a47d8664-580f-4ead-ae11-3834f4b30437", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdef/render_d_camera_pose.json b/data/camera_study/Scene10/k6_abcdef/render_d_camera_pose.json index 471e756..c8dc7f0 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdef/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:23Z", + "created_utc": "2026-06-02T22:39:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdef\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdef/render_e_aruco_detection.json b/data/camera_study/Scene10/k6_abcdef/render_e_aruco_detection.json index dd5d6f7..e992708 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:21Z", + "created_utc": "2026-06-02T22:39:30Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4b1b6de5-f1db-4ceb-993e-57a386a8c15a", + "observation_id": "e08d914f-16a9-4905-acd3-918ac4312a51", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "bdb8e557-de15-47d1-b086-2c8d1bd452a8", + "observation_id": "0c597c5a-1e3c-4e46-95dc-a3342dbf5cb2", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "7a169e3b-eceb-48f3-b0d0-4c3b62858e00", + "observation_id": "061614d7-5eae-473f-b8dc-1e32f6bc8afd", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "e36afa64-fd6f-4635-95b7-181030ff6f18", + "observation_id": "68feeb82-4a4e-4db4-b6fd-6b49f464ba28", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "5b518ede-0941-42fd-bb81-6de4fc64b007", + "observation_id": "556a7248-63bc-4fa0-91f8-443eeadd3ac0", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "d2dfd2a9-99e0-4b0a-8284-d54854d3638b", + "observation_id": "6e8ff112-e58f-4d70-87ac-6b7cace10b6f", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "2e6bc5aa-ecdd-47d1-870f-05c56f44e379", + "observation_id": "2a45fd68-899e-4a4a-9887-adbc9b63f4fe", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "2cbf9946-34e7-4ca5-b853-75ac11d265c2", + "observation_id": "c8d52ddb-114a-4b4e-8a25-ed75627f37b8", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "41f99950-1957-47a5-a3f2-4f01ba58ef94", + "observation_id": "b3578e60-8f25-4054-bff2-d85ef3100394", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "867bd734-4f3a-4f11-903f-932f30ae20a3", + "observation_id": "e770b9b7-1cf1-45c9-b6db-b3985a890619", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "38729dd9-576e-4ff5-87b4-b6582ef30c34", + "observation_id": "b33ac776-5262-413c-973d-292cd54898dd", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "b24c9f3f-65c2-49e5-92bd-7d8b57dd3499", + "observation_id": "fe29b66e-0d69-4101-8cc0-829dd6c8de6d", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdef/render_e_camera_pose.json b/data/camera_study/Scene10/k6_abcdef/render_e_camera_pose.json index 046af3f..ca65ee0 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:24Z", + "created_utc": "2026-06-02T22:39:32Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdef/render_f_aruco_detection.json b/data/camera_study/Scene10/k6_abcdef/render_f_aruco_detection.json index 191b868..268765d 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:22Z", + "created_utc": "2026-06-02T22:39:30Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e647eb66-d1a8-493a-b431-486060a37fa0", + "observation_id": "f787ba51-cad2-4334-abd3-d0670d069fed", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "17d1338e-d3ad-465e-8325-1b706a06f6a5", + "observation_id": "6c27a231-22e4-42fc-84d8-348fab5c3829", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "8641c9f0-a267-458b-94a4-bc1a352d5c05", + "observation_id": "31816984-152b-4207-a45b-e8d7d3faa629", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "82c016ac-3160-4877-9370-e5327106d836", + "observation_id": "57a679ca-bc12-4d2a-9b61-5c007d818469", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "896c06c2-e7c2-455d-a591-ef5d3a2f9a16", + "observation_id": "d80acad5-933d-4eea-8177-e1ebccf55ea7", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "baf1a4b2-d637-4c84-bead-4ad3cb52618e", + "observation_id": "cfd5d760-fda2-46ff-a683-f62aba71bbcc", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "739b31f1-acf6-4b81-95f8-4e1e9fcac99c", + "observation_id": "dd8ff588-c43d-4574-ab18-ee133507208c", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "089e3592-984c-48d8-bdff-59541f31d171", + "observation_id": "720d2946-4a63-46d3-ad57-e966256e022f", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "44abea2f-39d7-4488-845c-dc7cbee0142b", + "observation_id": "7a0cdac8-85c2-424b-b1b0-7b8a14a08b36", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "6a51bb75-ba90-46ec-aab6-87e38a6b59d9", + "observation_id": "80509f63-7c76-4f45-9a49-ef62a357bd3c", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "fa502c48-da3d-4d2c-b12e-315af1e7450b", + "observation_id": "faf3d89e-4ef6-4723-914d-e1a9f09ceb58", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "2cf72b8b-ae44-4a7b-9cba-95e1bf9da356", + "observation_id": "3791b5a9-ecdd-4922-bafe-2150c4c9133e", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "c97866cc-b9ed-4749-8d59-10c02a2a9bea", + "observation_id": "53555724-74f8-4d98-90bc-86d3a575b99e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "29082042-d6fa-43d2-afb9-fa1a8d04847d", + "observation_id": "645b02e3-c2e7-43b3-8e91-769a933c3ad1", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "5bc8005b-01f5-4383-b4f8-f8a36b385601", + "observation_id": "7babd50c-1ec2-4dc6-b2d1-cc2bb333198f", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "3a25f2e1-4f55-420c-ab82-69651b4307f2", + "observation_id": "90988dac-8599-470f-8f51-d6bd39e3232f", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "edd5ba33-8a72-4e91-90e6-67967db44126", + "observation_id": "690ca45b-0ec0-4dcc-91d6-96aa5419b8e4", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "4d9ad24f-83a5-4aae-9c0f-df143d914ab6", + "observation_id": "d52014a9-f13f-4adb-989f-1d17e07ba834", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "fc3cb305-0fb2-4f00-a553-ea4f1f29594e", + "observation_id": "67b5e51e-638e-412f-b882-a32f1ae52be1", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "b32b4068-567d-4ef9-ab33-d2da3f5ceb50", + "observation_id": "9c9e659b-29da-4aee-addd-de4b16cec07d", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "f889ba7d-ab0f-4014-887f-0185049dfa8f", + "observation_id": "abff017f-7d58-4e80-ac05-ae17e050d2dc", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "9f5b6871-c0c6-4d8a-aa57-263ec45ee491", + "observation_id": "35e7212a-d000-4262-8ee2-11a256467c86", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "3ea83a93-c858-4d0f-b187-97c416dc7a97", + "observation_id": "c58998ba-95af-4b11-9b2e-bb93c94581c8", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "041ed793-dbea-4b9c-b6ec-31428a05b221", + "observation_id": "34595435-3660-4c35-a44f-b41ae239fd1f", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "ca31d5c8-5b56-422a-b67d-438d354d2355", + "observation_id": "05a04a9b-2990-4a25-a01b-0c31d935500d", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "61668c4b-0d71-46bb-9a50-447ec0c0be9d", + "observation_id": "13002719-bcc8-4041-8ffc-777040a92881", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "2c0bcace-3478-4dd2-99fe-5e4e6bc84565", + "observation_id": "f739763a-5422-4066-8e92-be60bb02ef6d", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "bf04d85e-51a1-48cc-8049-182a02aa3eaf", + "observation_id": "aa2002c5-e672-4174-a6bb-5c1a78a01d76", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "3fa2b0ba-a500-446d-9db5-e295f62c3ff3", + "observation_id": "d509ff34-7fbf-4987-a552-183acd36f142", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "b9552431-bfb3-4174-9241-96b138ac96cd", + "observation_id": "7a17398d-f597-423f-84b2-85acff255757", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "d710a12e-4003-442f-bcef-986d60d40409", + "observation_id": "3a00dc2c-b473-4b0c-9062-b769a9c7529f", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "f072235d-4073-45dc-8551-951aeb67e36d", + "observation_id": "f60b1c82-6aa7-4c74-96ea-3039a172e8aa", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "889cb869-b03d-47b3-9518-2f22385cfc2d", + "observation_id": "6afc97c9-a39c-422b-ac8e-68838747e46f", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdef/render_f_camera_pose.json b/data/camera_study/Scene10/k6_abcdef/render_f_camera_pose.json index 1fa5449..f777ad1 100644 --- a/data/camera_study/Scene10/k6_abcdef/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:24Z", + "created_utc": "2026-06-02T22:39:32Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdef/robot_state.eval.json b/data/camera_study/Scene10/k6_abcdef/robot_state.eval.json index 01351c6..139b5ae 100644 --- a/data/camera_study/Scene10/k6_abcdef/robot_state.eval.json +++ b/data/camera_study/Scene10/k6_abcdef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.0585982443666637, "mean_abs_mm": 0.9338897972216311, "max_abs_mm": 1.458515445987131, - "finger_error_mm": 1.025380811047253 + "n_unobservable": 0, + "wrist_error_mm": 1.1934657032420872, + "finger_error_mm": 1.2806904155487466 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k6_abcdef/robot_state.json b/data/camera_study/Scene10/k6_abcdef/robot_state.json index b639999..969f036 100644 --- a/data/camera_study/Scene10/k6_abcdef/robot_state.json +++ b/data/camera_study/Scene10/k6_abcdef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:31Z", + "created_utc": "2026-06-02T22:39:37Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k6_abcdeg/aruco_marker_poses.json b/data/camera_study/Scene10/k6_abcdeg/aruco_marker_poses.json index 74628a7..28841fb 100644 --- a/data/camera_study/Scene10/k6_abcdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k6_abcdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:22:39Z", + "created_utc": "2026-06-02T22:38:51Z", "summary": { "num_cameras": 6, "num_markers": 42 diff --git a/data/camera_study/Scene10/k6_abcdeg/aruco_positions_initial.json b/data/camera_study/Scene10/k6_abcdeg/aruco_positions_initial.json index 47b65f8..d9d302b 100644 --- a/data/camera_study/Scene10/k6_abcdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k6_abcdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:22:37Z", + "created_utc": "2026-06-02T22:38:49Z", "summary": { "num_cameras": 6, "num_markers": 42, diff --git a/data/camera_study/Scene10/k6_abcdeg/aruco_positions_optimized.json b/data/camera_study/Scene10/k6_abcdeg/aruco_positions_optimized.json index cbaaaaa..fd37991 100644 --- a/data/camera_study/Scene10/k6_abcdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k6_abcdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:22:39Z", + "created_utc": "2026-06-02T22:38:51Z", "summary": { "num_cameras": 6, "num_markers": 42, diff --git a/data/camera_study/Scene10/k6_abcdeg/render_a_aruco_detection.json b/data/camera_study/Scene10/k6_abcdeg/render_a_aruco_detection.json index 60d7591..507f76d 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:32Z", + "created_utc": "2026-06-02T22:38:45Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "1a9895ac-3d20-415c-88d1-52098736c5ef", + "observation_id": "eb46c784-4eae-4c6a-816e-0a20f18f6a25", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "faedc3fb-9dd2-4184-91de-411c1b129b3e", + "observation_id": "feeb5cbb-5531-43e2-a500-fbe5e3feae5d", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "0959b15b-7ba1-4076-8780-ce1a243d9e7b", + "observation_id": "a1d3bb93-5fd8-4f63-a592-fe21b96ff556", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "493a1d44-994a-4528-8665-a998dd1cbae4", + "observation_id": "04ca9e15-ba49-437b-bc93-c29140b6fed7", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "f8a16676-2469-4d5f-951f-5d4377d95424", + "observation_id": "3d6a2475-e0f4-47e8-b46b-2dd7ad3fe696", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "884eaa7f-1101-4243-aa0c-3f2978a39304", + "observation_id": "e4f67390-5437-479d-ac35-667d5ec33d39", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "2ade3e2b-e088-415f-b35d-ae8a91df195e", + "observation_id": "2d212b59-0448-4a51-9edf-cd31fe1ef905", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "edc92ede-b3bd-4fa7-b27f-d2343e1500b5", + "observation_id": "06632170-cd0d-4a32-8b1d-34a11885c1c0", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "2ee0dbbc-b4f6-41ce-9d76-eea0e3f81421", + "observation_id": "890c4fe7-5e5f-45d9-b5de-dbbe05cdf29e", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "01d91144-3984-4572-afd8-db71709accb6", + "observation_id": "836f3622-f6ba-4cdb-be96-9bd963a38387", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "0312b327-f3b7-4ba3-86cb-2f9b3337e9cb", + "observation_id": "cf4ca716-5be9-4185-b1c5-303ff2b529d2", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "8263ba70-7d5a-435f-8799-60f4fc95ee1f", + "observation_id": "611e8f59-fb27-4357-8291-d9c80bc21fbe", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "23df4b72-c892-4479-9616-a2a9a6840287", + "observation_id": "ace7923f-ca39-4b0a-a9d3-2feea7232442", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "7fac6ed8-82ad-4f86-984f-2580acf3f1ec", + "observation_id": "5fa43c79-fc3e-4dcd-a58d-cbb34ad07579", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "e4c9afc5-a6cb-4e7e-bb5d-fca77147b132", + "observation_id": "3c45848d-6331-432c-9b92-ffc9fbf2b7bf", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - 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"observation_id": "bebfffb0-ad8b-491d-8c29-91226c4670de", + "observation_id": "ede0515a-02dd-40e6-a107-2e540b0b5fc2", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "1bbc28c7-7f30-42b1-8412-9b54ea7639ab", + "observation_id": "956951a7-a657-46ad-b392-b60c35c5e582", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "d6e445d5-910e-4805-a43e-6d6a4b0d3922", + "observation_id": "90d6b948-02e8-44d7-808f-6b078bb7aac1", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "e8a601a1-f2f8-4707-abf2-34e87f1f9bbc", + "observation_id": "a7899627-dc70-4ea2-9e1d-5c6caed02ea4", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "52bd8b68-91f0-4f0f-bab2-4b4c71103e51", + "observation_id": "2bd9c433-cb29-4e0a-af7a-6f2bfa7b9f9d", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "b3df386c-59a9-40bf-9d62-c26708cfe447", + "observation_id": "bd5c057a-2458-4a07-b2c2-449c4aafbc24", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdeg/render_a_camera_pose.json b/data/camera_study/Scene10/k6_abcdeg/render_a_camera_pose.json index d7a14f3..f809511 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:35Z", + "created_utc": "2026-06-02T22:38:47Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdeg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdeg/render_b_aruco_detection.json b/data/camera_study/Scene10/k6_abcdeg/render_b_aruco_detection.json index ca6f1bc..ef4a781 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:33Z", + "created_utc": "2026-06-02T22:38:45Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "41822f85-4391-4492-a9a9-e3ef9616559f", + "observation_id": "63ce00f7-29a5-4bea-96c9-39b2e0d4e926", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "bff7a61e-1657-4065-9740-170eb5eddcd9", + "observation_id": "23534bbb-e12a-4a27-b048-57872804fa9b", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "d6334b3a-47b8-420d-83d0-5349a24e3a52", + "observation_id": "0a4b63a3-9601-4775-a0b8-e35bb38a60b1", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "a55c2a03-d8c2-401a-bc96-41ff07aa8acc", + "observation_id": "9f614281-1ee0-49ca-8eb4-756d5b907eed", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "0b49fe54-9bac-4909-868c-2bdec6763410", + "observation_id": "3dcaed90-796b-444b-aa00-a92185ae8e90", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "9123497a-fd20-458f-b4fa-7c482eff1712", + "observation_id": "bd3a032c-ceb7-4527-b098-706989b3ab52", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "422bcf4a-b9ba-4287-b206-ef05ca814a2e", + "observation_id": "13d80310-9c1b-48ab-b728-03986c45a342", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "3c862126-8121-4355-ba84-21247e0180fc", + "observation_id": "0cac24bf-8b21-49cc-a600-b55e02c1be8e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "6af3d68b-5316-48a3-8cbe-29d46f76544f", + "observation_id": "54964c53-dbf9-4e11-8538-701404187084", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - 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"observation_id": "7c6cbbe3-29bb-4566-acca-ae54afa01e9e", + "observation_id": "3d702bc5-2d1a-42fd-aa10-0d01d28073c9", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "3ecf2642-037d-4fcc-925c-7d070f8d0801", + "observation_id": "b05cdf17-fcba-4c2d-9544-2b17bf2acc5b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "55fcbf61-f71a-4645-b5cf-5bd8bd410951", + "observation_id": "e2933513-76a7-4f70-ac5c-1ca1418c23a4", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "8eec4629-4de6-4d42-b366-5309ece47316", + "observation_id": "075c74ea-c4a5-48a7-92b1-e05a78ff45b8", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "3dabb7ae-b2c7-4166-93f7-cd568427b876", + "observation_id": "658bbc87-128a-480d-813d-dcbc8629345b", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "9e6dea2f-bd08-4cbf-a533-aa0763716d7b", + "observation_id": "364968bf-25ea-41ab-9314-13566d8f578f", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "28a117ec-70fe-4821-9a04-87239f3941e2", + "observation_id": "cd67bdc6-1580-47b0-b88f-25c7ec8fd60a", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "aee4b2f5-f1d0-4752-97cd-fcab1bbfd44a", + "observation_id": "7b72b9e5-dd6b-4c49-9333-b78630d5a6f0", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "5ccd5612-a554-46e8-bd5a-1c8d67614839", + "observation_id": "7b8ccf26-ef85-4e09-92ff-fa642a4591c1", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "d014436a-e9f9-4e62-a679-2eaae1906eea", + "observation_id": "a7696f8a-39a3-4f5e-8065-0f12d2c74579", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "62aac54e-a936-4446-81b6-601a50d7cb69", + "observation_id": "a3a9aa3e-79f1-4ed7-9632-66e36e037680", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "307eda5b-243d-427a-9576-6f9ef52c09a8", + "observation_id": "bd869e13-05cd-4180-8546-820bba072623", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "4e6b5ded-5c40-4b76-bf9f-a23050c9b3aa", + "observation_id": "d3fbabba-4464-4625-9ecb-06c6be1dbe09", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "b5f357c6-0923-4985-a2a5-2103ca333e0e", + "observation_id": "ee848428-6011-4c6a-8132-2857f8369dae", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "729136c0-d024-4e3b-9bcb-e5fd5310d3c6", + "observation_id": "b49714a6-ecf1-4995-a0bd-37a97eb4f836", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "5fe4d5ca-178c-41e1-b5b2-f6076fa2f60e", + "observation_id": "f94b2e83-7d25-4379-9189-8346778f9f7c", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "e96930a7-7890-4a14-b771-55fea79e078f", + "observation_id": "23889460-2fd7-43dc-8609-7957de5ab5a8", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "f4be86db-20b4-4d24-93b6-b82a73896643", + "observation_id": "9abdcb86-f89f-429f-baf8-7e53e00767ce", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "ae23dcca-4de9-44b6-91a1-007c89a6aefd", + "observation_id": "701dfec2-7569-4ec6-8c74-af43290aad86", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "d04ae0c0-c58c-4fec-bdec-a1e9e1d802aa", + "observation_id": "694edf41-45cf-4314-b46a-331c71d972b3", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "a6677c55-748a-4bd8-81d2-3f3c2ac60fb7", + "observation_id": "e7bf495d-fca5-4730-8a18-e78b01886985", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "79b75174-df73-4df3-a5d9-a47e92771380", + "observation_id": "e1777450-af5f-4b56-8018-5ba10f8998fc", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdeg/render_b_camera_pose.json b/data/camera_study/Scene10/k6_abcdeg/render_b_camera_pose.json index 29fad90..26b56d9 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:35Z", + "created_utc": "2026-06-02T22:38:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdeg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdeg/render_c_aruco_detection.json b/data/camera_study/Scene10/k6_abcdeg/render_c_aruco_detection.json index 19bb769..7509181 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:33Z", + "created_utc": "2026-06-02T22:38:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9ee1fdb0-3605-4ffb-801e-276e98fe8a56", + "observation_id": "4aedbf3c-9166-4bf5-b4c5-5ba6a06500af", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "d87dedd3-2c97-4a8c-b0dd-22b3140f5eb0", + "observation_id": "50f42eba-7c51-4d5f-9c2c-c69686c763d7", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "4ff9ca25-ba3a-4bea-b31c-eb47e51c40f9", + "observation_id": "73a0950c-578a-4294-9dd0-15fcc0a3463c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "ceae96e4-abf9-4d5c-8e9c-28dc572b3eae", + "observation_id": "8a6242f7-45bd-4dc5-9ba5-8a32575db519", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "7d23e2a6-7c01-4340-bc85-5b575eebba08", + "observation_id": "107150f6-988c-4cf6-a387-ad33391aa16f", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "29091624-1f95-42ee-a98c-90a1b3298921", + "observation_id": "29bf4b44-f5ee-41ea-b89c-684db4979f5d", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "6df9648c-bc8a-4d4c-9f52-961b82637978", + "observation_id": "f2b03aa9-1d1f-42bb-9bc7-a6ea930bcc0b", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "ddc74e0b-e962-4aab-acae-157f37319316", + "observation_id": "e5b4f1d2-1ddf-4f4c-a782-ece35adde97e", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "afc1f3e4-ad11-45a3-91b6-fb88b49c7b08", + "observation_id": "25c1cd1a-047d-48cf-9f08-0e58112e0ba2", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "b0a1a232-cd35-4dff-bfef-c18bd2b14eba", + "observation_id": "c7a77d69-e892-4ab2-a79e-bcef821a6ef0", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "3a6921ae-28fb-41c4-897e-38c48608bd96", + "observation_id": "b811812c-5049-4f99-883f-6856b32b0ad2", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "965791b3-37ad-451e-a2a6-4bb9e7302312", + "observation_id": "e1f1b8ef-ff78-42dd-a20c-e186a0e4870e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "ea177a10-b6b4-4411-a9bd-9e9a03073097", + "observation_id": "fe923928-b01b-45d9-bf20-e41b6f44dec7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "58b11259-3c79-4d55-889f-b0701926f4e3", + "observation_id": "10c6dac6-ae84-4f89-a80f-98d5b66df612", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "3ee5558c-4c1b-4d8d-b146-fd95f741a04a", + "observation_id": "2fb9028d-22e9-4242-b705-01a11d22240a", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "2bb94f9e-e73a-451a-a500-0fb2bbb8290f", + "observation_id": "3b82b0f6-6e01-4d74-992e-793d0bd19281", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdeg/render_c_camera_pose.json b/data/camera_study/Scene10/k6_abcdeg/render_c_camera_pose.json index d90c976..15429a4 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:36Z", + "created_utc": "2026-06-02T22:38:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdeg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdeg/render_d_aruco_detection.json b/data/camera_study/Scene10/k6_abcdeg/render_d_aruco_detection.json index 3ba4c60..4694398 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:34Z", + "created_utc": "2026-06-02T22:38:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "7685d47c-94fb-48cb-8c4b-d2a841e9b876", + "observation_id": "21f1f06a-5530-437e-8b92-382ac9a2d925", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "f3789c44-7bf5-45e3-a24f-b96de8aed993", + "observation_id": "e0dee0c8-1895-4209-8148-c3732f30908a", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "4d9464df-910d-43a7-b20a-cb426bc7fc83", + "observation_id": "423fd303-65f9-43c8-b1c4-7c8e5284c132", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "c84e9276-d4d7-4e54-8a4b-4d6dc886bbb3", + "observation_id": "d59b865d-bd04-4eda-97f4-b0a9b90556f8", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "abe89282-be61-4d61-bda6-ec647d17e76c", + "observation_id": "4d92710c-7784-4864-ad64-9a8d588b3193", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "4e8e517b-5f6a-4125-828e-9a796f762d9e", + "observation_id": "401f6fcd-675d-47c0-8cc9-ff367815347c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "3a66cdbf-127d-4e21-a9d1-85f35112f2db", + "observation_id": "b113dfbd-1167-4de4-a255-f9873cb0af49", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "397e1100-eae4-4368-97dc-378c5588f73f", + "observation_id": "e66618bb-e71f-428a-bb2d-e930ddcac822", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "9f1b4f40-1d6e-4e82-9b2a-b8d0fef4d7f0", + "observation_id": "becefee5-2cab-4aaf-b2b2-848d446434ad", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "9b219701-b5ac-49b4-94e6-23232c40bb0f", + "observation_id": "0121a80f-589a-4eff-931e-7499296e925b", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "45841fe7-1ee5-47fb-85b9-53a3aa47a078", + "observation_id": "6703a87c-9129-41c4-a8f6-2bfab3b202e8", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "bb390758-dfd5-41ba-82e1-a6cdaa2d9971", + "observation_id": "fc4f7817-c409-4edf-be4d-edab9757adcf", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "de938a04-e904-4ba2-866a-cabf4fe12cd2", + "observation_id": "77be5d6a-4e30-426c-a8a2-959eeee50d4b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "bdc4ec9e-1a3c-4012-8beb-e0cf51db8c8f", + "observation_id": "273f4ebd-1718-4129-bd7c-8a6cd6507739", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "82c970be-2d05-45eb-a85b-77ad39ccd76d", + "observation_id": "43efec1d-e709-4bec-94bf-82e4887f516c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdeg/render_d_camera_pose.json b/data/camera_study/Scene10/k6_abcdeg/render_d_camera_pose.json index df17c01..d1e232a 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:36Z", + "created_utc": "2026-06-02T22:38:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdeg/render_e_aruco_detection.json b/data/camera_study/Scene10/k6_abcdeg/render_e_aruco_detection.json index cfabfd2..c6cc455 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:34Z", + "created_utc": "2026-06-02T22:38:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "7f9d02b6-abbc-4969-8702-6b6385339167", + "observation_id": "038f10c5-a598-4615-9e07-d210c74b3b2e", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "1e63142b-d1fa-4540-b880-1725ad75afb0", + "observation_id": "559d2533-6bc2-4b9c-845a-8cd7091f1f58", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "28e84479-94d4-4034-9dbd-6fe68468c279", + "observation_id": "7bca9c19-3387-46c1-adab-3473f19c3bef", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "7c369cf6-07a7-4989-b341-37ab65b7ef45", + "observation_id": "2cb107f2-1a38-4f43-abec-3d6bb2f6aa62", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "0cfaf6a6-29b4-4a7d-a04b-8a7230f2f1bb", + "observation_id": "970f5e09-ff39-4038-aa75-45541196890a", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "0236ba7d-965f-437f-862d-bf45e17c6585", + "observation_id": "690b1c7b-17e9-49aa-9f03-552141d02061", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "93753db2-27fb-4adc-a273-51dc90935c3b", + "observation_id": "482832f0-8492-4a53-bdf8-d23486b6274b", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "4babd508-5cd1-4d60-8c7c-560ba16c774f", + "observation_id": "45ab0f34-3af5-4527-9234-f40bb951b24f", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "aa4f7ba6-6e76-4103-9775-f69e38ca74e7", + "observation_id": "38fd71fe-c2f4-44b6-8c73-adea154b245c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "29d6f54d-b050-4cbd-8871-544ced98f3b2", + "observation_id": "3b78f967-d2e9-482c-aa77-8a188f25a31e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "215ea7eb-6833-4269-a506-eb475b280903", + "observation_id": "68399a6c-21b6-49d8-aaab-49441b59569f", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "97dd9f75-65e4-40f2-b843-30c927a6b3d5", + "observation_id": "2052157a-8d62-448c-8847-3d9ce71921f0", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdeg/render_e_camera_pose.json b/data/camera_study/Scene10/k6_abcdeg/render_e_camera_pose.json index 65872f8..2b71081 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:36Z", + "created_utc": "2026-06-02T22:38:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdeg/render_g_aruco_detection.json b/data/camera_study/Scene10/k6_abcdeg/render_g_aruco_detection.json index 13f1ae3..69af2db 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:35Z", + "created_utc": "2026-06-02T22:38:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b2ce9e59-bf45-4212-873e-f8fa92e073a4", + "observation_id": "2d6ab58e-f6d2-4fe9-8b35-69caa7294bc7", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "ffea9218-c01f-438e-8b09-04a3ed05de44", + "observation_id": "c5b6c31f-79c5-4e68-a70e-00e4963b1fff", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "13519c29-4ac2-46bb-b510-e236bb950731", + "observation_id": "f75d7cd6-51b3-4c1e-abce-1804c8e05928", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "bdd55a23-b17b-4bb0-9379-1bc21dafbfbd", + "observation_id": "4b35f4a1-2617-42f6-ba81-3c3583a2b4e2", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "296a65d9-b662-4ed7-860a-ec8e61ecb93e", + "observation_id": "5c22ebc1-334b-421e-8fa4-ee7861c763b5", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "397df4ab-db97-48b4-b9e0-5ffe9f2a0bcf", + "observation_id": "6c7f2b18-4ebd-4007-abd9-bb503871a9c9", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "c72afe3e-0269-4c89-a984-85302af54e61", + "observation_id": "40acf5df-1c15-4901-9512-073418d79d3d", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "120eb469-306b-414a-8295-acf9552963e9", + "observation_id": "1d4e35c7-aad7-4c58-b006-e8e591c77ec1", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "3679abf9-2c7f-47b5-a524-e1d8478272bc", + "observation_id": "d104c5b1-50e7-4d3b-862b-87a40cad54a0", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "3cbe7a7b-a640-4868-bc01-8c128a45fd82", + "observation_id": "c3b79c9e-2322-4421-8352-642619721982", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "fcc9e315-3ebf-43a3-87af-f70bf4c67129", + "observation_id": "e95707ee-b6a9-4e16-91c5-0b72fba1c42e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "3c1e010f-8068-49cf-b996-333abfe04568", + "observation_id": "1f67076d-e251-42aa-88a8-78647aa517b9", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "ccad9122-9d05-4c9f-925e-4fd52245bc09", + "observation_id": "db7cfab9-689b-4242-9057-750d9f190451", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "c50a28f4-54d4-43f8-a1fc-f00ad05c95a4", + "observation_id": "392188ab-5f59-4d60-a214-72fe4d219afb", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "61e6184f-5111-40aa-a852-94f30f82745f", + "observation_id": "61597187-9752-4c36-97f7-cf1a59f91cc4", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "dd5b08bf-c125-4dfb-98b9-b3aacdcad75a", + "observation_id": "93349008-652e-4454-a27d-f6d1753d8839", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "f8fc7654-6248-4c09-9e75-08f103927f68", + "observation_id": "7ff2bda5-24ed-492c-a8b4-724d1891ecce", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "fe734c77-d864-46b3-8f19-ef0ebc4364ba", + "observation_id": "86d456d9-6924-4a60-a3e0-0e2b225c8092", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "eafb42a4-4bf2-4ac2-ad58-9e8fba3e0305", + "observation_id": "c6d2583e-3cac-46ef-a21c-35541c978010", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "ca94cff5-be6f-41a9-881e-3e3b74eac54a", + "observation_id": "ac159fc6-dc78-4fef-b6cd-c0ba36cb05c3", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "25677829-332d-4f60-b3e0-430bdf28195a", + "observation_id": "8e88446c-a936-46b9-9236-3169f1111eb7", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "69711d35-d58c-486c-a734-579b307e6469", + "observation_id": "166efbe5-f85e-4e94-8671-a33db74c6214", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "a542a8db-7e26-41b3-8e18-7242d92d0755", + "observation_id": "9cddb57c-35cf-46a0-ba50-65531ddafb40", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "56dfdf50-55d0-4764-b26c-91677ef8d73f", + "observation_id": "b9bfd1f9-828b-4bee-a713-eaf087be73e1", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "b5b47c88-c4e7-4f35-ad26-d9cfb54f927b", + "observation_id": "410e83e9-afb2-4cdc-be7d-30c623eef931", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "341e6272-ce27-4f04-85bb-8236ba90c1cc", + "observation_id": "298425eb-d4dd-49d1-adce-49ccef929aab", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "4f9cb741-8dac-4b05-856b-61f34e207047", + "observation_id": "c5f80a27-d854-4d07-8c9b-f9a5d38bb0dd", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "f72f58e3-278b-4059-aa05-b16b4f13b032", + "observation_id": "fab32a22-3cde-4faa-b5b2-1eb94a87bd87", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "d42bd690-3d1d-49a4-816f-f13cbb4be74d", + "observation_id": "2a6ded81-af74-4a62-92f5-c4ea711020d8", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "93b33f77-4a48-44c3-8984-bfd62ee14625", + "observation_id": "00b06454-86d5-4a1d-81db-9f65ec4d0754", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "7df513c7-a999-4bd8-ae87-d587f6255d9b", + "observation_id": "4db46498-cf1c-4712-bfab-a22b4bd47775", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "de6593a2-c603-4a30-a047-664664ef0694", + "observation_id": "1738b9ff-9dfa-4722-ad3a-36417b274195", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "76f39063-764a-47f1-b084-6a092d19aacf", + "observation_id": "73fed53f-f110-453a-891c-5b963b59b590", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "0bf95d6b-e573-43df-880f-0dcaec321b31", + "observation_id": "cac9c2b0-4b5d-4fb7-ae31-37a0991fa3b3", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "6b69571e-e758-43d3-9829-46dec6277bb2", + "observation_id": "9fa5d2e5-920a-4c71-a380-b053e60d5d39", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "4f0c42ae-1eb3-4f81-b961-4a934e3bacc3", + "observation_id": "054f703e-4439-43db-b890-60804e93775e", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "f02561e3-3c82-48e1-becc-fd1aa6e3ab98", + "observation_id": "82bc47eb-4242-4ced-abf4-71bf9a5034b5", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdeg/render_g_camera_pose.json b/data/camera_study/Scene10/k6_abcdeg/render_g_camera_pose.json index 8e0be63..1c363b5 100644 --- a/data/camera_study/Scene10/k6_abcdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:37Z", + "created_utc": "2026-06-02T22:38:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdeg/robot_state.eval.json b/data/camera_study/Scene10/k6_abcdeg/robot_state.eval.json index addba47..415a5ea 100644 --- a/data/camera_study/Scene10/k6_abcdeg/robot_state.eval.json +++ b/data/camera_study/Scene10/k6_abcdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.5702516960721482, "mean_abs_mm": 1.3986935445993978, "max_abs_mm": 1.5081295972181463, - "finger_error_mm": 0.9697946858606245 + "n_unobservable": 0, + "wrist_error_mm": 2.380464114438559, + "finger_error_mm": 0.9214217444615059 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k6_abcdeg/robot_state.json b/data/camera_study/Scene10/k6_abcdeg/robot_state.json index 29b7a22..50b8460 100644 --- a/data/camera_study/Scene10/k6_abcdeg/robot_state.json +++ b/data/camera_study/Scene10/k6_abcdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:41Z", + "created_utc": "2026-06-02T22:38:53Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k6_abcdfg/aruco_marker_poses.json b/data/camera_study/Scene10/k6_abcdfg/aruco_marker_poses.json index 5977eaf..756a9ec 100644 --- a/data/camera_study/Scene10/k6_abcdfg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k6_abcdfg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:23:05Z", + "created_utc": "2026-06-02T22:39:14Z", "summary": { "num_cameras": 6, "num_markers": 46 diff --git a/data/camera_study/Scene10/k6_abcdfg/aruco_positions_initial.json b/data/camera_study/Scene10/k6_abcdfg/aruco_positions_initial.json index 87de9ad..485b7ef 100644 --- a/data/camera_study/Scene10/k6_abcdfg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k6_abcdfg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:23:00Z", + "created_utc": "2026-06-02T22:39:09Z", "summary": { "num_cameras": 6, "num_markers": 46, diff --git a/data/camera_study/Scene10/k6_abcdfg/aruco_positions_optimized.json b/data/camera_study/Scene10/k6_abcdfg/aruco_positions_optimized.json index 966d890..8fcb8b4 100644 --- a/data/camera_study/Scene10/k6_abcdfg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k6_abcdfg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:23:05Z", + "created_utc": "2026-06-02T22:39:14Z", "summary": { "num_cameras": 6, "num_markers": 46, diff --git a/data/camera_study/Scene10/k6_abcdfg/render_a_aruco_detection.json b/data/camera_study/Scene10/k6_abcdfg/render_a_aruco_detection.json index d09d790..eb31967 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:55Z", + "created_utc": "2026-06-02T22:39:05Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - 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"observation_id": "2d08755b-b89d-4ae3-be5f-63ae939fd928", + "observation_id": "f3f451b6-7678-4fef-9bc8-b3af6ed31788", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdfg/render_a_camera_pose.json b/data/camera_study/Scene10/k6_abcdfg/render_a_camera_pose.json index 4459c65..e973a3c 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:58Z", + "created_utc": "2026-06-02T22:39:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdfg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdfg/render_b_aruco_detection.json b/data/camera_study/Scene10/k6_abcdfg/render_b_aruco_detection.json index 72b37a5..644b316 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - 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"observation_id": "3896a1d8-f123-483b-9ee5-568f61baba2c", + "observation_id": "4dfdba75-747b-4e4d-9424-9bf2c66f2397", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "c107efbf-c1e4-476b-87a7-caff9394b72a", + "observation_id": "4be3812b-b28d-4910-a40d-7876c416b45f", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "75592f10-2b01-49f2-b34e-d36aed98c9c9", + "observation_id": "5be7a2b9-399e-4465-813f-92df1cc72e54", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "4ffe8633-bd2d-45bc-a7da-46dbcb1761a9", + "observation_id": "5e23af86-c7b1-48c9-b8ec-05026114d467", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "55b2d89c-ee48-4ad0-a120-3ccf43552f84", + "observation_id": "86f2312d-bd97-498c-b3e4-a2a99c14dfc0", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - 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"observation_id": "1b3c49e3-c0e2-494e-996f-4280d3f3e784", + "observation_id": "0fe8df91-ec46-4646-b569-e4ac10cd1d57", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "1d342316-eef5-463d-b06a-adf726561d51", + "observation_id": "b038db78-3e14-40b6-a0c9-71bd0850bc65", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdfg/render_b_camera_pose.json b/data/camera_study/Scene10/k6_abcdfg/render_b_camera_pose.json index ee3f13c..ab53bcb 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:59Z", + "created_utc": "2026-06-02T22:39:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdfg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdfg/render_c_aruco_detection.json b/data/camera_study/Scene10/k6_abcdfg/render_c_aruco_detection.json index 010f7f4..268ae9f 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:56Z", + "created_utc": "2026-06-02T22:39:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "12d0fcf2-a247-49d5-8c84-250b0252b4e3", + "observation_id": "94bb97ee-1dac-4fc8-ab6f-bfc5a29e5a33", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "fe7a57f9-f6e8-421f-9160-699a58d1175b", + "observation_id": "987dab21-47f0-471e-8fa9-f03b4d10088b", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "af562847-e137-4746-9dd6-ac2f9fd906ac", + "observation_id": "475ebf08-98c0-473e-a76e-86d884439a1a", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "e3d58019-a709-4eb3-9d1a-1dbe64c48590", + "observation_id": "65dbcb98-4fcf-4d24-af0f-e4b0d16a2c1b", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "a04034b2-5682-4a26-9113-842258a8867c", + "observation_id": "d359f6c4-5930-40e9-aaf0-f72bce1e75b3", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "76b33a9f-8e52-4a1a-826f-03fb3638e876", + "observation_id": "2968208a-4081-4526-8eae-294ff8a8ae96", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "43db5d45-4910-4ad4-b7c5-0a6e2297fa90", + "observation_id": "89523464-79cb-41fb-8d76-e58f8a942261", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "fd144fdb-104d-4ca5-8f40-377fe2dda1ca", + "observation_id": "f67494f2-e0d8-44b7-b326-f46c2c6af2cf", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "2c4ff614-30d5-46cc-86de-86c01798b85b", + "observation_id": "3c77aeac-862f-4e94-acb8-640f137e5ff2", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "cf239cd7-5f02-410a-823a-cb5bf7ae2dd2", + "observation_id": "48c79bb1-93aa-4251-ad44-96d725e16e25", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "1fd9ac37-33a3-416a-b674-d0178a7508ae", + "observation_id": "c419b136-5857-451d-acdf-3dae6e836025", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "4508da0e-18d2-47b5-8bb3-72529e19ddd9", + "observation_id": "2cda45cb-b3a6-4621-bcbf-9ca23d0b9b3f", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "e99daa33-0b3e-4ec7-bfec-9ba14a0c124a", + "observation_id": "c46d6a60-bdc3-4682-9a5d-3568c00305a7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "fc7db9a8-9b8f-4f61-8cfb-f1eb1db2c068", + "observation_id": "42c664cc-944f-4405-82a5-831506b120ac", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "b3be7e98-6b49-49b7-b1d8-dfcf772d5811", + "observation_id": "b7e00b7d-7be4-4508-b0d5-e2dd16dbe18b", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "825d26ee-0ff2-4d2d-b56f-aa5f63c732e0", + "observation_id": "9a521fac-9a0e-4e63-946f-c3237f6a1816", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdfg/render_c_camera_pose.json b/data/camera_study/Scene10/k6_abcdfg/render_c_camera_pose.json index c8226fd..c5b23ff 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:59Z", + "created_utc": "2026-06-02T22:39:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdfg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdfg/render_d_aruco_detection.json b/data/camera_study/Scene10/k6_abcdfg/render_d_aruco_detection.json index c9d6e84..18ea05f 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:57Z", + "created_utc": "2026-06-02T22:39:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c1bd9b04-9022-4825-9b45-e4a5bab43b9f", + "observation_id": "f4035e41-c054-477e-85a4-77b08dce06e7", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "e93722bd-ab9f-4b4c-86e8-b521a52da05e", + "observation_id": "9248457d-501d-4cae-96d8-ceceded54092", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "6294c964-4141-43c3-88b1-1c5367aafbb8", + "observation_id": "21b38bf2-0781-41b0-a6d2-46fab69877ae", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "f64d3475-0805-4d88-9d76-9c9b0130733b", + "observation_id": "ac9f5944-8f47-471c-a2b4-8bafce0703bf", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "4ba69503-a9bb-4701-8b2d-857145fbbbcd", + "observation_id": "3ff7852c-a670-4c95-95fd-863c5bbe1f56", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "57c8b3d7-1f31-4662-a8bf-64536ac0ad98", + "observation_id": "406825cd-9a2f-445b-a105-fe2ed00ec715", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "3c483d82-c9c7-4dea-978b-0a8bb3dbc40f", + "observation_id": "a7f7ae0a-64f3-4629-818e-2c318ccc3fee", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "c0d8037b-6492-4417-bd82-45b969e12704", + "observation_id": "cceb62a7-2481-4686-8bd1-4c03a5883110", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "fb17c678-2575-4e6c-bb7f-627f1ccb6023", + "observation_id": "1d043c6a-5dbf-4e7f-ad27-75ba35a1af62", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "ef772f8c-1e2b-4dd9-b10d-13178ca8fae5", + "observation_id": "b6e8b51f-bee4-4b80-87b0-7acab84c029d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "a4f91a34-a432-4fa6-b502-f576be527f11", + "observation_id": "751d8eb3-5487-4aa5-85f9-6451766447d8", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "d367f996-54bd-45db-a178-bd305e43d305", + "observation_id": "f2c870c6-5171-4787-90f9-ee0f7cb5d276", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "60bd1b99-a602-4425-ad43-cb49df1beb38", + "observation_id": "ae81f6ee-158b-4d12-a33e-6fc36a5ebae1", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "dadd6865-32b3-484b-bc3d-f171a334ac63", + "observation_id": "fa81ec72-071a-49ee-a15f-efe683ca3dbc", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "f6d17481-0e13-4828-9ee2-7b5868de18c0", + "observation_id": "60403ac7-37af-43a8-b734-b89f303094c8", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdfg/render_d_camera_pose.json b/data/camera_study/Scene10/k6_abcdfg/render_d_camera_pose.json index d0002b1..5e0da4d 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:59Z", + "created_utc": "2026-06-02T22:39:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdfg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdfg/render_f_aruco_detection.json b/data/camera_study/Scene10/k6_abcdfg/render_f_aruco_detection.json index f9e9cfc..5e46542 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:57Z", + "created_utc": "2026-06-02T22:39:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ef60942c-acaa-4dfb-af2d-80d6c7b40590", + "observation_id": "9e95f48d-4597-45c0-964c-a51c0be573b6", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "ea146d33-c3fb-443a-9614-a081d26b35b0", + "observation_id": "784b2383-a796-41b3-894c-c61018b64101", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "cfefd10f-c27f-4138-af67-584e43cb5189", + "observation_id": "3516308e-659c-4877-b8a7-4b95e76697ab", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "090a0f10-93fb-4219-a23e-f58abcb9eb10", + "observation_id": "657e0e84-d348-483b-99bd-13abf25ff614", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "1645769e-17d0-4c2c-9e10-40816a2bd11a", + "observation_id": "151d3412-cf2e-411e-be79-ffc57ddc915f", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "e5a35222-e685-4c52-a0c6-7987d3a8cb23", + "observation_id": "793448f5-65c1-4c44-9951-96dc54451744", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "f9ab542f-021e-46c2-be87-9278a9f10e28", + "observation_id": "98b6e4b0-6701-4684-a4a5-7bec4bc48d4c", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "fe680a34-f5cb-45bb-adb5-3adc48226c09", + "observation_id": "afec3b54-fe1d-489c-b767-d379477b3217", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "c1ff2cd8-9909-4625-9950-cea7140dc63d", + "observation_id": "3b457da2-c1fb-4897-9aec-66c888391d23", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - 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"observation_id": "27e930b1-26ed-413d-8c06-42999ed2fadc", + "observation_id": "72ea609f-8889-4722-9f89-4cbf8ae34c51", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "8db298ce-8c16-44de-845f-f834d30ce15b", + "observation_id": "96bb8028-b4d2-4426-9507-e21008d56db2", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "166ed4e6-46a2-420e-a0bc-fe0b37a469e0", + "observation_id": "51f1bfb3-c98d-466b-91af-4e0658fc183d", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "c9b12f13-6098-458c-b219-961af886f8f9", + "observation_id": "51b1f424-c81c-4eb2-aa38-920b1e338876", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "3e9f3bd0-1105-4ff5-8745-65133d313066", + "observation_id": "48224a97-27f1-42ee-8b5f-5d7f72806026", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - 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"observation_id": "c11dc6b7-78fb-45c5-8d35-d9be28232ad2", + "observation_id": "ef39eb6e-dda2-4e7b-878d-f5a4d06d1551", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "48c1fbcc-01e5-4341-aa29-5264276aa1d5", + "observation_id": "05865481-ae74-44ab-92ca-b73c98d09f4b", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "b936bf25-f896-4b9e-8d8e-d005cd19a1fe", + "observation_id": "4dc331a1-8632-4dc5-91ad-11a976954173", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "36a364d8-72e5-40a2-b107-baacb0494b7f", + "observation_id": "66c852d7-3a23-4116-8d57-feb8315045e9", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdfg/render_f_camera_pose.json b/data/camera_study/Scene10/k6_abcdfg/render_f_camera_pose.json index c4a8ca5..0b50f43 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:59Z", + "created_utc": "2026-06-02T22:39:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdfg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdfg/render_g_aruco_detection.json b/data/camera_study/Scene10/k6_abcdfg/render_g_aruco_detection.json index a912272..32cc3cf 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:58Z", + "created_utc": "2026-06-02T22:39:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f05522a9-5fc7-40f0-8a7b-9f7c5ade0ebb", + "observation_id": "27c455bf-4dcb-49b1-859c-53fdaa0ab8ad", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "3b86020c-e110-4148-9b42-601870366bb8", + "observation_id": "d5e24d1a-7beb-4a02-babb-3213b45705d6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "ecc931d1-20be-4aae-9fe1-8cba9215cb9e", + "observation_id": "6997e883-1bc2-44a4-bf06-c0f117e2ba07", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "255d83e5-ba49-4012-bf08-88d3a6e0a4b6", + "observation_id": "ffd124cd-f74b-4390-90a6-7e342ccbc786", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "89108422-3ac9-4431-af45-fa21adb5fc02", + "observation_id": "fa31155f-c26c-45f2-a8da-c7358f3d6d66", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "e0309e17-d666-4c8d-aff8-dacc09568c87", + "observation_id": "5f3e3d57-a974-4658-9bd7-ec6ca905b30f", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - 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"observation_id": "832c070a-2608-448f-878a-daf4cd617d04", + "observation_id": "b0b563b1-26cf-4062-ae6d-6351f855a072", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "1d577f1e-fd20-4897-a686-10f747530b1d", + "observation_id": "4a3b56f6-f158-4685-9f67-dec3671bb58e", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "754529a2-76a2-47d7-8fac-ba774ffab4a4", + "observation_id": "a6d3632c-ac25-4177-8b8d-113f64a10cfe", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "25150072-9c85-42b3-841d-1426ac0168e8", + "observation_id": "ff737a97-a96d-4d17-93ab-2523a9cf4dd0", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "1b2eaa65-1f9d-4add-bb4d-fdceb629a49a", + "observation_id": "a01b7c6e-e78a-469a-934a-825be390e587", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "6a617c10-4a23-4f9f-affb-48b657ea86d7", + "observation_id": "dadb658f-3e5a-434b-a987-7775e133a016", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "5ace73bb-167c-48d8-b57f-dccef4920092", + "observation_id": "8a26a27b-2780-48ce-9062-28ab328301a1", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "cf328445-7a8b-4fb2-8064-e0d4a87147ce", + "observation_id": "3e3e212d-253a-44d0-9d4c-217e83d622b6", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "d0117658-6c86-4748-8d67-d578e5ffdd10", + "observation_id": "3817e32e-1cc9-49d0-b25c-95df2943158b", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "e1648fbe-f73d-4678-a4b6-f8559fdc51c7", + "observation_id": "0edab6da-ef08-46c6-827f-ad38449fa588", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "eefea0dd-d510-46ff-9705-aa3eb82129e1", + "observation_id": "2f571f96-631b-4902-b948-b6c9b7bca4fa", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "62c784d4-5994-467b-a4c1-3056e29cd043", + "observation_id": "e0434b01-1d61-4fb4-b93c-6787154b435c", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "3d47c302-a6fb-4a41-b593-145fbb250810", + "observation_id": "e9667c39-21ab-4bad-a6ad-384f5dda9b39", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "be1220f5-71ce-4320-a9ab-654679aa73fa", + "observation_id": "14d39f05-8121-414a-af90-c836431af9fa", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "9fb3d963-f8ce-4060-89c3-fbf0f2d385c4", + "observation_id": "101ca679-5ad0-4d9d-b94f-1ba9a03e6335", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "28065b81-8c28-467e-8a5a-0841505155a7", + "observation_id": "b36f449b-eca6-40b4-827d-8c572a8c487d", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcdfg/render_g_camera_pose.json b/data/camera_study/Scene10/k6_abcdfg/render_g_camera_pose.json index 54dcb12..6b7f32a 100644 --- a/data/camera_study/Scene10/k6_abcdfg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcdfg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:00Z", + "created_utc": "2026-06-02T22:39:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcdfg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcdfg/robot_state.eval.json b/data/camera_study/Scene10/k6_abcdfg/robot_state.eval.json index daa254f..6c36ff5 100644 --- a/data/camera_study/Scene10/k6_abcdfg/robot_state.eval.json +++ b/data/camera_study/Scene10/k6_abcdfg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.6763236443851781, "mean_abs_mm": 0.9359810505263417, "max_abs_mm": 1.4324916037875068, - "finger_error_mm": 1.0768503135806584 + "n_unobservable": 0, + "wrist_error_mm": 0.6657806260688824, + "finger_error_mm": 1.4229290324148418 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k6_abcdfg/robot_state.json b/data/camera_study/Scene10/k6_abcdfg/robot_state.json index e12b7e2..db53d2b 100644 --- a/data/camera_study/Scene10/k6_abcdfg/robot_state.json +++ b/data/camera_study/Scene10/k6_abcdfg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:07Z", + "created_utc": "2026-06-02T22:39:16Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k6_abcefg/aruco_marker_poses.json b/data/camera_study/Scene10/k6_abcefg/aruco_marker_poses.json index dbf453b..b91b941 100644 --- a/data/camera_study/Scene10/k6_abcefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k6_abcefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:22:53Z", + "created_utc": "2026-06-02T22:39:02Z", "summary": { "num_cameras": 6, "num_markers": 45 diff --git a/data/camera_study/Scene10/k6_abcefg/aruco_positions_initial.json b/data/camera_study/Scene10/k6_abcefg/aruco_positions_initial.json index f7e391b..c184a16 100644 --- a/data/camera_study/Scene10/k6_abcefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k6_abcefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:22:47Z", + "created_utc": "2026-06-02T22:38:58Z", "summary": { "num_cameras": 6, "num_markers": 45, diff --git a/data/camera_study/Scene10/k6_abcefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k6_abcefg/aruco_positions_optimized.json index 1f8d380..aa65b46 100644 --- a/data/camera_study/Scene10/k6_abcefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k6_abcefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:22:52Z", + "created_utc": "2026-06-02T22:39:02Z", "summary": { "num_cameras": 6, "num_markers": 45, diff --git a/data/camera_study/Scene10/k6_abcefg/render_a_aruco_detection.json b/data/camera_study/Scene10/k6_abcefg/render_a_aruco_detection.json index 66db9d8..df1a528 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:42Z", + "created_utc": "2026-06-02T22:38:54Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - 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"observation_id": "6d1196eb-fd98-4859-9921-5ce2e53e83bd", + "observation_id": "85f0497b-bbef-45c7-a6c1-ceb996ad9a44", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "fb09b666-7f40-49c7-b286-c03831f5b956", + "observation_id": "88902168-a1a5-4229-b734-30095f521852", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "21550f3c-f119-4e89-9067-ff2779debfe5", + "observation_id": "79c9fa72-7963-425e-a286-9d5bd5ef7b47", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "6c922409-e3a6-4150-a61d-d9f7c7e591b4", + "observation_id": "9684d934-69bf-4c10-84d8-6919074308f7", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "53a8e1c4-5c9e-4322-ad18-62d13f344747", + "observation_id": "05550bf8-c6b9-4c23-ae90-98b9dd7e854d", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "34f7ded7-a87e-468e-bd05-bb582840ccf5", + "observation_id": "2963c161-53e4-4ef3-94fa-45ce4e32a130", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "583ea016-c896-40e8-95d9-30d91e7fb946", + "observation_id": "97ba4a24-27fd-45d6-a53f-7ef0846fe819", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "c59556ec-aa9c-4eea-add7-1c1de82d118a", + "observation_id": "982e4a45-90d2-4b91-8edf-afac52be8d77", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "c3b90b02-e0be-4bde-a1ff-0592ebce0a0a", + "observation_id": "aaf2a36d-83dd-4d36-b98a-a8ff0c029cff", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "3dad3222-c68f-4b1f-ba5d-9b395c867f3b", + "observation_id": "73a34121-717b-4783-9fed-ec983198e3e8", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "1ee10b66-07d6-4cdc-98bf-9b4deda94f31", + "observation_id": "7f6c2287-9fc7-4ffc-b9f1-d07a8dff3304", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "2e29a70c-935e-46ff-9197-e8a5041af3c5", + "observation_id": "d2a2e2e5-badc-4e73-8062-67124c874c69", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "c1723ede-90d6-4d40-b5fb-cd261202eb7c", + "observation_id": "04b5ff51-3025-4601-8fd9-98ba7d70ab4f", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "e3e9c93f-cd08-4933-951d-26f0a1cd64da", + "observation_id": "8cfaddbd-c5b2-4db2-bbe3-18042d72d4e4", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "80bf34e2-8364-4617-b17f-ef3ad46d34d7", + "observation_id": "c3308438-5d2d-48b0-8a9f-a0027ee6c271", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "9c391298-4058-4d15-9df7-ba7a57574874", + "observation_id": "3aae0207-7a20-42b5-8408-d9ef13cb1a1f", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "838f4cc7-7714-4087-b3ff-b1ed5687e0f0", + "observation_id": "325c2aab-03e5-402a-8094-e94d62e7f8eb", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "0dc5b907-9dac-423d-9479-427e712e3e34", + "observation_id": "3eca53e9-9c31-4887-b6b5-b7d1557ea7a2", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "5e7df944-e93a-4d76-90b9-1a771427614a", + "observation_id": "78c8848d-9815-4281-adcb-e4fea72618b1", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "1464eede-677d-4016-919f-cf702c125b64", + "observation_id": "2ac72a3d-589b-43c3-afdf-923bc32186dc", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "b727ccc4-16e8-48e3-b0e9-198d75aab622", + "observation_id": "5861bc19-e180-4269-8d51-f5491d8473bc", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcefg/render_a_camera_pose.json b/data/camera_study/Scene10/k6_abcefg/render_a_camera_pose.json index 82fc08f..6dae0f4 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:45Z", + "created_utc": "2026-06-02T22:38:56Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcefg/render_b_aruco_detection.json b/data/camera_study/Scene10/k6_abcefg/render_b_aruco_detection.json index 9d21fc5..576b169 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:43Z", + "created_utc": "2026-06-02T22:38:54Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f63cf906-52e4-4aed-93af-2828ac94fe8e", + "observation_id": "9b78f095-2a40-4f7a-a7bc-c71647f6df57", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "a0b8c2bd-6ee7-48c7-9445-c34fa9a53508", + "observation_id": "5dd2b899-9a6b-4f07-9a5e-af48043c52d3", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "fdfaa054-6b66-435e-9354-c944d39172e9", + "observation_id": "a67a7408-7fe5-4dfa-b21d-09acd858ad0d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "da13af7e-e132-4cc7-8342-eda1f8d42f97", + "observation_id": "db1486ec-a74c-4012-8826-7431e3849036", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "f38af598-2f46-4af7-98bb-99588ed996ae", + "observation_id": "af2d3129-6999-4c5e-ad49-7adad9707e5d", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "4187134c-8607-4b9e-8be5-7fa9957d5356", + "observation_id": "8f6def1d-00cf-4218-869a-a68b8e6f1c73", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "be88e61b-f398-4c86-87f0-3978b90b4246", + "observation_id": "0c5924e4-cbc7-4eb9-8c72-0a8c7d15d735", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "7871e96b-8235-4523-ba0d-580a899ae0af", + "observation_id": "564c7c71-d6dd-4472-8f1c-4dc17e7d06ff", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "4b141ed8-d290-4c7e-99a6-1f3aca5ae3d3", + "observation_id": "44e4faa5-6057-4837-811b-56bb5435e14f", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - 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"observation_id": "f20cb739-2575-49ae-b058-be98675a0f7e", + "observation_id": "d730a59a-7486-4baa-bdf6-351213b02009", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "21559c56-1570-4f40-9a8f-5200163e69ee", + "observation_id": "deb74020-baeb-4dcf-b801-96a161e17196", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "84d10119-ceac-413e-86f7-0ab2b1746b24", + "observation_id": "2664b8cf-7ed4-4253-8aea-e0c160f64e61", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "d0ef5fac-fe1d-4d6b-bdc9-aa693eb76875", + "observation_id": "dbf204b6-1f51-4089-b62d-ca6e3b61bab3", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "81bd48fe-efa6-45de-b0d8-ef5e16420587", + "observation_id": "467f55af-eaeb-421b-9566-df32db468faa", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "f4e4af5f-27be-43f2-99d7-90e4986da745", + "observation_id": "21e7af58-2c41-417b-a66b-d7bbc8120a80", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "ec141154-322a-4794-96d1-0fa2773a02cd", + "observation_id": "d53c7a06-4934-49c9-9e63-fd49584d7127", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "f5e4e5ca-145f-4848-b84c-09a780be68f8", + "observation_id": "4cb5df77-7a32-4649-8ed5-62fb61c12c1c", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "3cc2c874-1e6f-459b-8779-424822f92164", + "observation_id": "6f416cb7-5e64-4b62-9b39-cd33c9860cf7", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "383c1a79-aa9c-4383-af61-b28864b910b0", + "observation_id": "d692a73b-e34c-4f8e-af07-0d60ae54be35", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "5e0cc671-a643-4a2a-83b8-14e92ce75685", + "observation_id": "c9531817-15ef-4f06-aed0-9102d5c9c2c7", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "5e746e80-6244-4929-849f-c065d82d8b9f", + "observation_id": "63bd2268-57ba-4ab8-81c0-6593f507d791", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "7fdb8cd3-fbde-4241-a5ad-79d7df6b49be", + "observation_id": "36168625-d8f2-4afb-84fb-b3735f873bea", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "d8949711-6653-4f4f-a64f-f8f1b3509521", + "observation_id": "47c4c7b8-ff76-4084-9074-1b7cd8b9c565", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "dba4481c-9427-440e-80a3-49653ce0e402", + "observation_id": "26c49ba8-6560-4da2-a4a4-d4ec97757733", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "668cfd96-704a-46f9-b8f4-6b1cf8bdf878", + "observation_id": "4e8936f0-ab04-4cdc-9a0d-9ffc89b46bb8", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "2fbed128-b827-4c93-beb9-3cedeb1cad42", + "observation_id": "af289dfa-da7e-4bd6-bfb7-1f25e1808197", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "c61003d0-40b1-49ac-b29d-abca09a1cef4", + "observation_id": "55067797-46ac-4dc6-b8e7-5c0151c355ff", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "97a84d5b-bc1c-4a23-af23-10bf29074ed1", + "observation_id": "80c7e48e-02bf-4cd3-8651-d8c01fb783e0", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "2bb7aebe-ff7c-4794-8147-ef040a3362cf", + "observation_id": "fde666d9-dd4c-465f-9938-3b1116c6fcd5", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "6bd96b54-203f-4ef3-a7d5-f2edabdab1bb", + "observation_id": "e4d97b77-0273-4321-baf1-dd9d55a99b13", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "837aaa7d-2fee-45e7-8472-5c4f87326b22", + "observation_id": "f7b57a86-afda-402e-baa7-56dd1b376b89", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcefg/render_b_camera_pose.json b/data/camera_study/Scene10/k6_abcefg/render_b_camera_pose.json index f303dae..2d0c66f 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:46Z", + "created_utc": "2026-06-02T22:38:57Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcefg/render_c_aruco_detection.json b/data/camera_study/Scene10/k6_abcefg/render_c_aruco_detection.json index 20588fd..20cae25 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:43Z", + "created_utc": "2026-06-02T22:38:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "db609d72-6a5c-4d85-8371-25b6e837dde1", + "observation_id": "e554e89e-da71-42bf-b7eb-b58e66568fb8", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "bd5aeab9-c669-4d27-98b7-41a62cf880b3", + "observation_id": "ca0a7cc8-4a7f-47cd-ba0a-877bc45a7c8f", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "a724c8bc-694a-4c7e-8ae0-00a1c06d2487", + "observation_id": "aca02810-f1c0-4fee-b9c4-7a97a6216631", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "f8cb11f6-f7ff-47c3-aabe-c273880ee5c2", + "observation_id": "0818fe91-496a-4c07-825a-04dd3fe27f7d", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "cbacad7c-14df-4e79-b77e-ab02a141751a", + "observation_id": "4c33647a-37e2-4341-9c6d-5c32edd78927", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "4151738b-94c0-4d55-b800-591b95534545", + "observation_id": "b9c887dd-0c21-408b-87e0-bdbbd0052142", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "4c69afb5-0bd9-49d3-9ab8-4e49a96cd574", + "observation_id": "2d70f6c9-dbd4-4b35-8add-7b4be15443d7", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "c67638fb-3ddb-4040-8a23-f25008fcd253", + "observation_id": "b4e9b119-e1bc-4f20-98c3-ce080d754da7", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "d4c0b098-f05c-4bad-b762-b0e7f3ea1e65", + "observation_id": "98518ca5-98f2-43a6-8b18-7f5035f164d0", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "4f3d772e-cffd-4a40-a099-2700bd2c9497", + "observation_id": "5afd34ac-efcf-4cc3-b0a8-8896045eaa97", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "93d0c03e-e524-4bed-9194-f1c9c2b3bcfc", + "observation_id": "66f6f1b5-a7db-442d-bf51-9779385c601d", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "63c28476-470d-43a9-93a4-e47c4ffe3b20", + "observation_id": "634533c7-e020-41cd-a6e1-c30bfc8259cd", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "7e95850e-1382-4641-87e9-a27c6183673a", + "observation_id": "4d43951b-a1b2-4804-8272-acf65647c02a", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "16cd2ec0-cc7e-4523-8a35-3b8fb6d5a1e8", + "observation_id": "9a831513-c89a-4bc8-a29d-30fab409baca", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "f0353542-4d21-47f4-b355-c1b2fdbfdfb4", + "observation_id": "5d624d85-bf1d-4fa7-abf3-3c1150c6000d", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "4c19aa11-89c0-458e-b066-6004d5c761bc", + "observation_id": "aad6cc6e-364e-47aa-a40f-1d927d27fb74", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcefg/render_c_camera_pose.json b/data/camera_study/Scene10/k6_abcefg/render_c_camera_pose.json index 3ef8913..b269b3f 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:46Z", + "created_utc": "2026-06-02T22:38:57Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k6_abcefg/render_e_aruco_detection.json index fab40eb..bda6dc9 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:44Z", + "created_utc": "2026-06-02T22:38:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "adc75bd8-703e-4e40-b004-cbb30bbea63b", + "observation_id": "3ca126de-be55-40a1-975d-091d21d9b207", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "d8a2168b-aca7-4d0d-9841-9078966e9a57", + "observation_id": "0b990223-e6f4-4eea-9588-20a8bd30884b", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "89607e5e-9954-4352-9fbf-0f0a2d024cef", + "observation_id": "7f8bca3d-2188-468a-9cca-f631957dbab0", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "7857225d-139e-4265-9f34-ac8394db15c2", + "observation_id": "41f08c65-f884-453a-a155-b6a0d775925d", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "ca8bdaa3-df55-4d9b-8be3-0fe784d530cb", + "observation_id": "30e2db7c-43d9-4ceb-9346-21f1bb4752d5", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "ca2593b5-8389-48e2-9eda-0a1034df5032", + "observation_id": "39e40365-cf95-4785-9763-7e8dc74a4845", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "4db19ea1-76c0-4f9a-bf8b-c3ade986ec39", + "observation_id": "2d4ecc8f-123b-46e6-8c30-45d7466f01c5", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "b84873db-a8f0-449a-a18a-5dd7e4b9bff7", + "observation_id": "d8d0bb5a-5c3a-4add-b3c9-649a97ec921e", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "68f2a6a8-cbc6-4ca9-b696-2a2ea573773f", + "observation_id": "317a1c97-1614-4ede-ad1e-83185e4e17bf", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "7b021520-bf52-4392-ab29-006caf63d124", + "observation_id": "b5f56f76-fbeb-4225-86a4-419588226e96", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "417251af-616f-421e-9e57-d2409ed5e2d7", + "observation_id": "8d36a64a-9a11-4af6-af2e-23cae9310f24", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "1e3c7aea-2007-4078-813a-83147d55e46b", + "observation_id": "ef4f51ad-9f07-442f-bf5d-830b8900912f", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcefg/render_e_camera_pose.json b/data/camera_study/Scene10/k6_abcefg/render_e_camera_pose.json index a2ee5fc..29d3603 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:46Z", + "created_utc": "2026-06-02T22:38:57Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k6_abcefg/render_f_aruco_detection.json index 73ab06e..dfd67d6 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:44Z", + "created_utc": "2026-06-02T22:38:56Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "23a2a1b1-5be3-4db8-84eb-9d41441b97d3", + "observation_id": "d3c3dadc-16e0-41c7-b8da-6d16d54de938", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "df165c6c-e518-4dd7-a561-911b7782744e", + "observation_id": "62732864-3d3e-4c71-b7e8-225933b733fd", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "cb75e529-b20a-440f-8e16-799b0fce2438", + "observation_id": "60ef25c8-e7ec-4ce1-aedb-e7cfb8ded726", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "dd5e6571-a016-49af-a443-025f6bb36d92", + "observation_id": "73a4627d-6bf5-4cd4-83d6-d8469c3e1132", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "e03bb696-3f3c-4117-8118-2f3b0d3e3c14", + "observation_id": "1e1163d7-b12a-475a-b4bb-0049ceffdf95", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "4d299f77-9ebe-4ead-9014-f6aac1a49c73", + "observation_id": "ec2129d0-fb29-4571-b73a-573b4e062a61", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "e7dfc8d3-44b0-4515-8ad5-6e8079054925", + "observation_id": "514c96fa-403f-42b8-8d7e-75d2bc479571", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "e050509a-d9f4-43a0-a7e9-e40e9b721e79", + "observation_id": "99b295e3-517e-45e5-b463-bb26d96c08e1", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "90df73db-25b5-4566-98cd-c6971a326667", + "observation_id": "ad197998-ea24-487f-ad1e-9d434f0ed2e3", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "7584660b-dbea-49d3-b34f-802113a3e8c3", + "observation_id": "76fdd57e-5874-44b1-b8fb-87cdf6fa577e", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "0efafa49-4b43-48f6-8513-818bde7a2a03", + "observation_id": "a827282a-2d9c-4fb0-883b-3bc5a443ea70", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "4706ddcf-75c0-4291-b906-832516121bd1", + "observation_id": "aee75cd9-b02e-4833-bdc2-e490d1439e44", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "e248db26-8b5d-45a8-b704-a80818f2c219", + "observation_id": "2d2f6da5-7f9e-415e-9b05-08587ed7cdb2", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "1acad510-5fed-4ed8-ad7a-a45da8608535", + "observation_id": "70612be5-c177-4e59-b80c-6b477b4cfcce", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "1718a22d-ff1b-454c-85c8-1d92e568965c", + "observation_id": "4b35956e-c891-476f-9753-446620f0fc26", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "679e368b-14e1-451d-ae94-b9bce9a8758b", + "observation_id": "2ae6d4b2-0f82-4cea-8683-a6896e4df9be", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "b7a0aea6-ce8c-469c-8d62-afd3f7c24fcc", + "observation_id": "cf35d6ed-1c99-4bc4-81c5-9e27c43abc4f", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "23ca611d-ec34-4e48-9051-3e995dda21c1", + "observation_id": "1d3f2afa-a1d0-444a-b6e0-fbb5f557b8cd", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "9ff6530b-aef0-4e4e-b726-27ffd9aa4166", + "observation_id": "76d15661-8474-42b1-84f0-bd3fdf37c992", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "60de5de8-00e2-46bc-b338-806721173979", + "observation_id": "229a64b6-c8c2-48bb-ab40-3ca4fdd598c7", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "6e98cfc2-d90d-4d48-aa12-0c428403b110", + "observation_id": "3364851c-7ea5-40bc-a792-16a82c95a396", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "4ad412d1-c999-4de0-8bd9-655db842b2bc", + "observation_id": "74b2cf47-7fbf-4b6b-b218-ab5165f5f383", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "4dad7a19-7454-45a1-853d-d9c0adc78180", + "observation_id": "ef76a99c-7f78-464e-bbe7-c6c0a7c52a47", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "549cb179-b33b-410d-a79a-321f0fb08288", + "observation_id": "8d93d2d6-8c94-4909-920d-ad775ebb2fdf", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "3e4c7684-bc89-48c9-a0e4-772c688502e5", + "observation_id": "50afb879-6879-472d-be26-914a586ef4b5", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "2d01dd2d-5c8c-4203-8711-938ca244d52b", + "observation_id": "bde70ba5-181b-4295-8e20-e4ef73846b9d", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "821efe5f-d4f5-4fdf-b51b-bd9e8b96e39a", + "observation_id": "ad261ac3-7847-495f-80f8-5bd745c32e66", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "1cf11e3d-ee34-478d-86d4-db7b00f48969", + "observation_id": "eac2fabb-d12a-4827-bad6-6cf3cdbc790e", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "215ff9d3-55c0-4dad-95df-7083682fe6db", + "observation_id": "17d18810-a68f-42cd-904b-55ceac9781b0", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "4e914498-167b-4920-b4f4-46670becc3db", + "observation_id": "ea3623ed-46b6-40d7-b401-eab1e785ff5d", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "8aa76f3f-bcfb-489e-ab8b-ce30b0ac61f5", + "observation_id": "b3d93560-89f4-4e84-be1a-0a89fe109d94", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "92a867e2-799a-4c46-ad6c-676378aaca80", + "observation_id": "038cdc52-fc7a-4fee-a597-0992b004c96c", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "12a0e83f-1409-4129-86f0-32f1533ba966", + "observation_id": "a1f51660-ac16-4822-8b07-37711b3638fa", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcefg/render_f_camera_pose.json b/data/camera_study/Scene10/k6_abcefg/render_f_camera_pose.json index 8cad814..46fca7f 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:47Z", + "created_utc": "2026-06-02T22:38:58Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k6_abcefg/render_g_aruco_detection.json index 0b2ec63..8501bf8 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abcefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:45Z", + "created_utc": "2026-06-02T22:38:56Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a978d752-adf5-4a1a-b69f-b54033866c15", + "observation_id": "e168ac09-ad82-46e0-a384-45b78c441167", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "69447c82-1daa-4b3b-9d38-c59c785dc43b", + "observation_id": "c1390acc-3019-4019-8179-f3acc424e71e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "39d57383-9fcb-4b99-a611-cb2f3c81ea09", + "observation_id": "88ee67b6-83a5-4df9-bb2c-be68a2ea6722", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "bc2f2ba3-1098-4ab5-8d84-49f7b583d34d", + "observation_id": "5bb7df35-aebc-467f-b0a8-b69a0de2b093", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "919e7ab3-349a-4842-a2c9-7ec10c2ccad1", + "observation_id": "05366b08-489d-4ce6-8751-72f31ac05430", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "2f023025-72a8-412c-9ae1-1d78ada57625", + "observation_id": "bef14ded-20bc-4fb9-a831-abfc1ab312d0", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "ac1761d1-7c9d-4ae1-b5f2-283f18ad0426", + "observation_id": "f2b57c96-369d-4e54-9e52-e0f9dceceb0c", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "9e79c211-1635-4d67-8a32-4d0713ef6a50", + "observation_id": "ab19c139-95dc-4b29-b99b-8075c3f352af", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "7f7dee92-4fd6-4057-b50d-c2e1cb1adc2c", + "observation_id": "529bbcd6-2caf-47ca-a94e-143071354f5a", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "ed24f7a8-5480-4ad0-9fa2-7c9045a57018", + "observation_id": "541c319b-3c4f-4040-924e-cb2830386144", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "fd24cd5c-3c11-40e5-9ef3-1bc5d01c561a", + "observation_id": "66097948-3275-4fd3-af09-688dc809346e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "a778c348-c9ee-4990-a883-967eaa68991c", + "observation_id": "75192a38-8002-4d17-b356-6db6a5980db6", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "f397a7ad-3fc4-49e4-bec8-a25ac5471f93", + "observation_id": "c6acd1ff-d6cc-4d08-9e41-1b63d0486977", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "269ab49f-23f4-4ee8-a83b-03e6b8454abd", + "observation_id": "aeea6ebf-28e0-49f9-b7a0-4623c3c37646", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "8e1fd4ce-6963-449e-bcc7-ab745c56502d", + "observation_id": "744137ba-e2cc-4244-bc5c-9461176e7c25", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "f9f1991e-32c0-4ac4-a6a4-27339d966847", + "observation_id": "fe572abc-9cbe-404d-8dad-d326a372a084", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "fca97999-8f28-44f8-ad6c-6f26751d06a0", + "observation_id": "57d7993a-2fe5-493e-bff1-9544c7ec0ade", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "82caf0b8-0387-41ac-a690-1b01a1632765", + "observation_id": "4e849275-82ae-42c4-97e8-d57cb33fc781", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "4933e520-30f0-4dc0-8e54-03d3ed7a9eb6", + "observation_id": "7dd70124-3fe6-472e-afd0-94297d8b6198", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "30fde109-7ce1-4cff-9b72-e65aa58999cd", + "observation_id": "9b375504-0d41-4e3b-87da-19c039164a04", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "e19c88a7-d6fe-4586-b651-b74bf32e62c0", + "observation_id": "a355b96e-2176-4741-bb29-86005c09da19", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "318fb09f-32a3-4682-b411-e9551b7c75b2", + "observation_id": "f64c0d7b-4d69-4b68-a8db-ddd99b393cae", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "19471c9b-6856-4adf-893f-58b11d2e6ca8", + "observation_id": "81d76e6e-a732-4864-aedf-3165a0487ba9", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "18e1a1dc-392c-4f0a-8797-c13f438709ca", + "observation_id": "1cf081bb-c82d-401d-bdd5-dca16cb14c19", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "ee20a5d3-0286-43d3-a3fe-42e7eaa102d6", + "observation_id": "80bb7436-20e3-400e-908a-121b68cf060e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "b04c950b-8d5d-4535-9082-a3947af6557f", + "observation_id": "85306199-e85c-4136-af8e-dd9f7f893bef", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "85715f49-d55a-4bdd-92e3-b6013c9e6e83", + "observation_id": "653887f6-bd79-4015-b76a-aacde7efae54", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "4e855861-4769-4607-8a26-c4142bebb3a7", + "observation_id": "3c01cdbf-08d6-4dc6-b002-1b2d3ff531c3", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "8b593a97-dbb8-4577-8a8d-88924b3de929", + "observation_id": "1427a1c7-5b95-4722-a88d-7cb8339005e3", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "fe2d734b-0a54-4d87-a559-ee5f6d357497", + "observation_id": "a59415d6-9232-4447-80f3-a27c510ad257", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "0dcfaf68-7b2a-4c26-863d-ed997b33c502", + "observation_id": "ff26afca-c88d-46ab-b7d0-e6cbce32aa39", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "a9a3fe79-eb48-4dbe-a941-b7fdac89d6f6", + "observation_id": "16b12546-713f-4bb7-9664-2e7b3a4a1b4e", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "b5a5711d-3df8-42bb-8c15-267ec856169b", + "observation_id": "de78b00d-cad5-44ce-b63f-606e3af0b482", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "72aeb5a7-ffe3-4107-9520-5cf6b4301b8e", + "observation_id": "4124bb0f-5f03-467e-b6b1-0470437e0d12", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "dc04255c-6121-4b6e-8f57-db0941eca899", + "observation_id": "dd397df9-507e-470a-8e45-3bdc952d23fa", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "b84dc644-632d-4893-8063-70de8b12a9a7", + "observation_id": "71cddb4b-4aac-4bbc-8fd1-83d9dbbc4495", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "e49c4a1f-ff95-451d-b041-3508c18555e7", + "observation_id": "37dbcb20-65a7-4b03-a683-42693983faef", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abcefg/render_g_camera_pose.json b/data/camera_study/Scene10/k6_abcefg/render_g_camera_pose.json index 479fa21..30f680b 100644 --- a/data/camera_study/Scene10/k6_abcefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k6_abcefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:47Z", + "created_utc": "2026-06-02T22:38:58Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abcefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abcefg/robot_state.eval.json b/data/camera_study/Scene10/k6_abcefg/robot_state.eval.json index 21ab862..d0bc558 100644 --- a/data/camera_study/Scene10/k6_abcefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k6_abcefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.2884726793193408, "mean_abs_mm": 0.7516239706563592, "max_abs_mm": 1.4974313978331502, - "finger_error_mm": 1.365406069257933 + "n_unobservable": 0, + "wrist_error_mm": 1.2777050148444022, + "finger_error_mm": 1.537375646494505 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k6_abcefg/robot_state.json b/data/camera_study/Scene10/k6_abcefg/robot_state.json index 724c4af..7b404cd 100644 --- a/data/camera_study/Scene10/k6_abcefg/robot_state.json +++ b/data/camera_study/Scene10/k6_abcefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:54Z", + "created_utc": "2026-06-02T22:39:04Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k6_abdefg/aruco_marker_poses.json b/data/camera_study/Scene10/k6_abdefg/aruco_marker_poses.json index a14561d..019de48 100644 --- a/data/camera_study/Scene10/k6_abdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k6_abdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:23:42Z", + "created_utc": "2026-06-02T22:39:47Z", "summary": { "num_cameras": 6, "num_markers": 44 diff --git a/data/camera_study/Scene10/k6_abdefg/aruco_positions_initial.json b/data/camera_study/Scene10/k6_abdefg/aruco_positions_initial.json index 7d62061..0c26c84 100644 --- a/data/camera_study/Scene10/k6_abdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k6_abdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:23:38Z", + "created_utc": "2026-06-02T22:39:43Z", "summary": { "num_cameras": 6, "num_markers": 44, diff --git a/data/camera_study/Scene10/k6_abdefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k6_abdefg/aruco_positions_optimized.json index 120fa7e..69fd1be 100644 --- a/data/camera_study/Scene10/k6_abdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k6_abdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:23:42Z", + "created_utc": "2026-06-02T22:39:47Z", "summary": { "num_cameras": 6, "num_markers": 44, diff --git a/data/camera_study/Scene10/k6_abdefg/render_a_aruco_detection.json b/data/camera_study/Scene10/k6_abdefg/render_a_aruco_detection.json index a699ad1..4034e83 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abdefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:32Z", + "created_utc": "2026-06-02T22:39:38Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "fcd404aa-de12-44f5-8dd9-9477e36d6251", + "observation_id": "38a3ce92-4ba6-40ed-8166-480c607eee80", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "b1c50801-d2a4-4f13-abce-f4eda7d5b1f9", + "observation_id": "07774d1e-31c0-47f9-9445-224796392e65", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "e68a7100-8cb5-44dd-9f07-028b13aa9246", + "observation_id": "70effcdd-463c-414b-b169-f4664fe30a42", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "9dfa2304-5499-44b2-946e-5dcbde13b245", + "observation_id": "9501c0b5-123d-452d-876d-ff364efc95bc", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "eb619df5-2bcd-423a-a01c-ea613979f660", + "observation_id": "d521fe43-05b9-476a-b90c-116f6b64b52a", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - 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"observation_id": "88b75ec3-194c-4a9f-8a36-003818083a51", + "observation_id": "cd7b07a0-cefe-45f8-b5df-3f8455433f06", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "b6aa08ea-04ad-4bb5-9a18-98467a020a00", + "observation_id": "f7907d80-0975-443b-abe4-2a46cde36189", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "d45fe484-4cce-4c30-a2b5-f3fd9dd81dd8", + "observation_id": "25bcad90-05c2-448f-a949-a400ac77fa1b", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "3a0b88b6-22cc-4fda-80aa-7a2c647ae4a7", + "observation_id": "86e9fabe-8ac6-4c08-a787-820f7d956f23", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "e4345335-8e07-45ff-a6d3-3b5b612999fb", + "observation_id": "ffabb640-d54e-4b91-8daf-d75df471d7a3", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - 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"observation_id": "a21adeae-b7b8-4a4c-b828-293b5393e1ee", + "observation_id": "6814193b-81fc-4b0e-bad3-27252bdce049", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "01c84c2e-03f6-4ae7-99f2-82280c229cac", + "observation_id": "3c4e5d43-2943-48ef-9ac5-e8dc0c312413", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "bd095b24-9731-4948-87c1-52e16c126052", + "observation_id": "0c6748d1-0612-444b-990d-7f44a291339e", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "db023d62-5ebe-4502-bab6-7672a0c8859b", + "observation_id": "4b8761c3-d425-46a3-a566-535324bb34fc", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "b340a5be-c18e-47e3-b6ef-20075fe987a8", + "observation_id": "d703d526-ad26-417b-8f8e-0d249b1eb424", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "af0c38a7-ff8f-48c5-a85e-00c75fca9ba9", + "observation_id": "9c7bcebb-1c16-452c-b1d5-9ef7af3e694e", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abdefg/render_a_camera_pose.json b/data/camera_study/Scene10/k6_abdefg/render_a_camera_pose.json index 0d3209d..c881566 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k6_abdefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:36Z", + "created_utc": "2026-06-02T22:39:41Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abdefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abdefg/render_b_aruco_detection.json b/data/camera_study/Scene10/k6_abdefg/render_b_aruco_detection.json index 00236ed..fe89aec 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abdefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:33Z", + "created_utc": "2026-06-02T22:39:39Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "65c6d70b-46ff-416a-9fdd-a1a457b6d466", + "observation_id": "57ce65ff-dca5-4e83-83db-9bd0535f6fc7", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "34b5aadd-fd11-4494-bac2-403e8a3508d0", + "observation_id": "9d4f61ed-8a8a-4f39-b056-7e4bc677a0eb", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "42034008-0f5c-45fe-bc9a-c09bdb05a380", + "observation_id": "6d58c95c-0ea3-40e2-bbbf-e71dc5f5d9e8", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "a3e98b9c-b06d-44b8-a1e0-1cc95a2cff2a", + "observation_id": "d4e0e458-b35f-46af-8c93-fc27a48c2035", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "ae2b9e1e-637d-48a1-bcd1-968c69eb5125", + "observation_id": "25eb0a54-7d6a-4fe7-9171-4a1c0b0a7432", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "c02e136e-4b86-4126-ab35-2135628be437", + "observation_id": "a382ef86-4d5d-4c09-bde5-6f6fae944dde", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "549843bf-37cf-4a87-bc7e-182d7b41ac4e", + "observation_id": "46c17148-6329-4a1d-9030-aa831cf870f8", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "e74b72ff-8e23-484e-b62e-3ba40c8a4984", + "observation_id": "26d719c9-eae7-47a1-9f59-31b526b80ca7", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "cd64920e-6cf5-47c4-a4bf-2c23fcd40da8", + "observation_id": "a085b15e-24c6-4779-8ad3-baa69efaea7a", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "18f2d1bd-af8f-43eb-b344-f894790fe52f", + "observation_id": "9169a5a2-ebb1-4488-91aa-91008263925f", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "ff20dfcd-cfc1-4975-b891-3ca00bd80d62", + "observation_id": "3ab50980-db15-46a6-a028-089c0e61118b", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "53f90ec4-7dbb-4f05-91b5-9115d539505b", + "observation_id": "10913275-8184-4818-b3f0-58093ecf2f96", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "683388fb-b6bb-4418-bbef-6fc44b90842d", + "observation_id": "15bd13f8-d177-46ea-9e94-e49f5aba90f1", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "bf6ffd3b-fa7b-4079-910c-fa25cc86ae47", + "observation_id": "402ec2bd-26f9-430a-a52b-212e72010014", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "1fbbc01e-e7f3-4abf-b622-aa83a94468d7", + "observation_id": "aa996cbf-0faa-4907-8b44-62f7e23dce15", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "f13c7227-922d-459e-b0f7-ac5053606562", + "observation_id": "82cb1c51-088d-46a7-941d-5256b250388c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "633a9906-0ae5-48c0-ac62-677e209059d4", + "observation_id": "c77c5cc5-083b-4164-b211-e5b3857041e4", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "05f9b5bc-190b-4e3e-acc0-1ed6e54d4168", + "observation_id": "676c1a8f-7173-4e83-b394-63d7c3f1c1de", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "1bbfdc04-ccaf-49ba-9e51-ca8dc1ababbe", + "observation_id": "f43092f6-3c00-4538-a7b7-b5e6b8e7450e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "0a0eed35-61bf-4033-bd5f-66b72226589e", + "observation_id": "83d8b3a0-8573-467c-93e0-1bf6abb61ab0", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "09b2f4dc-09f4-46d7-99f5-b46e83b8a017", + "observation_id": "cad1e825-70f3-4bc0-a294-0086ca466cdf", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "83dae87e-9708-4e26-92b5-0ec6b6f14188", + "observation_id": "48732109-e0b6-43fe-9a19-3fe6a5b2a98e", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "2a2cbb26-3dfc-4043-a878-4067fc21f8ff", + "observation_id": "4cd6d96b-9d47-4ad1-89ef-442b496b76d2", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "71e9ab29-74ab-4cf0-9ff6-76d12b3c921d", + "observation_id": "218427a9-6011-4dc3-b051-54dda3301ce8", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "40e2180c-bd00-4afa-9f83-128770c21acf", + "observation_id": "db211848-29ad-4a1b-9619-641d88930e02", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "028e2f9d-2638-487b-aa38-c6ab974ea47c", + "observation_id": "33acb7a5-f1ed-4fb6-ad3e-f6169be5ea23", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "5c24d5e8-6f70-47e2-b11d-95b1f86a46c5", + "observation_id": "ef3b9ecb-4ce2-492c-9dd0-78e6c5e2acb7", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "d6b0ca85-8f6d-41f6-9ca2-3ffee464318d", + "observation_id": "596bf3df-8072-4541-ae5c-1f8bb104a637", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "f6794492-c701-4a12-84eb-f2085bea0283", + "observation_id": "c383aef1-0a1a-4181-85be-f6dd1d532f6d", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "4f16e8a3-b2d1-4fac-b2a4-eb2e2ebd05a6", + "observation_id": "f0dd2034-7c19-4d4e-906b-c1e9d12c5a66", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "b5a577df-1a59-4c8b-b290-564b40ead279", + "observation_id": "2f1e49f5-3555-45f5-b29e-c233c1b8e5da", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "3dd73104-ba30-411e-8dfb-9d808288ee91", + "observation_id": "adba0adb-9cf1-43d3-ac3f-1ec657af709f", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "0b4c1526-2225-43b2-ad8f-f4c7dafaf34b", + "observation_id": "6520d66d-d79e-4ab6-b63d-7d26394b738e", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "94372928-2d49-4dcd-b29d-a814a9f1cca4", + "observation_id": "e2a72c96-bc8b-41f0-8498-3975630f70c8", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "0ef3323a-3139-42a3-9c44-a6de5a58afe3", + "observation_id": "42266231-bbfd-4deb-8da4-2ab7f7ab1c02", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "cdba0ecc-b6c0-4ba5-b94c-2b3e416a263e", + "observation_id": "6b4a137c-15a7-4cec-9929-7587b6cb41cf", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abdefg/render_b_camera_pose.json b/data/camera_study/Scene10/k6_abdefg/render_b_camera_pose.json index f176628..8a3e3a9 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k6_abdefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:36Z", + "created_utc": "2026-06-02T22:39:42Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abdefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abdefg/render_d_aruco_detection.json b/data/camera_study/Scene10/k6_abdefg/render_d_aruco_detection.json index 5a1ca76..2a178cb 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:34Z", + "created_utc": "2026-06-02T22:39:39Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c45a8dac-b6b9-4640-b659-dfd3b3521a61", + "observation_id": "6926195d-800a-4ab0-a176-20e915e099a5", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "be566b1b-1b0f-46ae-972f-4af5364617eb", + "observation_id": "bb3070c3-f546-4e4b-a8f6-f0f077e296ac", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "13a5cf26-9fc3-4923-9fe5-c8bf19d9fa50", + "observation_id": "1429ad07-7c73-44e6-bce6-1024ec7ee05d", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "7dbd80d4-9cb4-4654-b176-52ff365bfed5", + "observation_id": "f79ed046-359e-4892-9361-3323b92e9091", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "e1553e35-add9-40b2-9f79-322b91270c35", + "observation_id": "70403a05-fc8c-4095-a2e3-a3958ef7868b", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "873b2710-01bd-4de7-ae98-dee341e7ec85", + "observation_id": "11af4a49-1665-4f6d-afa4-8c6df2ba25c2", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "9a6c2c66-74cf-4800-8c28-3bd85fb4273f", + "observation_id": "7c216b07-4f0d-4467-9865-c45baabe7751", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "60750eb7-26c4-4a96-92a6-e913ab21d80f", + "observation_id": "47231dd3-0b81-4066-814f-51e256d4b8fc", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "04fb4141-71a3-4adb-be9b-4dd5f8523b93", + "observation_id": "cc0db232-e2b5-4580-90fe-180af298a46b", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "328d6e11-0d88-47eb-aa48-942845bdf4c2", + "observation_id": "ef3abf87-54a7-4830-a64d-6ef8d3b7d667", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "46263dd9-81e8-4e21-9b0b-4e2f11d3085d", + "observation_id": "d652a57e-bb79-44ba-b1a6-d061976cecce", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "91294e65-ef4d-417d-8427-4bc570c0a6ad", + "observation_id": "58677cde-8c72-4ba0-984d-3808f71dc75e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "1dabda4f-5589-4411-8057-baa550134bef", + "observation_id": "75fe1bef-fc9c-45e4-8967-83dcad578ec6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "374b8aa9-8f4e-4db8-8b8b-c103c2d56dfe", + "observation_id": "d199a4f1-580a-4a8e-9d42-394c4b0a7a64", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "637621e7-a247-4e93-816d-7f42ed8054cd", + "observation_id": "632dbae9-733f-4077-83eb-c003e534e787", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abdefg/render_d_camera_pose.json b/data/camera_study/Scene10/k6_abdefg/render_d_camera_pose.json index bb28049..6814458 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k6_abdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:36Z", + "created_utc": "2026-06-02T22:39:42Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abdefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k6_abdefg/render_e_aruco_detection.json index 04878dc..b2eadfa 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:34Z", + "created_utc": "2026-06-02T22:39:40Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "45043ed0-bfcd-4302-a2ef-e73cf3b9dfef", + "observation_id": "d92b75db-0921-4778-b43c-cb8476b38433", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "4f10f6dc-e9e5-4270-aa40-9212ea382d46", + "observation_id": "82e7c6f0-647b-4279-8df4-2e0039f3cf4a", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "121e29cc-cd4e-457c-b938-0b3c47aaa3df", + "observation_id": "ec874bc3-69e8-4ded-b586-1a44a99dde2c", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "80bf3df9-4884-421c-a855-e986e53cf635", + "observation_id": "1bf8c588-22b1-4691-a467-f4110a586882", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "978761fa-2d72-4e29-bf65-d192d3ac7f9b", + "observation_id": "70021140-3582-400e-8623-887699926517", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "b288af95-e7a9-43ba-9783-8f98d5639b47", + "observation_id": "3cb0993c-4fbc-429c-84fd-de3350eb7084", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "432e1356-4001-48fd-8b3a-b563a3100af1", + "observation_id": "ebb9fc6a-d3ff-4206-bf35-6257bb978590", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "f9a646f8-b61f-45dd-85c3-0b5f4791ce88", + "observation_id": "0967d172-694b-4815-939a-9178f6613815", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "e0fd61e8-6ca4-45b0-9c80-f010fe6f4597", + "observation_id": "dfbd3d2a-6f22-4b0e-8bb9-bbafdd7362f7", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "83edba14-9b89-4e0e-a379-4d879679b24e", + "observation_id": "6af19b27-1397-4a29-8297-7eb07a6b7a75", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "c1847f34-0c1d-4793-9826-6c3eb83cdadd", + "observation_id": "c5f2fa0d-08bb-452e-b3ae-a7a7ac6b1117", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "4dc25ffd-128e-4358-abfa-f1d9de488668", + "observation_id": "8e72784a-9c98-457f-8f3b-9fc624e01858", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abdefg/render_e_camera_pose.json b/data/camera_study/Scene10/k6_abdefg/render_e_camera_pose.json index b6ca6bf..5b0d78f 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k6_abdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:37Z", + "created_utc": "2026-06-02T22:39:42Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abdefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k6_abdefg/render_f_aruco_detection.json index 2bb7dd8..2442e3e 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:35Z", + "created_utc": "2026-06-02T22:39:40Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f9eaf718-d020-4981-8acd-d2af0772da78", + "observation_id": "e972ae15-e350-4527-af81-50545aa5784d", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "598598c8-34f7-4ae6-89db-4879ae6b1a21", + "observation_id": "fbf87cf3-9252-448d-91cf-5a52d6639f15", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "2d76c0fa-131f-46ca-8905-280354e334b0", + "observation_id": "a1db5beb-acbd-4eb0-9b96-020cd1e85e38", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "93d7d711-d99b-4ab4-91dd-94486bfad0f9", + "observation_id": "7996d5c0-ba3b-4c84-839e-4848e95829e7", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "d4424832-f113-4ad0-b31b-6fb142b09f64", + "observation_id": "cec000a0-0834-44df-9052-e1eea2be05f2", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "c56d3c59-b951-4463-a11e-7e3f6c8d1a67", + "observation_id": "5318569f-b990-48f7-a836-d0abf5f9065f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "4dfe6eab-0019-489e-9477-152478fc300a", + "observation_id": "2cc1fc61-eadb-45d6-9d68-569a4d6eaf30", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "fc657bcf-681b-4404-b0fe-c32e85b10184", + "observation_id": "0e7b5f77-ade8-411e-8cc1-929eb045d95c", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "c57bc99f-0fa9-4350-b727-629276f5642c", + "observation_id": "4793cbb5-1a0b-49b1-94cc-c4d0e9d00445", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "bed711bf-2c97-4d01-b215-ae8f9c2011fb", + "observation_id": "1d284d1d-16e3-4016-a2f9-71760a42c632", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "f582d6ce-51fe-4910-9900-2017fc562edf", + "observation_id": "b731c67c-ae23-4244-9b31-50d857367f58", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - 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"observation_id": "291d3e72-40b2-417e-ae79-404d7959867c", + "observation_id": "f87701b0-07fc-4944-8b68-74a7897d0a12", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "6b8fbcec-2f8c-4e18-a547-ad18090222a0", + "observation_id": "e1d76c72-8e9d-4ddf-8bdb-c9b63f329c58", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "c5dbb239-e168-480a-af02-a46599da0c0e", + "observation_id": "5a503381-d657-493a-8c6f-9af351f508e2", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "54281640-5c6e-46bd-8cb3-2de81e29ee2f", + "observation_id": "f2c437f9-abfc-4dc3-bd91-9a2cf3332432", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "9260a695-215c-427d-9b85-9ebb0c2358e5", + "observation_id": "e5b040db-f54b-4c49-8cf8-6b10491bc454", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "dfd466ef-bab1-4f35-909a-4062b7eebe39", + "observation_id": "bf93b46e-3c28-4bd9-8533-2d665156ae6f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "d027cd1e-c161-40ac-873d-365f0e168221", + "observation_id": "e2742a0f-9d2f-4a88-8804-b954218d0af9", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "c3fe1228-fa30-4c84-8735-f40c959e4477", + "observation_id": "7d57dbe8-3e7d-4184-a295-ae20e4f9b88a", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "080a036c-7adc-4eba-877d-88cdf9459d96", + "observation_id": "13c2eeaa-5fda-4809-8247-f7f91dc6ff65", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "a214b71c-d24c-4f7a-a61f-73af1ff5403a", + "observation_id": "9a3a0bee-9fc9-42b6-9975-5f0d7e6785ab", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "e2a3aae1-e987-4cf9-9843-7ad57a2435a9", + "observation_id": "8cde0873-8763-45f1-a560-40d3beebc716", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "c16a96d4-7e2b-48d5-a75a-66d6ff0540d1", + "observation_id": "31d8df5d-d82b-4896-806f-e2effb2b68ae", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "ea474455-422d-4687-bf6f-25281d5517d0", + "observation_id": "6f2af987-80fe-4fb5-9b33-db594bfec7d5", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "59047b1b-1da1-4cf2-978a-37e4cbbb2500", + "observation_id": "c6d71778-11e2-42f8-9adf-32816925f2c5", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "66ac2b5f-ea98-4436-9958-af295679c1df", + "observation_id": "863b5f4a-f2ba-4226-99b7-01eadc56fce1", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "7de961b7-9ffd-4ae0-9a2e-853eb9bc8f15", + "observation_id": "2a43e37c-7649-4def-9d95-9fc8975640d4", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "5256482e-cae0-4cba-a0c8-1959af626fa9", + "observation_id": "0d01b6f3-ab1a-4a3a-b886-850662fc298a", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abdefg/render_f_camera_pose.json b/data/camera_study/Scene10/k6_abdefg/render_f_camera_pose.json index 9878923..a82fe0b 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k6_abdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:37Z", + "created_utc": "2026-06-02T22:39:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abdefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k6_abdefg/render_g_aruco_detection.json index 98cb148..9530ef9 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k6_abdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:35Z", + "created_utc": "2026-06-02T22:39:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a999b6ca-aa18-4df6-8fbe-2ef16c6f33eb", + "observation_id": "f606a0e8-1da7-40bc-b107-4375e646f69e", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "036dd368-297c-47f5-810c-695ba9d1d60d", + "observation_id": "a6e8804d-eb4a-44e8-af77-a063d891c7bc", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "feaeef6b-9a0b-491b-acab-4238fa32cf72", + "observation_id": "90839e18-b480-40ce-bca0-f6b7b87c59aa", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "3008b07b-d84a-4eaa-b37e-6eecc9aaf78a", + "observation_id": "f11b22af-196b-4b8a-bb84-d20fce25da40", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "ea6565bd-3f00-4ab7-bb01-a9403f81a010", + "observation_id": "3634fe9c-e731-4c2d-a1b1-f22c741c90fc", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "18972f47-50fc-4891-94bd-3250c6f77ac7", + "observation_id": "f16fdb47-546c-4ddd-a299-1734a6c34a63", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "2b2432d8-1a5f-4434-a2ed-23ca282405c3", + "observation_id": "81b3fa4d-40a1-43cd-8aa5-decfe209a17c", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "0bd28067-cea2-4453-af23-393395de96a1", + "observation_id": "0f8eca94-58ad-4413-9cc2-5a4389ba01da", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "26354ddb-88f0-4892-bd09-e36f7dff9bc8", + "observation_id": "e3f7fbdb-2843-4796-bd05-a87dc37628cb", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "de221d54-a6d1-4b54-871f-665c6e4eafd7", + "observation_id": "76ac1427-6515-40ce-b045-a1c3ae5c112d", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "68d30316-c689-4293-a4f1-c2d4ee81e37d", + "observation_id": "348fa206-4074-4e33-a651-d73f9c621f7b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "6b198766-d65f-4f24-9441-539b7f11a714", + "observation_id": "b1c85ceb-34d7-404d-81e2-659ffbbe25f2", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "75ea7f01-91dd-4acd-84a1-9b184d6046f3", + "observation_id": "3c7d0593-2d82-4044-871a-df0a86447b08", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "1157a933-73d9-43b7-af52-f7669722df1a", + "observation_id": "647c390b-1da9-4a30-9ac3-5b19e5912541", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "63c94d5d-7fe2-41aa-bd32-870695dc6c76", + "observation_id": "507704ef-9f52-4b45-ab64-807ed50ba619", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "01c9d93a-efd9-4100-b5ff-0a0cd5458c57", + "observation_id": "9d242221-d0e0-4193-a578-7d3a2797c245", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "59df8cce-199e-4407-8768-84738fa72125", + "observation_id": "e4c34fee-a7c0-44f0-b849-1d83116e72a0", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "1d7b0382-34da-4579-98ab-fac2c8d7bd9f", + "observation_id": "12987cb2-197f-4a53-b8db-3d16599d5b93", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "ef487256-bc3d-4d8b-980b-e75488e5377f", + "observation_id": "88777f3a-373b-42d4-ac24-830122b0f7f3", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "0cea4a28-800e-4780-b532-61eee621e651", + "observation_id": "888bd802-ca71-4479-95ba-e10b0a5f08e2", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "f7f93f40-ce7b-4425-91eb-b1b4e62707ac", + "observation_id": "280d24ff-8ef7-4348-aa74-02cd2933df9b", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "c4a3e69e-7d95-4f43-b136-8f1d98cc847f", + "observation_id": "01bf408d-90a8-4c3c-8259-b75521eb7050", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "493108a2-fb46-4a51-a1c3-cb58c83ae7f0", + "observation_id": "43a294be-011a-464b-9fad-3eb41a5f83c1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "c177c28d-a3e3-4fb3-8215-1adc26ef1686", + "observation_id": "8cf89f0a-fdd9-4905-9193-fcd95947d19d", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "b7613d7d-a8ff-4ac7-8528-ed6545ef37cd", + "observation_id": "c016bbac-65f7-4164-9188-56019dbcf42c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "689c06f5-788f-4386-a1e0-89443b8f1e2a", + "observation_id": "592f625f-050a-4089-a23a-89532c32dc74", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "bf7a29c5-18eb-4096-9f06-ddc8bbed062e", + "observation_id": "023fa4ac-9562-4dfc-af5c-843d108b3f8e", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "7777233b-a7b8-489e-9485-37a1deb6579f", + "observation_id": "51e8d0b4-159b-43b0-91e2-51eaee1e2253", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "c56e4207-8591-45c3-8ac3-22721b3e4b32", + "observation_id": "48dce00b-9ef4-49a5-9876-422f7ee9456a", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "f5b28cb6-f18f-404f-bc6d-9839ea986b69", + "observation_id": "920dec23-ec6f-4b45-a0aa-4de403065f87", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "47873292-397e-4868-ae87-d68a34f76f9d", + "observation_id": "074498d4-ab02-4336-9470-76399f7992b5", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "9372be9b-f97b-4145-8305-1d46e0b3f9b7", + "observation_id": "6621997d-c301-4cc9-8e9a-633b19672e4c", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "0d066ee7-acf1-433a-ab69-bad0ff563d95", + "observation_id": "fe4ebb67-431d-4445-bd44-7b2d6dd13c76", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "68745b71-6eca-4af4-9d50-af6a5e6515ee", + "observation_id": "5e03dd1b-a10d-4aa6-bd34-8cde75e161ef", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "1811bf32-c8c2-42b6-8c96-64b66502fe98", + "observation_id": "8efa04a3-5e42-42ed-a349-32f0bfad6fa1", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "9b472f4f-876f-4a99-a433-516d5595e7b7", + "observation_id": "0c890a64-f06d-40b1-8ef2-fced1759d5ca", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "441d45ab-dc26-4574-8fdc-bf150d2e64b0", + "observation_id": "b4cc95b1-739e-47c9-9693-00dfd7a55845", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_abdefg/render_g_camera_pose.json b/data/camera_study/Scene10/k6_abdefg/render_g_camera_pose.json index 64d9543..ba65c6a 100644 --- a/data/camera_study/Scene10/k6_abdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k6_abdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:37Z", + "created_utc": "2026-06-02T22:39:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_abdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_abdefg/robot_state.eval.json b/data/camera_study/Scene10/k6_abdefg/robot_state.eval.json index 3b276e0..e6b83c2 100644 --- a/data/camera_study/Scene10/k6_abdefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k6_abdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.3342185685290815, "mean_abs_mm": 0.9143896912826794, "max_abs_mm": 1.7167909575145623, - "finger_error_mm": 1.6921804105971807 + "n_unobservable": 0, + "wrist_error_mm": 1.1130829113791563, + "finger_error_mm": 1.9922600949682057 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k6_abdefg/robot_state.json b/data/camera_study/Scene10/k6_abdefg/robot_state.json index e9cbd60..9653c62 100644 --- a/data/camera_study/Scene10/k6_abdefg/robot_state.json +++ b/data/camera_study/Scene10/k6_abdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:44Z", + "created_utc": "2026-06-02T22:39:49Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k6_acdefg/aruco_marker_poses.json b/data/camera_study/Scene10/k6_acdefg/aruco_marker_poses.json index 328972f..41dba2c 100644 --- a/data/camera_study/Scene10/k6_acdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k6_acdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:23:17Z", + "created_utc": "2026-06-02T22:39:25Z", "summary": { "num_cameras": 6, "num_markers": 41 diff --git a/data/camera_study/Scene10/k6_acdefg/aruco_positions_initial.json b/data/camera_study/Scene10/k6_acdefg/aruco_positions_initial.json index 40e4ee5..992f370 100644 --- a/data/camera_study/Scene10/k6_acdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k6_acdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:23:13Z", + "created_utc": "2026-06-02T22:39:22Z", "summary": { "num_cameras": 6, "num_markers": 41, diff --git a/data/camera_study/Scene10/k6_acdefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k6_acdefg/aruco_positions_optimized.json index afa49a5..d7cafa5 100644 --- a/data/camera_study/Scene10/k6_acdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k6_acdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:23:16Z", + "created_utc": "2026-06-02T22:39:25Z", "summary": { "num_cameras": 6, "num_markers": 41, diff --git a/data/camera_study/Scene10/k6_acdefg/render_a_aruco_detection.json b/data/camera_study/Scene10/k6_acdefg/render_a_aruco_detection.json index 27ec98a..1b042b9 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k6_acdefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:08Z", + "created_utc": "2026-06-02T22:39:17Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9d3ff7e2-fb90-468a-9e2c-9feb62aff8c8", + "observation_id": "924b9ae4-86ec-48e7-8516-a4fee839463f", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "65ca2fac-f5dd-4efe-be09-65b365d12ec5", + "observation_id": "3e4c581f-41d7-4215-8dfb-24ccb720181a", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "4c7b1c78-75d7-4a27-ba64-62fa7420ab1d", + "observation_id": "6cb1b6bd-bf46-4191-883d-3763c0106456", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "e6e4de9f-8497-4e8d-ae4a-a08187097801", + "observation_id": "0548eadd-a936-471e-b60d-c68ac8a16026", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "dc956c10-ecba-463c-98cf-c67cb49a3087", + "observation_id": "445d9c7f-4433-466f-820b-2e90ac046740", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "784031bf-e418-44b6-8220-44dd8c938231", + "observation_id": "3c3beda6-8dc6-4015-bafd-70c55edfad5b", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "46ac72f6-1f06-4b8f-98b4-7f9ee45f7d88", + "observation_id": "0df48035-8672-4da5-87c8-4c3c21fa65e8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "b451f98a-daac-4d8b-a644-e18f9ffc916b", + "observation_id": "d33f6756-efbf-4b51-8cae-4f7b399dd291", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "a47c8efb-5fcb-4439-a9ae-2dd06b94a0ef", + "observation_id": "ed226fda-a608-4c51-ba3c-1542842c5c54", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "febcd425-fff5-4b49-95cd-e8db13a5743e", + "observation_id": "b4430f19-54c6-4218-9176-2ca9312b6c34", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "271429e0-9398-439a-aa77-f66a6c204893", + "observation_id": "aaccd4fd-843a-4fc9-9d62-4d6dddd5d0e9", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "7e78e8ba-e491-4ddb-bd92-073d6e8dc25f", + "observation_id": "232ce52d-a6f3-49f5-a984-89c3b1213b0a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "0bca243d-ad52-42f5-a0cb-79b8686f862f", + "observation_id": "f59f4d87-003c-47d4-8911-8878b8475b19", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "53d39599-d7f3-4fa4-a1e6-3a4a676f68ed", + "observation_id": "a6161d32-84ca-43a6-a2be-6ba7f91999ac", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "963a098e-65bb-47c1-9ede-9e2e02f3d5a1", + "observation_id": "5a6cf8fc-622e-4b50-ba78-83d641f1a140", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "41f66535-7afc-4ed6-a7bd-9349142919ea", + "observation_id": "cd8f7898-9afb-4482-a377-6a7eeb0a0f33", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "f49693bc-cf47-4211-9905-02f54e59293e", + "observation_id": "85b0c64a-c063-4537-9c54-8d79e57cf42c", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "d33dcf1d-5e0a-4c09-9902-f4a3f12a4d1e", + "observation_id": "5d09fe2e-97df-4f6b-88ec-dd5c5103ac77", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "63c6a89d-c523-41f9-8a4e-b912165923cd", + "observation_id": "0111167a-daea-497e-abaa-4c2c72bbf687", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "be2723fc-3b2b-4fcb-ad9a-3a5847f41a8f", + "observation_id": "09b47e41-c890-4e9d-91b4-6417e8a061cb", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "4c31cc27-5b47-4f2a-8c54-b0b0efec9625", + "observation_id": "fd5fce6a-3bdc-4ae9-9161-592d5631fe7a", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "2ca4a690-327d-477a-b2de-fbf5bf0a69c6", + "observation_id": "13523486-bc4f-4a71-8452-5ae5f977d94f", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "163e6bee-cd6e-415c-9057-af229e44ff34", + "observation_id": "9321cb7e-c9e3-4464-a3e6-2114f69730ea", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "50e0449d-b793-42d7-a809-265487670197", + "observation_id": "3fd89190-c478-46c8-8faa-a810ee2bb2da", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "9431a4f4-964d-4115-84c3-5e3a3325207c", + "observation_id": "f018e9c8-be41-4ad8-9b34-01af56fe0c84", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "9294c9aa-697b-4d1b-abfb-3bbefd0b0d4b", + "observation_id": "0a15c93a-be0b-4979-b9ac-0e1a9a47355e", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_acdefg/render_a_camera_pose.json b/data/camera_study/Scene10/k6_acdefg/render_a_camera_pose.json index 27b0282..d2e755e 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k6_acdefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:11Z", + "created_utc": "2026-06-02T22:39:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_acdefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_acdefg/render_c_aruco_detection.json b/data/camera_study/Scene10/k6_acdefg/render_c_aruco_detection.json index 94b1ab7..66cd942 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k6_acdefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:08Z", + "created_utc": "2026-06-02T22:39:17Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2550f6f8-eb9a-46ed-b339-1185e6cc1de2", + "observation_id": "de47ff8a-b820-4912-adb0-f870a840dceb", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "7f526835-5a93-4670-8e02-fd91a300484c", + "observation_id": "4aef3bb9-9f5e-4936-88eb-27f310d7d58b", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "bf08a38f-7581-4c6b-a13d-f0124aeceab0", + "observation_id": "76ccb059-b71d-4e6b-9551-756b6be9f64f", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "a25d0a81-9550-4fe8-b502-de0350417d37", + "observation_id": "d7cf4819-748e-4b27-a5cd-1f1cac1fbe23", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "ba9a4f1a-73d1-4e78-90ec-3f6658dfbd05", + "observation_id": "cfbdc601-bccb-4b75-8695-90937c121c3d", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "d508af79-8fb5-48a7-97b7-174c0b0f5670", + "observation_id": "48d7a930-227c-447d-a023-36c8b096445c", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "54c1b68f-f9b4-4b61-a778-56c7f78e50d6", + "observation_id": "a5d8d059-4ec0-4f77-adb6-687215798ad5", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "5135873d-cd97-485a-bc30-919e6088c748", + "observation_id": "c68f65fa-005a-47ce-b588-f5979eb785a2", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "8ce20643-71ce-4ccd-b699-a38bd499da9a", + "observation_id": "b35cc12e-7628-4082-9d75-92527bf0fc9c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "1068e67c-91aa-47a5-ac9c-78ddc42d3f23", + "observation_id": "4c268181-1a39-47f4-80f4-d60761782e4b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "f4535027-ac0b-486e-9537-3c46b67bb1e6", + "observation_id": "ea497d12-b6d5-4846-86af-515ce6850c46", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "dcdd5e4f-35e2-4395-b91f-685c9d7ac1c7", + "observation_id": "6dd23465-fb1c-45ec-a003-75478fcb7f73", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "58047d43-eee9-4bf8-bb8e-ae656f14bcfe", + "observation_id": "03291ded-60bf-4124-8091-2647e8b1bacb", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "4b31afbd-6d4b-4ef3-bc84-5d9ab1399e81", + "observation_id": "344a3fef-7dc3-45df-9c09-6fb3518d52ea", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "861a8c27-2cd4-4cf5-ae72-a873f2845581", + "observation_id": "409f82f4-6f8b-4644-860a-b460ec28c89e", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "9f75bda5-dd40-45e9-9526-62fd1b091cdf", + "observation_id": "11ed3604-af8e-4eb1-9676-ff86db4da209", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_acdefg/render_c_camera_pose.json b/data/camera_study/Scene10/k6_acdefg/render_c_camera_pose.json index fd557e3..91cc0d4 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k6_acdefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:11Z", + "created_utc": "2026-06-02T22:39:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_acdefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_acdefg/render_d_aruco_detection.json b/data/camera_study/Scene10/k6_acdefg/render_d_aruco_detection.json index 263f7a8..c1a8e97 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k6_acdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:09Z", + "created_utc": "2026-06-02T22:39:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b951722e-e735-4898-914e-c7ac19596673", + "observation_id": "2da7a7da-6cf9-4111-9a94-4e9addc5b37b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "71575199-6253-4cff-8b6b-92be57e75d5d", + "observation_id": "49dff272-25ee-4249-803d-ee442e078f91", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "f9714cf9-e18e-4d5c-a378-27938c3b6250", + "observation_id": "ca12b8a9-fd49-4725-bc54-c2112f5ac21c", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "62bc39df-c371-4053-b7d1-7c3e06a02294", + "observation_id": "1925d733-81a7-4eb9-85a2-3855b4955f43", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "62db16bc-6f6a-4f79-bedd-496a71e0569f", + "observation_id": "ef96870f-b159-4855-ae02-380f2f61a311", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "66cef5af-6ccb-4750-b0c0-14842d4c1313", + "observation_id": "a9f286bb-31c2-4230-a71f-64add3aff426", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "ae8ffd20-a0a1-4d11-a171-782133f2d0db", + "observation_id": "b2f14d1b-e586-4441-b189-f7cdaa1d9c0d", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "e39368e7-8b13-448b-ae31-3c35f8fc28ca", + "observation_id": "3eb21277-6b0a-4427-a64b-d3b725208b34", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "a42f38b2-432c-497d-a0d3-13d2d2b9a373", + "observation_id": "a0330fa8-2a2a-4498-b2fe-1d1b274afa61", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "06ea3409-5b5d-446e-8b33-630b607c0e50", + "observation_id": "a47d3236-a0a7-43a0-acfc-255c04b5faf0", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "7ee92b64-b3de-498a-98f1-027702012e78", + "observation_id": "0902ce44-8ee6-4e44-9302-eb9fe71ae79c", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "d3bb50f0-d6e9-457d-8032-1e54edfe6acd", + "observation_id": "c6717c3c-c88d-408c-bd8d-d71252a1a0d5", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "ada9a48b-c9ef-4b00-aa69-a2752adda58d", + "observation_id": "15c511f0-6342-41c1-a528-ec99166f2ec8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "a81c40be-61f3-4a63-a1ed-99e7c1510a12", + "observation_id": "a946517a-10cd-4986-91bd-cd340c657e38", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "f3c85e4c-56fb-46cc-b593-c083e24e6f0b", + "observation_id": "5cf34b68-7310-4df1-a7df-7d259c235bef", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_acdefg/render_d_camera_pose.json b/data/camera_study/Scene10/k6_acdefg/render_d_camera_pose.json index 07b686e..d257dff 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k6_acdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:12Z", + "created_utc": "2026-06-02T22:39:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_acdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_acdefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k6_acdefg/render_e_aruco_detection.json index 026186a..c8486f0 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k6_acdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:09Z", + "created_utc": "2026-06-02T22:39:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "6d8d5420-5a29-46b8-b1af-804498bf8971", + "observation_id": "b0f7562d-ae83-4d8a-ae8c-03d26cc6b892", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "581a3de5-58bf-40a0-b042-9cb027472db6", + "observation_id": "0403c103-b861-493f-a19a-d687dadbdad7", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "6f3aad41-7ea1-4b75-bd55-80ae793f450c", + "observation_id": "02734409-64c4-4e5d-9446-ff44b2f56f24", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "feb611c0-f61b-4b6c-8101-0c25c97240b3", + "observation_id": "154e6d2e-41e2-4e28-9ba2-71d8fb6ea0c3", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "9ed5d6f4-d950-4612-be51-12308cb4e03d", + "observation_id": "b707ab51-28bb-4889-9260-c813ee4c29eb", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "0fa8cd65-6f6d-4174-9550-d2bacaec76d0", + "observation_id": "d674c095-87d9-41ed-a1ae-f6a7e6d5cf0f", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "99dae186-1cc0-483a-8ebb-1ce4125f396c", + "observation_id": "58591f01-3bbb-4a80-9cab-cb046f276d78", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "f4b89cc0-c6f2-4f03-bb61-99450444c382", + "observation_id": "37f1cefc-4570-4259-9033-446e6e1ed650", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "e752985b-fbe5-417d-b5e2-9b212aa652ef", + "observation_id": "6158b06a-a0c4-42d2-8621-4c577ec546dd", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "40dd129a-aef9-4448-acfb-53f7b771d6ae", + "observation_id": "9b95bbea-1deb-4728-af94-5390ef98abc6", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "9c62bf6c-11d5-43ed-99df-f4ef28284476", + "observation_id": "7b38e653-b1c3-4beb-99f6-d9ce295d0d39", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "f683059f-3390-446b-8e64-223e721f1d9e", + "observation_id": "605322b1-af08-4d93-8c14-d89d4930e729", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_acdefg/render_e_camera_pose.json b/data/camera_study/Scene10/k6_acdefg/render_e_camera_pose.json index 1a92f36..30cd527 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k6_acdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:12Z", + "created_utc": "2026-06-02T22:39:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_acdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_acdefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k6_acdefg/render_f_aruco_detection.json index 8567d54..a5cd530 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k6_acdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:10Z", + "created_utc": "2026-06-02T22:39:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "37b7dace-0350-410f-a11c-ecd0edc2a623", + "observation_id": "e15e5ca2-4fba-4f8c-9fae-0f67fc5e24e8", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "914765c5-384e-4a90-bd59-be53939ad324", + "observation_id": "48f9e0cd-95e2-4333-919a-8b4a15722dff", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "ac644561-ec2d-4fa4-b58c-0475795ea87e", + "observation_id": "ded279c8-f696-4cc6-a064-b1ddeade94eb", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "1e6ef45c-d2b5-4adb-9b58-b0373be23921", + "observation_id": "1c8d5bba-5bf0-4e55-ac95-3352ef448ae3", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "46e0bc36-a634-4c38-82d3-d9928052d419", + "observation_id": "92dbdf95-34bc-49ef-9021-d5da4a17fcf9", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "bdb3190c-89e0-4099-ae03-0ffc0d10d1e0", + "observation_id": "6c6f41ad-7575-40a2-9696-64f70b277b9f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "768a4ee0-37a3-4b47-9e53-4f3a46a86ad6", + "observation_id": "67f0878a-166f-45af-a9c3-92678b9a1dea", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "a93461d3-b4cb-4074-b645-45adc0539ff2", + "observation_id": "259a7055-10c7-4455-94f4-2811068ce124", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "6c5baa95-f738-486b-9134-441dac2fd195", + "observation_id": "18190960-af9b-4fae-b43b-2209e3648ca1", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "de96e838-bc44-4faa-a627-3e2844a0005c", + "observation_id": "8949ecca-e5d9-4e9c-9756-37a7176fe66e", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "f362c516-ad14-41dd-b18d-16e8eee6e58d", + "observation_id": "45f171c7-dde8-4dac-95ca-200a82e983ba", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "abe144e0-6e3d-4b5a-bc5b-351d5aab6580", + "observation_id": "e115091b-ae06-4ca2-b567-de001b92429d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "163b6bf5-2c9b-4691-a5d3-ee14b795ddd7", + "observation_id": "d7201321-de47-4ae3-aa6b-328cbfc54238", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "0dfa42da-dd51-42fa-ab7c-1142ca847214", + "observation_id": "18c68e1f-f879-464a-8142-10f10edceb2d", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "ff6d5a9c-b1e9-4c76-9b91-762acafc9b2b", + "observation_id": "2c27fda9-1ffb-4688-892b-89d7dcf2b178", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "a88774f9-f4ea-4690-ba04-d60c21241e2e", + "observation_id": "c3309f5a-6b5c-45cd-be88-e79d538ddb44", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "d80c3459-9ad3-42ad-9b69-eaa34162cf24", + "observation_id": "918016ad-53c4-4519-8c44-d750b946f418", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "f71f1d7f-362a-4987-94ec-37df40b01aef", + "observation_id": "b12a3769-45db-40e5-ad59-281f7237de84", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "6cb5789f-3d73-4909-bde2-95197746c87b", + "observation_id": "14aeec02-47f9-4d75-b6ca-1a81e8b91f56", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "366ce262-dbeb-400a-9dc4-f38c7bea5457", + "observation_id": "6a87e956-773f-4652-a505-bd4d49c078e9", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "e5749b30-3ad9-464f-80e4-2a3f78d70745", + "observation_id": "319dce80-eaad-428c-9a05-5c36a72f65f7", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "1a3e4f2a-1cf0-42be-94e6-8274d15f9126", + "observation_id": "f9320c9c-a582-4f1d-9566-68e3dd57384c", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "8a9b0d0e-6216-4aa4-935e-491120290c51", + "observation_id": "7b97712c-d6d9-4ad7-a949-a7515d60bb80", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "6e7e81ef-1e51-43b8-9191-02df88e098ac", + "observation_id": "5087051e-899c-46c0-848a-a3631a6b9473", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "d7b8072b-ebce-4299-8b97-729221292281", + "observation_id": "64f9d4c6-4c3f-4d7f-9da5-556add77bf1d", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "f0ed5dc9-8a2d-42b3-86c0-b6c8c6f84e50", + "observation_id": "895c2f39-123f-4477-be23-e11564c2fe19", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "59a7ccb8-2118-45a2-87bf-d37c1a1f8447", + "observation_id": "30990390-0765-45a9-8a0f-de1f25c38871", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "f9ddc59c-0126-4179-ad54-9afbd9136626", + "observation_id": "a94ba60b-b395-429d-8320-5fbf7bc0a808", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "efb922cb-15a9-4fe0-8e3e-43668d726865", + "observation_id": "93584318-16e4-4b4a-a175-16b51b2d9157", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "2a6af0d6-c4f6-477e-8fbf-d35818c02497", + "observation_id": "0ab61997-c281-4cd1-b136-f6558ec2c96b", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "1d0133fd-60c5-4e03-a4d8-b74288dd9f74", + "observation_id": "318e01cc-8263-47f4-8847-583301c41811", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "7c92387b-02a2-42c5-b124-d3631a744bb5", + "observation_id": "6892f910-5e3c-45de-9726-7a31c3f679f3", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "1584ed5b-54d4-4554-8897-3960c6fbfdb2", + "observation_id": "beb225ca-866a-4903-bde9-454594076e92", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_acdefg/render_f_camera_pose.json b/data/camera_study/Scene10/k6_acdefg/render_f_camera_pose.json index d536c40..995d148 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k6_acdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:12Z", + "created_utc": "2026-06-02T22:39:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_acdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_acdefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k6_acdefg/render_g_aruco_detection.json index 43aedf3..39dda56 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k6_acdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:11Z", + "created_utc": "2026-06-02T22:39:20Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d9589572-3621-4dfc-a951-bf7e6e4f5022", + "observation_id": "12b2049b-af79-45b0-8bb1-c9a7d23d2f8e", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "f08a88a1-180b-45c0-9fca-f54c045c6e78", + "observation_id": "e0988ffd-8bdc-44fc-aeee-8fadd6ab3a8b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "22025713-c5b5-4e6e-9027-e2cd17e4195b", + "observation_id": "5cbbae1f-3c35-4668-8ffa-edbd6295a9dc", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "7b7de6f0-799c-4066-bfc4-381490b2dafb", + "observation_id": "dcc3a9de-584a-41c7-a1c2-175cdd2a27fe", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "30f35c4b-7418-4526-9927-c8e23edadc20", + "observation_id": "1b2f9fcf-3513-4c88-818a-5a69e5a3f90b", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "75289be1-71d8-4a47-b94e-37e0b9d29d48", + "observation_id": "36e0a8b3-4d58-4842-a70c-5197a9b00f99", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "2d2a7388-543e-4a4d-91aa-77beeb0193c2", + "observation_id": "939b7221-783d-4c96-b1d9-202771d5242c", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "ea5d523b-9028-47d1-92da-83ce30117a95", + "observation_id": "01da9703-316e-4e1a-90aa-ab6c42ba6e98", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "939732fd-25b6-4413-8371-b2648257caae", + "observation_id": "08737be0-c48f-46b4-97d0-61c01fe69e21", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "85ff450d-b7bc-4c63-95df-0d16852592b9", + "observation_id": "42dcadf1-a06a-4981-b4d0-65e577b44ba7", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "7ebe1188-d179-48bb-8a8f-e22db980ea22", + "observation_id": "0c636eac-021f-4973-9f00-42120a1a492d", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "1aa01570-17db-4469-849a-29f7caa4fa63", + "observation_id": "f01a3869-7a3a-4550-b3cf-b6c5df725198", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "0efdccc9-696c-4fb2-b14f-3135124eeded", + "observation_id": "aca935e3-6943-485b-9987-b36dc64fe351", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "75a5ff7a-fbed-46da-97ec-ab9cf58b7a4f", + "observation_id": "d25d12f9-1afe-44e8-a46b-ab4d245fb8b5", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "4630426a-f31a-4d5c-a95a-e22f9ab4f0f5", + "observation_id": "07893f17-17a7-455d-b7ca-2fe71b3d07e3", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "88a5f3e7-9cc2-40a7-912b-d9b8503c9985", + "observation_id": "f4bcb037-e389-45a3-b97f-fb687ada8e48", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "4f6ceb15-1179-4344-a399-46ee46323fa7", + "observation_id": "070ca055-7e0a-422e-9ced-256979e6373e", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "069f4983-eb21-4005-8f2b-743d16111296", + "observation_id": "602c4cb5-8d05-41ef-a9cf-df3ce90e9c20", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "30795f9a-6577-4e1a-8398-33aa4769c879", + "observation_id": "5694d305-e7aa-49cf-a702-800c4e3de7e1", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "42f4bf80-345c-4416-b456-6c9b5dd7b283", + "observation_id": "159df1fd-6d88-4e67-8c98-8440d33e4f2f", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "d4e81890-041f-44e7-8322-ba6e972a89ee", + "observation_id": "aebbe615-a453-4404-909c-494051a9f9f3", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "4a235cc8-96f6-4b2d-b1ff-5f3e712d5810", + "observation_id": "c3ac3d30-8eaf-4129-803d-e464fce8190a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "ef8647a6-3f3c-4fe4-8f5b-74889f0eb255", + "observation_id": "20d473f5-b69f-4f2a-877a-f8db8b0584f3", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "fa6019aa-c663-445d-be22-8579984253db", + "observation_id": "166876e3-69a2-4291-9263-3f884a021d63", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "470e6a99-2860-452f-9d82-c3a86b078d71", + "observation_id": "d3e8ebbc-ef90-4df8-8649-ea689de9e002", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "45bfc9c0-d8fb-49d6-9103-5c281f39864c", + "observation_id": "7bd11d52-c940-49ff-872d-fd1211ec53c9", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "043b869c-bd9e-493d-ac57-bdc3b96598f4", + "observation_id": "ea9d7d16-7379-4a89-b962-338e1b29fd84", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "09ff85cf-9e45-4e88-9121-304762aa4abd", + "observation_id": "b839d3d7-ffaf-49c9-80a1-a50e811b0691", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "a3f8fb5f-bbd4-468f-b2b7-e1d0e35e97c7", + "observation_id": "6cc63855-1ea9-413c-b8fa-858c4a4d09e9", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "745bf656-6172-4808-a371-e4ec21134518", + "observation_id": "d26e4faa-c776-4f78-866a-715b0105d140", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "1a2fc779-ddc3-4c7a-8673-107a78d094ad", + "observation_id": "4493e905-cae5-473f-b8c1-4b359ece3831", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "0fec38d0-460f-4487-8d29-63f3982b1477", + "observation_id": "6da65b7a-8523-47d0-8f03-a1905f1eef16", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "6e09cc0d-86e0-4383-8ff7-bcfbdd4bdb94", + "observation_id": "5944d3f4-1aec-41b4-a8e2-e0b4d6273793", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "ffee0bb6-d768-4f04-a148-63d6b0862212", + "observation_id": "63ea7229-cbf8-4f42-be78-b88040a3437c", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "339d2056-5cce-4e4a-a149-9b4b35839b73", + "observation_id": "a8d688a0-465b-4943-9ecb-a7287f78e927", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "66011925-9f45-4c8d-87a5-00d45c3f78e5", + "observation_id": "7e882e67-ba06-4dbe-94a1-484add178445", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "52557262-4f10-4f16-8479-3052d0a9166c", + "observation_id": "6e1ebda3-a4e8-41df-9448-ccb0b0bc0a94", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_acdefg/render_g_camera_pose.json b/data/camera_study/Scene10/k6_acdefg/render_g_camera_pose.json index ac99f22..dd6660d 100644 --- a/data/camera_study/Scene10/k6_acdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k6_acdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:13Z", + "created_utc": "2026-06-02T22:39:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_acdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_acdefg/robot_state.eval.json b/data/camera_study/Scene10/k6_acdefg/robot_state.eval.json index ce9f0eb..12576d4 100644 --- a/data/camera_study/Scene10/k6_acdefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k6_acdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.103627189296219, "mean_abs_mm": 1.0272767411940569, "max_abs_mm": 1.4788821471144455, - "finger_error_mm": 0.9843877543382074 + "n_unobservable": 0, + "wrist_error_mm": 1.423162474322702, + "finger_error_mm": 1.2879887554427911 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k6_acdefg/robot_state.json b/data/camera_study/Scene10/k6_acdefg/robot_state.json index 6e26976..c90d32b 100644 --- a/data/camera_study/Scene10/k6_acdefg/robot_state.json +++ b/data/camera_study/Scene10/k6_acdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:18Z", + "created_utc": "2026-06-02T22:39:27Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k6_bcdefg/aruco_marker_poses.json b/data/camera_study/Scene10/k6_bcdefg/aruco_marker_poses.json index f791b49..15d038b 100644 --- a/data/camera_study/Scene10/k6_bcdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k6_bcdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:22:29Z", + "created_utc": "2026-06-02T22:38:42Z", "summary": { "num_cameras": 6, "num_markers": 44 diff --git a/data/camera_study/Scene10/k6_bcdefg/aruco_positions_initial.json b/data/camera_study/Scene10/k6_bcdefg/aruco_positions_initial.json index 6b06ae8..20d07a6 100644 --- a/data/camera_study/Scene10/k6_bcdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k6_bcdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:22:23Z", + "created_utc": "2026-06-02T22:38:38Z", "summary": { "num_cameras": 6, "num_markers": 44, diff --git a/data/camera_study/Scene10/k6_bcdefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k6_bcdefg/aruco_positions_optimized.json index d5058a1..d802c81 100644 --- a/data/camera_study/Scene10/k6_bcdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k6_bcdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:22:29Z", + "created_utc": "2026-06-02T22:38:42Z", "summary": { "num_cameras": 6, "num_markers": 44, diff --git a/data/camera_study/Scene10/k6_bcdefg/render_b_aruco_detection.json b/data/camera_study/Scene10/k6_bcdefg/render_b_aruco_detection.json index 619abb7..670c0f3 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:18Z", + "created_utc": "2026-06-02T22:38:33Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "dc31d26e-1e32-45d4-927f-f8dccad09f4d", + "observation_id": "d0edd7dc-08b0-4568-8d23-2142fd65a808", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "36003b40-003e-4f16-9917-c9c82bb3c366", + "observation_id": "2d986edb-f45c-4b0e-b7c4-3a697c4d5a24", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "e7b31009-3bff-43df-b12b-74d248717b20", + "observation_id": "35cc614c-825d-4c50-8b1f-8bd1dbb0fc05", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "78dd51a2-597a-45c0-b0ad-39b3597fa302", + "observation_id": "1263cce7-9d66-4002-9f74-fed2f66edf8f", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "b17701f4-1da2-469b-bc23-d06bd82de6f9", + "observation_id": "b0382a8d-7ede-41d7-a941-3c1d2b4163c2", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "5345f7dd-2e20-4968-9e88-07cb492b0a76", + "observation_id": "184662cd-f794-4a0c-8900-0669680d6ce7", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "f112f494-dc17-4ff5-99ea-043029c5c810", + "observation_id": "a2d92376-957d-4473-af0c-fd62cdf7463a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "1be85265-3697-4844-9614-ef1a68e42f51", + "observation_id": "d8b5c23e-18bc-4dd0-8dbe-41ab426cedb5", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "958032cf-3431-4fbb-a996-edc97132de61", + "observation_id": "07e24a81-adb3-4246-a8fe-1a76369c157f", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "ece41b6d-54ce-4b2a-a3a4-d2c2e3f4de38", + "observation_id": "c60d8797-3683-4de0-a12c-307c807836fa", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "0b18cc95-03ac-441e-ad1c-d1853d0e481d", + "observation_id": "8f9dbd7a-d13b-46bd-9b18-6ba8238a465b", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "030c4ffc-d199-458f-9c9d-20638f4e99ce", + "observation_id": "3c439e7a-af74-4f1c-8f7f-28fba436212d", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "eaf985fa-7866-4249-baeb-de126eb72e42", + "observation_id": "1e34afda-46fa-4f21-abf3-8a6d03c1ecf9", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "c9c243ad-26c9-48a0-b61d-05f48657f077", + "observation_id": "05c3e353-f99b-4ee0-a2d7-913c92c68994", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "e5287335-af9b-4781-9bcd-23dc9afe533c", + "observation_id": "9260fe71-08bb-4ebc-ae34-29e0ef28ca62", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "591c72fd-55bb-48a7-aebf-f0bb3042ec4d", + "observation_id": "71b59a3a-b453-4a8c-9255-192964042e20", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "4c482807-6fca-4de9-89d6-c382b52ada35", + "observation_id": "a9b83a57-4605-4c89-99d5-b83ebbd053fd", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "88162e67-4398-4193-bc60-03ceb73f787d", + "observation_id": "91e2ebc6-7200-4197-9f71-47af2f48d794", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "1392468b-3cbb-4bd5-b168-a3f4a6d51b44", + "observation_id": "ecef8905-2af5-4e68-b33c-bd60e4599387", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "8fff8203-d78b-498d-a827-6222eeac46bf", + "observation_id": "e136162b-2c33-44a6-8ef9-c86349f84cbc", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "61646aae-b107-448b-88fb-0844a60b6a0e", + "observation_id": "255d4bd4-ed4f-4644-995b-28ff02bc6a2c", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "dd3c0306-4423-4c39-bc21-cc0167c8c09c", + "observation_id": "8d2968a0-e56f-4029-8e8a-66a6f421cebd", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "da9ecdab-dc93-4d45-97fd-17c226759b0e", + "observation_id": "5a0060b9-c0cd-451c-ad9c-a024a8d8c1cc", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "6eb0b627-456e-406c-bd34-2bbfaa712345", + "observation_id": "31ed8df1-954c-4459-a639-acf3d142af8b", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "b31a9b12-b1b9-405f-aab9-3863d9394f99", + "observation_id": "8b0dd90a-c8ad-45f8-b4c2-6dc54e54e3bc", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "39148185-f73d-494e-a887-33121246a4b5", + "observation_id": "7ca061c7-4c67-485c-bcc2-300a6ed31270", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "09ccfda5-f33e-499a-9c52-60c5daa2e91a", + "observation_id": "fea1e42a-e038-4c6f-8b1b-76342749bab1", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "99578848-c4e1-40f9-8450-71f2116e0f38", + "observation_id": "c003df4a-037f-4ed9-98b6-cd3226d7132c", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "79a010ae-58ea-4031-b660-a5e97412d9b6", + "observation_id": "5cc42cd2-a5e9-47bc-b1d3-51b271b22653", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "bc531944-7edc-4a72-85ee-25763385bab7", + "observation_id": "1bd2e2f9-2a7a-45a4-ace4-f1b791920e05", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "249cc6ef-be4a-49a8-a636-3bef4f45c56e", + "observation_id": "9e0e0a20-d70d-40a9-adfa-581695aae5a1", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "46db4fb8-1916-4ffe-966a-34c36d8f02ba", + "observation_id": "f91a5eed-0070-4dfd-abb1-ff3872bbb7e9", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "3f2a4251-9e2e-46dc-bc26-61accb133bb4", + "observation_id": "06284ff0-5184-4e49-9783-706873d131d5", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "d16ed513-3ac7-4b70-bdef-1e19cd459f04", + "observation_id": "a1f58fab-e8ab-42ff-92b8-7e0607b42a04", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "c0fc1287-0414-4e6a-97ff-78256ae1067e", + "observation_id": "b1dc3466-3557-4dd1-8539-93284900f36e", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "1df0fb7b-5f40-45a4-a82a-43d6b7ceded9", + "observation_id": "7b2ed82e-cda3-45e1-a876-b0650daab757", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_bcdefg/render_b_camera_pose.json b/data/camera_study/Scene10/k6_bcdefg/render_b_camera_pose.json index c2c677f..91cd51e 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:21Z", + "created_utc": "2026-06-02T22:38:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_bcdefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_bcdefg/render_c_aruco_detection.json b/data/camera_study/Scene10/k6_bcdefg/render_c_aruco_detection.json index baf6be0..2eb793c 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:18Z", + "created_utc": "2026-06-02T22:38:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "16b8f4b6-ee4c-4618-900b-9b8963d4b906", + "observation_id": "ec528e50-eb6f-4574-a8d1-13eb7c3f3626", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "2e50b95c-abfc-455d-955e-8c24191b4efd", + "observation_id": "3403411a-011d-4712-a8b6-6d4f15a84ad0", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "148b70ba-208a-4d2f-988a-e763af392ec9", + "observation_id": "678d670c-653f-4818-ba88-b3076077e397", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "150119b3-19c9-44fe-b234-afd3b2adf6f3", + "observation_id": "37e5132a-9d35-4786-881a-466acc478ba1", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "c030cb69-0c89-4f1a-ae09-75aaf2755731", + "observation_id": "26dbb9ee-2d1b-4fb4-b62d-343c80fdbc55", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "70dd514a-4a65-4c7e-b045-034095cd40bd", + "observation_id": "debaa63a-d4c4-4720-9495-ddc004756bf6", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "67279c58-fe35-427a-8df9-c65e1375104e", + "observation_id": "0de57ca4-8069-438b-a1c4-194ec9387c74", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "7a112be5-6c66-4ef1-bc48-25acdd4e50ec", + "observation_id": "4c550f5e-d7db-4c8b-bc71-147c600034ba", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "d2850d4f-e61c-4c28-b022-d6bca4e89fb4", + "observation_id": "c2395ed4-3712-4da8-9185-9fd9c1face16", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "c6a5038e-5a21-4e38-8245-232526e596fc", + "observation_id": "8f860644-9718-454a-9a41-2b6e32811b6c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "b8c90dc8-ede6-45e1-987c-4215bb7ed5bc", + "observation_id": "adb30cd0-32c9-43f0-8554-dd0ce3d41f2e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "13794985-7c7c-4e9a-a38a-71247008678a", + "observation_id": "128b6b76-cd3a-4228-a031-68a245f0e183", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "88af4942-792a-496a-a5a2-666157e0394d", + "observation_id": "b941272d-b4e7-4d27-b6ec-2548e3cc3d26", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "b99812e0-ea5e-4faa-aab8-c40b8646714b", + "observation_id": "1d2aa648-98b0-43a2-9f8f-13e77cf37169", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "2a5dad08-c87a-46b0-932c-26917bbab5bb", + "observation_id": "b10290d0-c9dc-4b7c-93c7-d520e04a4cca", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "fa31d0b9-8838-49c4-a6c9-4188552d3ca5", + "observation_id": "92659f34-3af0-4f66-9e81-b74ed606cd25", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_bcdefg/render_c_camera_pose.json b/data/camera_study/Scene10/k6_bcdefg/render_c_camera_pose.json index f31c75d..d00a404 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:22Z", + "created_utc": "2026-06-02T22:38:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_bcdefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_bcdefg/render_d_aruco_detection.json b/data/camera_study/Scene10/k6_bcdefg/render_d_aruco_detection.json index 1b93536..2055399 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:19Z", + "created_utc": "2026-06-02T22:38:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e760660a-8399-4998-bcf5-bc52782b4fde", + "observation_id": "a4312bb1-eeb6-4d6d-bed6-81b465ac6312", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "e0f20ef7-f2b0-4701-9eb0-1cc478a6858d", + "observation_id": "eaff2866-4ac9-4fae-9831-cd14a0d7d3a8", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "32e8d761-d4e7-4102-9e29-8cdc1c75f3ae", + "observation_id": "2c1a6118-43c9-4365-a0f3-a117fa9d5bd2", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "5d2f2167-ae03-4bf5-8439-b7638f0764c7", + "observation_id": "bc48dd6e-c1f9-44a0-b9a9-b001e0a11422", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "128cefe0-c143-40c9-9f93-adb11ab16c52", + "observation_id": "abb972e7-ed26-4066-ab3b-b425bbe943dd", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "1fd204c5-2ffe-46bd-acfc-01fb245d2f7e", + "observation_id": "8e9f2ff2-8a21-404d-9835-20a7805442b7", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "e1487adc-818f-43a9-8098-3a85b071f362", + "observation_id": "195d11a6-0559-4875-95d9-72575b1395a5", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "5653a13c-7814-4b88-8127-960809fdd4f6", + "observation_id": "f1e73481-2572-4ff4-8f6d-2ebecf4ef3c9", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "67efef23-9144-48f6-ba42-b04849356084", + "observation_id": "a143f476-f283-4b9c-845e-a36345638c94", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "72e94f3a-b24c-4d1c-87d7-8e7455127ea9", + "observation_id": "563a0721-498c-41c3-8370-658a0ee5f6ba", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "f753324f-d1bc-4c3c-ad09-9fe632b2157c", + "observation_id": "b55147ae-6b63-435f-a18d-297bbf825eb9", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "8497c26a-f5c1-488a-9f25-a4a853376583", + "observation_id": "531d7a64-a66b-498e-a2d0-767fb2a51775", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "6b7b7a3c-b51f-485b-9448-a8c35560311b", + "observation_id": "009d7f64-7725-4a39-a757-f65f2fac18e1", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "cfd42755-bc9e-43e8-8f5b-f7799724a9d7", + "observation_id": "42e0c72a-44e2-4c6d-b069-74237fba53df", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "60572d41-6687-432c-a5ec-045f2d8b81ec", + "observation_id": "bb93783a-abf3-40ed-9ba6-38d3ed90156e", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_bcdefg/render_d_camera_pose.json b/data/camera_study/Scene10/k6_bcdefg/render_d_camera_pose.json index d0770b4..f6c1a1c 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:22Z", + "created_utc": "2026-06-02T22:38:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_bcdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_bcdefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k6_bcdefg/render_e_aruco_detection.json index 12740ff..bbf8767 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:19Z", + "created_utc": "2026-06-02T22:38:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "55cad616-d403-44c8-94de-0b8bb78830b9", + "observation_id": "6ae4c9d6-f1c8-41f8-800f-6afb43bf1666", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "80484124-8621-408d-8e56-d74a8e06c720", + "observation_id": "3090b823-bbb9-47ae-98cc-506524ed1471", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "28e8b747-e877-4090-82d1-954d6a47333a", + "observation_id": "7e111933-c611-4212-9167-52fb2afc6ca3", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "a5a89d01-b534-4dbd-ad62-9d79c202e0af", + "observation_id": "27d7dcf4-f410-42fc-9d54-6e20eb754b7f", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "1a06c2b3-128e-43da-9325-f84db4aec7d9", + "observation_id": "f8f481c8-cfeb-4204-b199-91a26850b1d5", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "ef27f288-5bde-4673-89fd-b771cfe0eeb2", + "observation_id": "68ba9940-d88b-4a71-bfd9-36d8258ba973", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "a52bef7c-cfe2-459a-8011-b7a88440f405", + "observation_id": "0af0cab9-4f4f-4314-833c-fe69360a739c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "04cff562-0b0a-40eb-b73e-07c39b7b9c07", + "observation_id": "510de33e-120d-4087-b368-ce6abd53999d", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "f62d5129-153b-4859-83a6-2c9a260ef5d8", + "observation_id": "3bb78f2f-5ac0-498d-8e15-f566f6e6d92b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "6c2ad00a-66ae-4c47-bb05-bf0960989026", + "observation_id": "950fe62c-14d1-4fc4-984c-2f0f963bd746", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "8edf3734-058f-49d6-8578-7e28d9c72273", + "observation_id": "532f36d2-a50c-4206-a0ab-55568dd69215", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "61c53592-21bd-443e-98f1-5686dc2a2cf4", + "observation_id": "d52382c1-6484-4740-8095-b23d45743985", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_bcdefg/render_e_camera_pose.json b/data/camera_study/Scene10/k6_bcdefg/render_e_camera_pose.json index bb1eac2..817ec8a 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:22Z", + "created_utc": "2026-06-02T22:38:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_bcdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_bcdefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k6_bcdefg/render_f_aruco_detection.json index 5d1e2c6..70333b3 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:20Z", + "created_utc": "2026-06-02T22:38:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "fd095fde-2676-4940-82ca-7426e4b0ab9c", + "observation_id": "c245d31b-c338-4e0f-a981-b3c98edba7a8", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "1e7286ee-70cb-433a-9b7f-0deba918cb1f", + "observation_id": "127e3ae7-f699-42cb-a3aa-7cc374ace06c", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "34d18454-993a-4dfe-91c1-60cec767a628", + "observation_id": "4ad984ae-0d18-43a6-b5e7-5ca72bd092d2", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "adb13539-b8d8-432f-973e-2ffd7448abfe", + "observation_id": "79e136e4-7ae4-4870-a963-94aec83a83ea", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "f37b0a12-d365-4101-8471-28fa43cb1af8", + "observation_id": "57d14924-3287-4eff-a84e-310c61daa9fc", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "33494d6d-a0e6-4054-9057-66b3d718c5a2", + "observation_id": "cc744940-439b-44a6-97a4-8b107ae79eda", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "67bc6107-7c58-4619-b3d1-921939ee5d98", + "observation_id": "b76a8ca8-dffc-495b-b7e9-9bc844223d60", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "8b7f65b1-4eca-4ede-b2f3-ce22fca5e363", + "observation_id": "1b7042dc-266e-44ca-b975-a79a89f848c6", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "a05c690d-f8f7-4afd-9a3e-88ac8bc3440f", + "observation_id": "f093cff4-7f9b-40ec-9955-5bfadce89efa", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "1de11b9a-d938-4aba-b63b-0be18ac7d9be", + "observation_id": "52601ef0-0167-4d8f-9cbf-1ff0a7860765", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "4d3f7e76-c5f5-4a4e-a82b-a8815cd71643", + "observation_id": "59e34132-469a-4432-a818-28fece11c6da", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - 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"observation_id": "d59b987f-c56e-4afe-bf50-120a46905a4b", + "observation_id": "5f36b10b-7ecf-455b-9429-81da744ff69d", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "27eef594-46a1-4da5-82c1-ea98091afa18", + "observation_id": "996ea517-00f1-4c57-b3c4-f6f416628c21", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "f91253a0-546d-4895-a1ca-5b5cedf679c0", + "observation_id": "f1d3676f-dae4-4e1b-800e-77795ef50cb7", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "591e5215-71fd-4580-83f7-fbe80bf2001d", + "observation_id": "91efecd1-efb4-4160-a5a6-c3c6f141799f", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "3417b9f2-913b-4f95-af92-313374cb57e9", + "observation_id": "bb9a3854-dc99-4206-a8f2-dd96493d051d", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "013b7e9d-e15c-4f02-8538-fd85c8c0d6a5", + "observation_id": "0e7c2e85-0bd5-409b-97c0-38b649346b9a", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "2d8a716a-ea09-4454-97df-170c10a60d17", + "observation_id": "6ef1e198-dee7-4da2-a2d1-59b689a25832", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_bcdefg/render_f_camera_pose.json b/data/camera_study/Scene10/k6_bcdefg/render_f_camera_pose.json index 63d4377..fd2ec04 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:23Z", + "created_utc": "2026-06-02T22:38:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_bcdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_bcdefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k6_bcdefg/render_g_aruco_detection.json index 88c9c82..0298479 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:21Z", + "created_utc": "2026-06-02T22:38:36Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e198cd38-92bd-4fbf-8d85-647b253cada9", + "observation_id": "4e81115e-7aae-44fb-a8ed-25c9d95d264b", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "5adf7c68-6de5-458b-a365-2bdbb1ad3659", + "observation_id": "c8a9bbd3-6723-4336-a333-b24d34f9a89c", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "d9bd3b0e-5ffc-4d56-8706-64167d04286c", + "observation_id": "51b03fed-4626-4730-8ff9-1ff578261d68", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "407de879-2872-41d6-b579-d5ccf7a9e768", + "observation_id": "9f0fb81e-28dd-438e-a91a-757c247e5c69", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "40ae7643-df2f-4252-bda8-b8edda049106", + "observation_id": "64df2e06-2f67-462a-90ac-b0199498c8e5", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "df82e47b-e0b5-4ad2-991b-1f90181e5819", + "observation_id": "ad834c9b-4db2-4651-b95e-fa94f0cd4b12", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "541090cc-0baa-4296-b359-98bdcfbcaa11", + "observation_id": "c58635cd-0d19-45b1-8462-e6c6d5613ef0", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "07441102-9041-4b58-8f3b-800b8f9e90ea", + "observation_id": "c9f04c11-a847-4ac5-bf4e-b191b5fa5a42", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "2af36cb1-1355-4694-a9db-17d5a182bad1", + "observation_id": "03988d67-95cc-491d-8cdc-30bc3875ab81", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - 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"observation_id": "4b5992d0-7fa8-4a12-bed3-d61c5fb3d9fe", + "observation_id": "510f7201-fc9c-40a8-b762-5c410a3106ff", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "5034cd67-daab-4610-8f44-a3cffca5e10b", + "observation_id": "87571e6e-bda1-4a8d-b358-25371392db62", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "6c7ea1e5-7623-45d7-a112-9eb2d467b10b", + "observation_id": "247ae195-a0f9-4b75-a7fb-a5c83661b258", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "0484fe98-c4d9-4a06-8a30-ad8630e488d9", + "observation_id": "66111fd9-168a-4317-81d2-629bed86422f", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "845e893a-8f51-45bb-bc16-b14661238f30", + "observation_id": "3b4e5c24-ba0d-4450-89bd-367568c9590a", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "f7a9f3a4-c34c-4832-ad1c-6a11e47b8fdf", + "observation_id": "676612eb-f454-426c-a746-f4396665d59d", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "184f76da-9eb6-4af7-b0b5-f627e0adfe6e", + "observation_id": "6aa0e4a7-8482-4968-a34a-cbcaed6da4cd", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "7e49661d-74b1-42db-a0d5-623811b89641", + "observation_id": "b51f67cb-0060-40cd-9a33-07f3cbbd4f9d", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "ab510336-b7dc-4d8a-904e-8fda425f930a", + "observation_id": "33684796-599c-4af8-834b-32b743863ef9", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "b61e70f7-dccc-435e-a242-bf8044b173f1", + "observation_id": "370683ca-7caa-4f64-9d57-7fed7be8f7e3", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "a90692e0-613a-41c2-bc5c-66a44618a36f", + "observation_id": "557b328f-8c76-4f43-b171-c0d60e5e41d2", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "99c17099-3d5e-43f2-8740-2cc8d7d55dce", + "observation_id": "a151e52c-5fe5-456f-a309-0e4bc28fa98e", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "5a6abb7a-136a-4e76-9d18-b8882445bf41", + "observation_id": "8b311f0e-91f4-41c1-9da1-54f434470b8c", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "816c5307-0fc5-42a7-a586-4be637b24829", + "observation_id": "bd308211-254e-4124-8ea5-abbcde321d98", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "1d8d3eaf-3ecf-45ca-baec-3b143d077aee", + "observation_id": "e05f0853-132a-469b-b61d-8d17e414eb17", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "e3b57899-2559-41a3-b687-52784a2dfa94", + "observation_id": "0eb17e1b-3cf0-43da-94cf-021dbaf1ca2a", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "6af42ab9-b3a7-4bed-b983-6d1a70a450a5", + "observation_id": "c6aa7c03-f6ca-4892-afdd-5e00cd21921f", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "5297d55b-e50e-4910-b1ca-c58062c338b8", + "observation_id": "8be766d3-b815-4496-b5de-8a4ab85ae3b5", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k6_bcdefg/render_g_camera_pose.json b/data/camera_study/Scene10/k6_bcdefg/render_g_camera_pose.json index 01e7ba5..ce42762 100644 --- a/data/camera_study/Scene10/k6_bcdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k6_bcdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:23Z", + "created_utc": "2026-06-02T22:38:38Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k6_bcdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k6_bcdefg/robot_state.eval.json b/data/camera_study/Scene10/k6_bcdefg/robot_state.eval.json index da1d5ff..859286f 100644 --- a/data/camera_study/Scene10/k6_bcdefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k6_bcdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.2643533350099858, "mean_abs_mm": 0.6139875922003317, "max_abs_mm": 0.7992085875805381, - "finger_error_mm": 0.4564028411594185 + "n_unobservable": 0, + "wrist_error_mm": 1.4041378370756845, + "finger_error_mm": 0.6968139365540346 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k6_bcdefg/robot_state.json b/data/camera_study/Scene10/k6_bcdefg/robot_state.json index 508cc31..505682d 100644 --- a/data/camera_study/Scene10/k6_bcdefg/robot_state.json +++ b/data/camera_study/Scene10/k6_bcdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:22:31Z", + "created_utc": "2026-06-02T22:38:44Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene10/k7_abcdefg/aruco_marker_poses.json b/data/camera_study/Scene10/k7_abcdefg/aruco_marker_poses.json index 6224fda..280e170 100644 --- a/data/camera_study/Scene10/k7_abcdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene10/k7_abcdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:23:55Z", + "created_utc": "2026-06-02T22:40:01Z", "summary": { "num_cameras": 7, "num_markers": 47 diff --git a/data/camera_study/Scene10/k7_abcdefg/aruco_positions_initial.json b/data/camera_study/Scene10/k7_abcdefg/aruco_positions_initial.json index 2b05dc5..df2340f 100644 --- a/data/camera_study/Scene10/k7_abcdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene10/k7_abcdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:23:50Z", + "created_utc": "2026-06-02T22:39:56Z", "summary": { "num_cameras": 7, "num_markers": 47, diff --git a/data/camera_study/Scene10/k7_abcdefg/aruco_positions_optimized.json b/data/camera_study/Scene10/k7_abcdefg/aruco_positions_optimized.json index b3d3c66..a68e428 100644 --- a/data/camera_study/Scene10/k7_abcdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene10/k7_abcdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:23:55Z", + "created_utc": "2026-06-02T22:40:01Z", "summary": { "num_cameras": 7, "num_markers": 47, diff --git a/data/camera_study/Scene10/k7_abcdefg/render_a_aruco_detection.json b/data/camera_study/Scene10/k7_abcdefg/render_a_aruco_detection.json index 1b925db..0bfe6b5 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:45Z", + "created_utc": "2026-06-02T22:39:50Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bffb1106-c9fb-43ad-993b-bd5439b262f8", + "observation_id": "ccb6d6c0-5c4d-4552-9e85-6146f26ffdf7", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9585310168868925 }, { - "observation_id": "d48fd167-cbaf-4d79-b92a-fda0a1e4117b", + "observation_id": "3475aefe-94b8-478c-bc72-3cc560088366", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8170829167910206 }, { - "observation_id": "0bdd57bb-446e-413c-951c-c7b658ff8982", + "observation_id": "edb11dd8-febb-4e14-b646-4edfb60e042c", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9328112653528767 }, { - "observation_id": "9959655c-72b8-469b-a08f-31876c2c7488", + "observation_id": "fcf8c802-fa09-48b2-b60b-33ed78ace613", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "aa48c0d2-da1c-4b58-9fcd-227b5fdc7133", + "observation_id": "99fe6889-6b9e-4582-accc-e964580ea8f8", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "d98d3c00-8340-400f-9c0d-d26803c9a8a6", + "observation_id": "93dde0e3-ac1f-4fb4-914d-358230a38a56", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.8219948734334308 }, { - "observation_id": "a7297988-3b0b-4c7e-8331-66167d444619", + "observation_id": "b6a0c4a9-c0b1-408e-ba96-f8994a1953f9", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8987700853806685 }, { - "observation_id": "91f4615d-453f-4ba1-8a0b-21f18524c4c5", + "observation_id": "5428fe2b-cfc9-4d52-889c-3791bb6f1a7c", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "591e9715-eeed-499e-bd3a-be25c3ea7db9", + "observation_id": "96712777-f8e4-444e-bee7-ee4c25445a5e", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "4d654de5-88d5-4fee-bc41-68e7ae9f6e72", + "observation_id": "02d38e49-23c7-4225-b17f-8d951982304d", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "a114f568-ea18-4f91-b6a0-66141e11eb25", + "observation_id": "0d2a5176-2229-4ff1-b1e7-06426d4537fa", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "80a7b706-1639-4365-83cc-51f18a08c934", + "observation_id": "fd46ada0-84d1-43e0-9e08-fbb9e1c33151", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "a8fe7b96-93bf-4c6f-b620-7bc3c28c3ea8", + "observation_id": "b757c927-6e49-4da0-a0c1-695f6e8b0516", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "ef914d13-3365-46d5-99a7-507d6410e8d8", + "observation_id": "d1125d0b-3c78-4c66-8b7a-1f5221546858", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5362593259058441 }, { - "observation_id": "c5727837-9fdd-4729-852c-025866bbf4e2", + "observation_id": "f9321e77-9b34-4635-b9fe-b40c1a51ba80", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6203165137290706 }, { - "observation_id": "bc875af4-0c44-429c-aa1b-dd1bb6df8ec1", + "observation_id": "6ffd5e65-c8eb-4385-8b3b-403680f5f460", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5752892000247514 }, { - "observation_id": "1d266223-1083-4c34-b4b6-53679e91ba9f", + "observation_id": "f46d3d7b-ca68-43e9-babf-34227ab04153", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "d7b5099a-a66c-42c3-b6b2-fc7d5ceb508d", + "observation_id": "01a19335-c3e9-403d-b453-bf4d41825908", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4872433032283655 }, { - "observation_id": "dbee0c4b-6054-48d7-985f-e45c809cf3d2", + "observation_id": "8f0a57fe-29ee-4025-9de5-4f74ccb5bb36", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "de6a52ce-9d8a-46f5-9c39-40b40ac84db0", + "observation_id": "91558ac3-bb9c-4ad7-a61a-c9255dede9a8", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4703251278796996 }, { - "observation_id": "6ca8c60e-f422-4316-9a1c-276ed2949885", + "observation_id": "8bb32439-1800-4b6e-9307-23b8f50498b0", "type": "aruco", "marker_id": 74, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3428566063437381 }, { - "observation_id": "c5f81c9f-f4ec-4f37-bafe-381beaa26e4f", + "observation_id": "26a9675d-061b-4d0e-b0b0-607b202bcc8c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "e4cfabb1-b7e5-4d08-9f9c-e87677f5556f", + "observation_id": "a95b6596-a55f-4e14-b177-0828168fb322", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3767801116964092 }, { - "observation_id": "22612b49-e78e-4201-b53b-d2d8ccb98039", + "observation_id": "6d1dd775-23b3-490e-b5dd-12cb10115d7f", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "9327f4ab-5a9a-472d-a78a-bae0685f40e0", + "observation_id": "455bfd14-c5a5-4185-b568-cdd9b5091e10", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "93cdb4aa-1eda-4d27-8a02-56f66f138e80", + "observation_id": "0b82b612-2c81-48f6-8c05-4cf4f2cd99b9", "type": "aruco", "marker_id": 184, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k7_abcdefg/render_a_camera_pose.json b/data/camera_study/Scene10/k7_abcdefg/render_a_camera_pose.json index b85da43..beacdb5 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_a_camera_pose.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:48Z", + "created_utc": "2026-06-02T22:39:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k7_abcdefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k7_abcdefg/render_b_aruco_detection.json b/data/camera_study/Scene10/k7_abcdefg/render_b_aruco_detection.json index 403597a..730ad1b 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:46Z", + "created_utc": "2026-06-02T22:39:51Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e69b32ca-36b2-45b6-8df7-ed6e538826fa", + "observation_id": "1f374f9c-834b-40c6-b59c-58571119c877", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9653752427916531 }, { - "observation_id": "46472f64-b1e7-4064-a2a5-2238c37896e3", + "observation_id": "48b5344d-1f14-4a71-890c-ad0737837de2", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8395388728849295 }, { - "observation_id": "e21d83e2-b59c-4de6-88fb-1f7bf545d578", + "observation_id": "6a9d507b-1f69-4023-8314-4f8bc8ee9b19", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.9129999542236328 }, { - "observation_id": "9b83fa7b-032b-424f-85ad-43c097b09a2e", + "observation_id": "2d3a05a3-53db-4d0a-a311-dfb4844c43fd", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8050716901287969 }, { - "observation_id": "c9a4438c-b1d7-4949-844b-db174d5e5c91", + "observation_id": "9459a568-1637-4b44-9c8e-3daa82d583bb", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6769166271324829 }, { - "observation_id": "04044f5e-bff1-4e48-9d85-f48d1abda2d1", + "observation_id": "2a0accac-edfe-4a15-b2fb-bd91d50e7361", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "d9b89ba0-2152-4646-96b1-25f6924f843e", + "observation_id": "fc4f5e7f-122c-40ce-9289-e966fc898bd1", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4650192592592593 }, { - "observation_id": "243e69b3-c620-4ccd-8402-3b99f4b97c1e", + "observation_id": "bba5b8e3-49f5-4cf9-ad5b-42074cc937e0", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6810790771484375 }, { - "observation_id": "7796cd91-c88c-4911-aae9-8b4590fa3ddd", + "observation_id": "5d11fd82-cdba-43a6-8761-c7201d36d9c3", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5211106905954719 }, { - "observation_id": "13b10d12-49e1-4e85-889d-31b6639fa9e5", + "observation_id": "9b47236e-bcdf-42ba-9140-46212ecd38a1", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6409999109903972 }, { - "observation_id": "fd0d4620-56c3-41d6-b1e8-bc51d543f80e", + "observation_id": "3d4b3772-2b7a-4b6f-bb60-701aa3b8a016", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "253b99f0-c8ac-45f2-a7cc-69408adb47b4", + "observation_id": "9d296625-1cf3-42d2-9e21-ae41c2340193", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6090065437382148 }, { - "observation_id": "10fc0276-cd8e-4956-aabf-22ea63e26f2d", + "observation_id": "1fc324ff-4bd4-4f9a-b0f3-72d7ae3ee4b9", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6008976526738182 }, { - "observation_id": "af0f6b42-bdcf-4a79-a28c-6f89099492dd", + "observation_id": "efbe1b66-67d6-4ea1-999d-a0f3dc2b22ce", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2507367639652114 }, { - "observation_id": "4ea30d04-3e42-4f65-9017-d95e84167bbe", + "observation_id": "9858c164-40b2-40f8-941d-338a177bc726", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.5657302556798534 }, { - "observation_id": "b4260aad-2ab7-4231-a1df-84e6e6e1c70b", + "observation_id": "19665bb1-04c8-4b97-903a-8936fa077ab7", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "6c8099c9-ff8e-4610-992f-b089f66f91d6", + "observation_id": "a5aac9da-e3fb-47fb-bef0-c1b45cac4315", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5340019648682838 }, { - "observation_id": "f0d12aa1-b3b6-4842-8732-b2de74593d85", + "observation_id": "22b52955-ce35-4309-82a7-58859251a2e5", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.5416034617553136 }, { - "observation_id": "e3f0ae81-6b5f-4b0a-9648-05f93e153c61", + "observation_id": "34372192-fad9-4b0b-8fdb-7b8694dc2c46", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5172315019532747 }, { - "observation_id": "71bac31c-b127-4e7a-864b-4b73d9e5bba0", + "observation_id": "9f0975b6-4e65-44b0-b9be-0ec725c88479", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5336775191033459 }, { - "observation_id": "5e5f4e4a-b67b-4011-b0b2-c5f425c9fe5b", + "observation_id": "f333bdac-fd6e-444e-be98-81845384f1be", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.49066144587566046 }, { - "observation_id": "f19acff9-3450-418c-8705-14ab81771428", + "observation_id": "f85cd34f-8f4a-4620-a324-66b48a3cfed6", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "3b09a912-c89a-4b4e-8158-53e57cee7a14", + "observation_id": "34af29d6-30df-4e23-b8ad-eca4392b6a2d", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.4795631502013408 }, { - "observation_id": "9f17b19c-b9f1-41dc-a2f9-6664981ff87d", + "observation_id": "1547369c-6de9-416e-bd0c-feb20c3eabce", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.38486810600050964 }, { - "observation_id": "3a0fff51-3c99-4b0a-b548-8c286f9bdb9b", + "observation_id": "ab51e253-65a8-42d2-93a4-0cf3f36728c1", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.3867595368202286 }, { - "observation_id": "d9123bc5-ee4c-4c18-a0c1-016171756788", + "observation_id": "db355a16-4f38-4e93-90e4-36289ae3a09b", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.43456133400387903 }, { - "observation_id": "e6b427a4-502e-4313-91c5-8b62cd00fb60", + "observation_id": "e990e3be-26ac-47fb-a3ec-2529819f4da0", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "06f240f2-ff47-4093-a7bc-e0d28d451a55", + "observation_id": "0e7a49d4-382a-4bb3-b6e3-98baa6f8c8d1", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06383364752689358 }, { - "observation_id": "f9270eea-e2cf-4353-9e7a-911c9c90c7eb", + "observation_id": "8f69ffd7-c2a0-4a85-9b50-aea1873cd1a0", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.269105230137358 }, { - "observation_id": "470d7e26-ae8e-440c-8aa9-c680f56d8164", + "observation_id": "84c7130d-6692-4686-a017-ccbe9d7cc164", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3034911052213101 }, { - "observation_id": "1d2153ed-5976-4444-b603-fb6dc856fcb0", + "observation_id": "5dfaea1e-5713-47be-add4-b1e578c46d57", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.29698484802246095 }, { - "observation_id": "09a2f367-018b-436c-993f-2871b4f59be3", + "observation_id": "a609c6c6-0475-4705-9732-eb2a128a63c2", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "e0e24345-83b3-4aa0-b968-6012507934b2", + "observation_id": "e5705132-0b91-4dd3-a787-fdcab9ff6b74", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "7b8b0cc8-cfb1-45fb-98b6-cfddd6420952", + "observation_id": "2572446a-c15f-4982-9bfa-1c0399a5fba2", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "c32dae97-ad16-4b5b-91e2-e7acd314007a", + "observation_id": "feff47a9-7b5f-4e3b-8a87-32cf38c8b6a6", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2795619311083096 }, { - "observation_id": "a143cb5a-431a-43c7-9859-c72fa699cef9", + "observation_id": "d67b00d3-a05f-47eb-bbd8-0ecfc031521d", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k7_abcdefg/render_b_camera_pose.json b/data/camera_study/Scene10/k7_abcdefg/render_b_camera_pose.json index bed81d8..4f6f568 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_b_camera_pose.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:49Z", + "created_utc": "2026-06-02T22:39:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k7_abcdefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k7_abcdefg/render_c_aruco_detection.json b/data/camera_study/Scene10/k7_abcdefg/render_c_aruco_detection.json index 76c4340..2fa5448 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:46Z", + "created_utc": "2026-06-02T22:39:51Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "fe2b9e9f-06ec-43f9-96c1-a7deb94dfff6", + "observation_id": "321d681a-59fb-4b90-b690-6fcaddaba56e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9840218454972077 }, { - "observation_id": "b8d5a748-d7d5-4d44-ad91-855bbd3ab72b", + "observation_id": "dff63584-bba5-4fe5-baec-c42fa83a0c6e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.976204130575644 }, { - "observation_id": "81b3fb70-5fa7-40e2-8763-43b8c2dca2c1", + "observation_id": "078b89ad-2203-4d49-ba72-591c3f485f1a", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8272740544529559 }, { - "observation_id": "6bceff21-2244-4889-b0f2-a0ee8a1c1661", + "observation_id": "88f839c6-4e63-44ac-aa24-a050ab7037ea", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.745527088834006 }, { - "observation_id": "25ac7251-67e1-437b-8aac-7e31f238079d", + "observation_id": "26ed68ab-9a99-4c92-90f2-f5aaa2a83421", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7874129468171561 }, { - "observation_id": "5d8476e2-75e7-4336-8193-274566316c39", + "observation_id": "7fd3fd70-2b37-4b19-bf71-1fddee060567", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.606705439328279 }, { - "observation_id": "9d244936-c41d-422b-84ad-d0915b4581ea", + "observation_id": "c4247c66-fa90-45a5-9a11-28c75c798ec8", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.34134185624863755 }, { - "observation_id": "ed4c0d2e-65ec-47fc-ad5c-676a42cb700d", + "observation_id": "7c01abde-2f21-47fd-bee0-b0ea69444046", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.3586255184214969 }, { - "observation_id": "cebfda4f-c885-4fe5-ac54-912a2378ae99", + "observation_id": "17228d2a-0722-4869-9913-fec701521aff", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.24678869996591526 }, { - "observation_id": "b24fb51a-07af-4498-8079-3e69a5915175", + "observation_id": "a0317ee8-82da-47d0-a56f-5ddfa929fa09", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6384599833726886 }, { - "observation_id": "3fe27e08-25a9-4844-b68a-150d7acb172a", + "observation_id": "99d1b2a0-d6d0-4499-9bcc-641c548b6c5b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5316388676723932 }, { - "observation_id": "b5db9259-673b-4ed1-a9a8-40f48ab4a3ba", + "observation_id": "8c6b998c-679a-4d42-85e1-645c3c24758e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5232849066860699 }, { - "observation_id": "c4980c49-9eb3-49a4-a010-62c7caeef1cd", + "observation_id": "1353513a-d493-4ce5-a550-9856b887676b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6042917406104434 }, { - "observation_id": "ecb84e64-9a94-431f-b992-7d22391854f9", + "observation_id": "f3542578-3b0c-4fdf-b994-95f21b4cc44f", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.27039765782644665 }, { - "observation_id": "6ad6ed04-ca7d-440e-9213-4790484dec06", + "observation_id": "8e99507c-95b6-449b-b176-51a3e500804f", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.25970043306972035 }, { - "observation_id": "67cdee6d-2872-4d0b-ac01-9961095e9273", + "observation_id": "ed723c11-2c60-492c-a5f4-8246742b2676", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k7_abcdefg/render_c_camera_pose.json b/data/camera_study/Scene10/k7_abcdefg/render_c_camera_pose.json index 4755f79..0fb3044 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_c_camera_pose.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:49Z", + "created_utc": "2026-06-02T22:39:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k7_abcdefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k7_abcdefg/render_d_aruco_detection.json b/data/camera_study/Scene10/k7_abcdefg/render_d_aruco_detection.json index 9c6700d..79cfc18 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:47Z", + "created_utc": "2026-06-02T22:39:52Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f3d29820-d8c3-43cf-b23e-ee4509833f94", + "observation_id": "086b6136-5a1d-4ceb-b34a-2d5d6edc1a49", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9239327831777916 }, { - "observation_id": "3456d739-0b85-476d-bb15-864c740f3052", + "observation_id": "4980d2a1-e8bd-411f-83fa-d48e3909e053", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.4035200127470337 }, { - "observation_id": "8ce7e183-afe9-47da-8298-7d113a0d86aa", + "observation_id": "7bd0614f-fb9a-49bd-affa-224dd78f9a01", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4262916519882062 }, { - "observation_id": "515b8c30-c97f-47d2-ae33-c5824b12a679", + "observation_id": "31226260-1656-404a-9403-1cfd2188c79a", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.3613610332351109 }, { - "observation_id": "45298875-54e2-4af1-a0fe-c6f9e8c3792d", + "observation_id": "b71daacd-851c-482b-b15d-12e55244f8f0", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.8808483571484285 }, { - "observation_id": "d2eae64c-5fc0-4646-aab9-1f426cabb0b4", + "observation_id": "afb79ee2-74e3-4ec9-b4d9-8d170f892b17", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.9593261249954639 }, { - "observation_id": "c252d7e0-c6e7-4782-8495-e74e7a773283", + "observation_id": "c997d710-b42f-4279-858d-0e40cea19f4e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6728829487273165 }, { - "observation_id": "a52de762-21d3-42f6-934c-1e085ddbddd6", + "observation_id": "c2b51c40-189e-460c-8071-06d21d9ee4b6", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.20059440065661768 }, { - "observation_id": "63af28a0-80ce-4a64-bb34-782d314a71dd", + "observation_id": "b743db22-7747-4db4-9417-b39ed2e0f973", "type": "aruco", "marker_id": 242, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.9444554733275536 }, { - "observation_id": "9c7fb37c-c575-4a36-84a8-83c71f0f9868", + "observation_id": "c7d35ad2-9516-4cd9-9a84-fbaaf9d88745", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.5971281121184089 }, { - "observation_id": "003d9f96-c604-4554-840e-4c6f5ec984b9", + "observation_id": "9df28b5b-5513-4fa8-b46b-03f4bf6c74ab", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.740653030529222 }, { - "observation_id": "a4e11b94-52d1-4edf-8e8c-70a54b224a37", + "observation_id": "1bee0116-243d-4720-a2e8-bf0719f6de96", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6560383014602613 }, { - "observation_id": "b759a220-e2ff-4eda-aa2d-c1f6f156ca3b", + "observation_id": "2303aa33-5261-4179-8443-090419d04f80", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6806547457875692 }, { - "observation_id": "4e376b5c-3ac0-46c7-aa4e-5f1af6edc423", + "observation_id": "16cb9235-6f7c-4357-a0cf-7b4abf417a53", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.41285121294657384 }, { - "observation_id": "d023591c-a788-44df-bb0b-dcb9eb61ff9d", + "observation_id": "5f7061a0-afd2-4ca0-ae6b-a82d16ff2053", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k7_abcdefg/render_d_camera_pose.json b/data/camera_study/Scene10/k7_abcdefg/render_d_camera_pose.json index 8f58f09..a023fa9 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:49Z", + "created_utc": "2026-06-02T22:39:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k7_abcdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k7_abcdefg/render_e_aruco_detection.json b/data/camera_study/Scene10/k7_abcdefg/render_e_aruco_detection.json index ae3e6d2..be16252 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:47Z", + "created_utc": "2026-06-02T22:39:52Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2474c721-03bf-4ac6-9310-7bae81690caf", + "observation_id": "504683d4-b0f7-4bbe-b9e2-a4d759807aad", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.4963016081621025 }, { - "observation_id": "d47a96b8-40e1-4b58-8972-4b7b2e4a45fe", + "observation_id": "95a7e584-51e6-4883-9f12-02daa7488713", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "3bc5669f-a472-4aeb-b55d-ce82649d7446", + "observation_id": "18cafb14-bd3a-4af3-9cbb-62661ff6e7be", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8783177764815114 }, { - "observation_id": "059c363d-d3cd-49dd-b557-ee1515ea1253", + "observation_id": "bc50472d-a8f3-4484-b066-73029520f078", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.7730384623298485 }, { - "observation_id": "ab236e8c-a57e-4bbb-a64a-fb0ba7ada9a8", + "observation_id": "3e5c0e8b-a35a-40e8-9c88-50dd6beef445", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7262889453443055 }, { - "observation_id": "882a524e-e9c7-40b9-9e4b-4f723cee73b2", + "observation_id": "2caa6e52-6be6-459a-ba6b-acce73f73d12", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6668204157436237 }, { - "observation_id": "667beac3-adff-4861-a047-672fd7ebab12", + "observation_id": "476accf2-b724-43a3-a34d-85373a8a1277", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6377388980107869 }, { - "observation_id": "d0f15012-4658-483f-9a41-9cf7ce503a28", + "observation_id": "e63b8f19-4cb5-4370-a3f7-4b7d1c5de6a6", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.35113079528934743 }, { - "observation_id": "cd827ba7-73a2-4f9f-be61-94bdcc34808f", + "observation_id": "90f73bbe-dd4d-4b4a-9fbf-bccbd9f38d6f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.542315455357842 }, { - "observation_id": "c931ab34-e1d6-469b-9527-27c162941aca", + "observation_id": "3cd40f2d-633d-4867-8e92-40347e73b5c3", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.33398560374859715 }, { - "observation_id": "0d4a6c93-8fdc-4261-a09f-c28ed63b6cef", + "observation_id": "9016a982-dfc5-4672-ae80-54f322684e69", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.16709486695806255 }, { - "observation_id": "bacb1e03-7dca-4c8a-bf53-7c25d0720b17", + "observation_id": "21056132-2aa1-48b4-acc2-320184cd22b7", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k7_abcdefg/render_e_camera_pose.json b/data/camera_study/Scene10/k7_abcdefg/render_e_camera_pose.json index 33c58f7..4c33950 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:50Z", + "created_utc": "2026-06-02T22:39:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k7_abcdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k7_abcdefg/render_f_aruco_detection.json b/data/camera_study/Scene10/k7_abcdefg/render_f_aruco_detection.json index 1d199e1..985fb53 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:48Z", + "created_utc": "2026-06-02T22:39:53Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8f71f41a-874a-4f37-91a4-9505628f47c8", + "observation_id": "1333b28b-a5b1-4c91-91c1-b617a2856678", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9958818790982638 }, { - "observation_id": "50570181-6f73-4aa3-833f-4fd7af615299", + "observation_id": "185a18fb-52d1-4120-a47a-37ce91176481", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9745103237106064 }, { - "observation_id": "22edd8ec-8880-433a-87f6-d819764471b5", + "observation_id": "ab9a1c58-71ae-4e85-9541-7103dda21a1c", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7872450089315723 }, { - "observation_id": "b8d7ab03-4bc0-4ec0-910d-809134e9636b", + "observation_id": "55d174e5-0e63-4c90-9bf2-a8458cf282a7", "type": "aruco", "marker_id": 246, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6572137183127795 }, { - "observation_id": "18bec4e3-93ff-4864-95f4-a3ffd40f9838", + "observation_id": "14857cd2-4b04-49a0-bdde-15b64484da9c", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3105318897567382 }, { - "observation_id": "e44a908d-ebfd-4538-a448-28c938728db7", + "observation_id": "335c33e0-9959-483f-a5ae-b9b0bae3d87a", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.480064078578645 }, { - "observation_id": "312f8212-7f82-41fa-a2d4-215cba0bed25", + "observation_id": "98f5a3c8-2d7d-4b6e-9a9b-5e984345271e", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.717438637944123 }, { - "observation_id": "bb48b65a-c3fd-4c23-a0bb-5deeb76b224b", + "observation_id": "ba32de27-0e0c-4feb-a760-9126da5159de", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.714264135428559 }, { - "observation_id": "3f67a3d4-74c6-4a98-aab3-e4e05a9c5845", + "observation_id": "9f223c5f-d3ed-474f-9ccb-94d944ca8803", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6720101269988878 }, { - "observation_id": "b1bde5cd-4bf4-41e2-872f-7b66c62d599f", + "observation_id": "07e7e980-fed2-4329-b511-16ed8f88c30b", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.25536384825957736 }, { - "observation_id": "3b127601-b369-4ea9-9014-9eed95b575ea", + "observation_id": "93192cd8-87ab-4e03-bf37-b7aba68cc3d7", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.7144285455619288 }, { - "observation_id": "e2ce7f36-cb74-4bd6-85a2-8e73f57c1463", + "observation_id": "89127e7e-b2e3-454a-a16c-63941303b698", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.7019920279258633 }, { - "observation_id": "e88a0d1d-7e47-4735-a26d-66e6c0a5e99e", + "observation_id": "87a2fa97-de1e-45a9-a3b6-dd525ed0bc63", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "19bfb596-7c23-42b1-a049-fe991e82db85", + "observation_id": "7195c7dd-38d6-46ee-b31b-32af5a484e32", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6761108765479277 }, { - "observation_id": "000cb789-5f4c-48b0-a0f9-2ef110c1ab61", + "observation_id": "ff6fd67d-9677-42ba-9b81-3c66da13f4a4", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.63555573802114 }, { - "observation_id": "8eba7075-9de3-4afb-8b02-c77698cfefa8", + "observation_id": "58703eef-40c0-404c-ae02-d26463a86a0d", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6485230397697823 }, { - "observation_id": "04b74214-acab-4e6c-8a9a-cb21ff4fbd65", + "observation_id": "86cabd14-397e-4d9c-a6db-60ff00c22674", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "456a9445-1e6b-4d43-b690-1942cbefb13e", + "observation_id": "05b3f313-737c-4c7f-a8ae-1f4cb6e8ffbb", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6415498386959416 }, { - "observation_id": "da749a0d-1d35-438a-97c1-1c447ab7ad25", + "observation_id": "c47b8da2-770f-4187-9576-a8d3342a7399", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.45532147876086076 }, { - "observation_id": "a36a90fa-7866-4177-8d3e-afa73250ec72", + "observation_id": "9f1bddbf-7662-40ba-980c-4ee9113f63ef", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6088879208521975 }, { - "observation_id": "1a21364e-280d-4086-a65e-7dfdd485f65e", + "observation_id": "84b6f1fb-6c5f-4a12-948d-89758eb7cec6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5954680843098741 }, { - "observation_id": "48321705-cda6-440d-821e-680755a0bf50", + "observation_id": "badee3e8-0ce0-4292-80ba-70c789748003", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5651459847123547 }, { - "observation_id": "0678dcb2-db76-42c5-a6a3-12a57dcdb6ee", + "observation_id": "e785d978-9cdb-428d-b5ff-76e95983dcd6", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5885499509109636 }, { - "observation_id": "f61a315c-016e-43d6-bad6-76a07eca9205", + "observation_id": "050428e3-c22e-4972-8725-ec0bdb2c2f90", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "e1960699-34f4-4b3e-89e3-1f7ea2184106", + "observation_id": "5b43310c-eefe-4769-b9d3-10b4e4cf74e0", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.22008504273316973 }, { - "observation_id": "8d9d06cb-e836-4ec1-b7bc-f4356033c358", + "observation_id": "690f46c3-91da-42f6-b4f8-11d71cabcef5", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.60279428383853 }, { - "observation_id": "9fd8807b-337d-4e72-987e-db70dc6dd4c9", + "observation_id": "380ea5b4-8e56-4203-b245-7231553c26bc", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5743827506632194 }, { - "observation_id": "c42246c2-7f13-4926-a0db-977d8450b14a", + "observation_id": "2930dc5d-e51a-4390-b05d-e86dcb377b20", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5397522426826521 }, { - "observation_id": "a8707696-b875-4bc1-844e-ca884b0aef62", + "observation_id": "f0154c42-9d2f-42f2-ac2a-1b25d6ec14c9", "type": "aruco", "marker_id": 77, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.5278189208292927 }, { - "observation_id": "3eb39b46-4119-412d-80ec-88e5c22beec3", + "observation_id": "700c079e-b8da-4891-9fda-bf293604d6fd", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.5445844663450473 }, { - "observation_id": "57007a8b-c4cb-4322-bff2-93d9b36c4d9f", + "observation_id": "7922aa22-186d-4cef-b241-107fe5713a76", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.5380549070504695 }, { - "observation_id": "a8064a52-1b95-4bd2-bc5d-78e7a2c5d958", + "observation_id": "b86952ae-9ef7-45bd-a338-36d133180f91", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.5493902887184056 }, { - "observation_id": "63cb222b-3c91-4e63-9332-5e7f77fbe801", + "observation_id": "5a8c71f7-ae86-49c1-85ca-dae343dcc2ff", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k7_abcdefg/render_f_camera_pose.json b/data/camera_study/Scene10/k7_abcdefg/render_f_camera_pose.json index b8f638a..81f290b 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:50Z", + "created_utc": "2026-06-02T22:39:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k7_abcdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k7_abcdefg/render_g_aruco_detection.json b/data/camera_study/Scene10/k7_abcdefg/render_g_aruco_detection.json index bed3722..0a98a0e 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:48Z", + "created_utc": "2026-06-02T22:39:53Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8378f9b7-57a3-4825-b4a9-82b13148940e", + "observation_id": "f10b2282-11a1-4376-97a6-e82410fae93b", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8612317264250932 }, { - "observation_id": "12ac97bf-f473-4f95-a04c-e0134748d745", + "observation_id": "ee52b8bd-68e4-4ff0-86a1-7789f91472e5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.619139361878602 }, { - "observation_id": "a3082928-5640-49e1-8c0f-452c5ae2cb97", + "observation_id": "ab448581-bc54-4366-b8c1-ca86d833e699", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5795855489013004 }, { - "observation_id": "7bbef759-afb9-4992-8603-c3818dd0586c", + "observation_id": "32f86494-d157-4e6a-a138-91dac05b754e", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.616540888528013 }, { - "observation_id": "3045b8e4-f3eb-4f23-93c3-6d1c8f8b919d", + "observation_id": "1c23c4cf-8e25-4dfa-b9b2-e01bcbe40d44", "type": "aruco", "marker_id": 247, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.2665694139483502 }, { - "observation_id": "a21d0faf-15d3-4e98-90f5-c24eb8df2d9a", + "observation_id": "57b697b1-d12d-4b9b-8960-72f50775f899", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.6152661587526339 }, { - "observation_id": "c71ff2bf-d06d-40bd-8ebd-cc7b6060a40f", + "observation_id": "9f1eb40b-06d2-4efd-b79b-5388b413d9f7", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "6d5965ce-ad3a-4d90-94a9-8282471988c2", + "observation_id": "d9f065e1-951a-44d2-8f1f-fc57cc2aa67d", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5322501871361803 }, { - "observation_id": "9d197c0a-1e10-4294-a1c5-f8c6749d3e23", + "observation_id": "6bb711f0-8767-4072-aa4a-0ee2bd4c9f2f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5873934926369923 }, { - "observation_id": "ea0f1923-e69e-48b0-b1a6-1339229cc8f6", + "observation_id": "3b56266f-c70f-4e88-bd35-a6c1a93ef1b5", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "4fbafc09-88e5-49a2-8de9-941d090948c9", + "observation_id": "62ced056-e106-4143-8959-282f5c149df3", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5606734879266068 }, { - "observation_id": "36720c17-f878-43be-aa02-35dd65b9afc9", + "observation_id": "990857b2-0659-4b0d-aa38-552ce0c340f8", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "df5065af-89e6-4e98-9e1e-f5975bd6a8d5", + "observation_id": "b36d7fdd-dd37-432f-af01-c20fc74c3ce1", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.46950770604173 }, { - "observation_id": "575f6467-df98-4c1a-a305-06475470789d", + "observation_id": "49321c11-827d-4cb6-a1a6-8622847fbe7e", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.2902883953953809 }, { - "observation_id": "f3d52273-ffa0-4a58-86de-7cd9b1e44ef8", + "observation_id": "c74a96b4-3cd6-4ac3-b8df-5a41d7d3e2ef", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.06745941479560678 }, { - "observation_id": "26619c95-319d-4404-b47b-f53ebd637236", + "observation_id": "fb2542a4-0da8-4e86-ae4c-01e942200825", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.48014488393995497 }, { - "observation_id": "765600c0-21ed-4db4-b075-64aba1547d4d", + "observation_id": "96f7759f-cace-4793-a186-cada59942521", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.5033557129355607 }, { - "observation_id": "365558d4-3408-4149-aebf-77536d8603bd", + "observation_id": "9c210aff-1768-4b66-b322-220f8017a2e3", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4791716529202595 }, { - "observation_id": "cafb8796-0403-4dc0-947a-5f7721490253", + "observation_id": "93769457-20cc-42f8-8e5c-6205b453c39f", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.47486054263026106 }, { - "observation_id": "f0f528c9-a3a1-4c77-9b38-1a7b6208e1c8", + "observation_id": "8e2c7abe-4a95-426d-9d0e-88a77bfed9af", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.4046375469124394 }, { - "observation_id": "6b12895e-9e68-4505-a8db-d9a644a038d9", + "observation_id": "29954780-e8e0-413d-aa8f-e5f97faeb4f1", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.4509112286273005 }, { - "observation_id": "bb7097f1-44a7-4b85-8aa8-32dc40514da2", + "observation_id": "54e7dba9-3bb2-4bdb-ab6e-48ab924e93d4", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.44042326304466006 }, { - "observation_id": "d85bacec-08aa-474d-8b7f-f51b23037473", + "observation_id": "d49dd219-bd0c-4e44-84b4-4611ed52a4f1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.33473633767097827 }, { - "observation_id": "f2867aa1-e5c3-4cd1-b4bc-47608e81c7ce", + "observation_id": "b87f47a4-b7a6-481c-b3b4-66418514b65c", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3904275743165678 }, { - "observation_id": "d7ba8e29-be7b-4adb-b89e-cf9c3fca80c1", + "observation_id": "3be69ed2-c557-430f-99db-4bf49b963524", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.19174142951303974 }, { - "observation_id": "dd092700-e6ec-4af8-91fd-ddf11aee0072", + "observation_id": "ceae6a34-8919-4dee-82ed-6a107a697c86", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.38026711457279644 }, { - "observation_id": "0b570f0b-24bd-46ed-a1ec-96970629a061", + "observation_id": "bc6f1440-a281-48ca-becb-e53c2d28b525", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3931208602008742 }, { - "observation_id": "e38a6c4c-5f2a-4917-a054-85473cdb2e5d", + "observation_id": "a942fa68-d966-40be-bf8f-7758e8b3af89", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.3834923705135548 }, { - "observation_id": "c97fa81f-75db-44bb-91cc-eb6296f23071", + "observation_id": "c380207b-de49-40f0-a5a2-c4271ab84d2d", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.3475062428717297 }, { - "observation_id": "ddf34bd7-e233-44cc-bcb1-0fab66006da2", + "observation_id": "aec5dd48-c7e9-4805-b7c3-4e24450733bf", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.3370835485575886 }, { - "observation_id": "7812b493-4ec7-4c02-87f0-c10e89bda999", + "observation_id": "437f973f-579f-4682-ad10-8869f41f1372", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.3157717646545193 }, { - "observation_id": "28028bca-d56c-45c3-8ba6-ad79718f5fa1", + "observation_id": "0110fb82-3a75-4576-a5bd-863350bb0ba4", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.32781322776968225 }, { - "observation_id": "89c966fb-87fa-4aa0-9ab4-09e43f08f309", + "observation_id": "c6948d02-197b-414e-8b85-ab0a541df24d", "type": "aruco", "marker_id": 65, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.323424516536529 }, { - "observation_id": "c4f35db4-3736-4216-bd54-61998f74e187", + "observation_id": "1afa70e7-5534-4d4f-b45a-882b274bfc4a", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.2963584890699928 }, { - "observation_id": "b31df351-b324-48d7-8b42-dd916314c679", + "observation_id": "d140c825-8b71-40e1-a7de-b712104a3c46", "type": "aruco", "marker_id": 87, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.27798930354872264 }, { - "observation_id": "5fd7dabc-31f9-4227-811d-d5b1f1006f0e", + "observation_id": "a57e5dc0-a1e2-44fa-9007-b03a3c289d92", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.24658567276025462 }, { - "observation_id": "abb550d7-16b4-4e90-9eaa-6d96d9591454", + "observation_id": "96b62652-e033-4776-8f49-adfb89a92953", "type": "aruco", "marker_id": 78, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene10/k7_abcdefg/render_g_camera_pose.json b/data/camera_study/Scene10/k7_abcdefg/render_g_camera_pose.json index a1ac793..f4a6f52 100644 --- a/data/camera_study/Scene10/k7_abcdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene10/k7_abcdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:50Z", + "created_utc": "2026-06-02T22:39:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene10\\k7_abcdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene10/k7_abcdefg/robot_state.eval.json b/data/camera_study/Scene10/k7_abcdefg/robot_state.eval.json index 4a31f5b..9dc3c28 100644 --- a/data/camera_study/Scene10/k7_abcdefg/robot_state.eval.json +++ b/data/camera_study/Scene10/k7_abcdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.065412111795922, "mean_abs_mm": 0.9459644629860051, "max_abs_mm": 1.4593664110049929, - "finger_error_mm": 0.9465787690829545 + "n_unobservable": 0, + "wrist_error_mm": 1.1365183368865799, + "finger_error_mm": 1.2513872896333262 } } \ No newline at end of file diff --git a/data/camera_study/Scene10/k7_abcdefg/robot_state.json b/data/camera_study/Scene10/k7_abcdefg/robot_state.json index 87fec6b..7fa1fbc 100644 --- a/data/camera_study/Scene10/k7_abcdefg/robot_state.json +++ b/data/camera_study/Scene10/k7_abcdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:57Z", + "created_utc": "2026-06-02T22:40:03Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_acd/aruco_marker_poses.json b/data/camera_study/Scene11/k3_acd/aruco_marker_poses.json index 5b43006..91b7e3a 100644 --- a/data/camera_study/Scene11/k3_acd/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_acd/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:05Z", + "created_utc": "2026-06-02T22:40:11Z", "summary": { "num_cameras": 3, "num_markers": 8 diff --git a/data/camera_study/Scene11/k3_acd/aruco_positions_initial.json b/data/camera_study/Scene11/k3_acd/aruco_positions_initial.json index 11d686a..597c7cd 100644 --- a/data/camera_study/Scene11/k3_acd/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_acd/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:04Z", + "created_utc": "2026-06-02T22:40:10Z", "summary": { "num_cameras": 3, "num_markers": 8, diff --git a/data/camera_study/Scene11/k3_acd/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_acd/aruco_positions_optimized.json index de138bc..8583150 100644 --- a/data/camera_study/Scene11/k3_acd/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_acd/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:05Z", + "created_utc": "2026-06-02T22:40:11Z", "summary": { "num_cameras": 3, "num_markers": 8, diff --git a/data/camera_study/Scene11/k3_acd/render_a_aruco_detection.json b/data/camera_study/Scene11/k3_acd/render_a_aruco_detection.json index 35258f5..b297b09 100644 --- a/data/camera_study/Scene11/k3_acd/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k3_acd/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:02Z", + "created_utc": "2026-06-02T22:40:08Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "277a68ad-529c-48d3-a362-0fc45f2a6dbc", + "observation_id": "1e3cc3a8-131d-4d9e-8f67-ff182462f351", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "d477c290-fd16-44cb-b674-040fe72bf2fd", + "observation_id": "d7637262-6ac3-4281-99be-909da7b4eb9c", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "49f36753-209d-4980-be50-23a3b4823f7a", + "observation_id": "756f09f7-29c4-41ff-8730-23aee065246d", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "b7da01be-7ac0-4dff-927c-de7f6ce48d51", + "observation_id": "59e79adb-5dd9-4341-a331-cb77e75fdc15", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "6c903c47-cd7f-493d-b283-e16901d2c224", + "observation_id": "47561fbc-c060-43e0-8aec-51402c6a98f5", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "5ab0644e-376e-4697-b4ce-a4ba9f825fe6", + "observation_id": "bce5a7b1-ac30-4db8-a73d-2cf601a5c2ce", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "1f5542a5-58d4-4282-8a49-27f99edd9352", + "observation_id": "22dba0a1-b785-4ea8-b993-710cf32a2b7f", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "c060c94b-d52c-4c4a-861b-fc356d9e0d37", + "observation_id": "754ac937-c122-4c1f-8d96-84357dd34e29", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "5752c829-6e13-464e-a794-41183fcb5abb", + "observation_id": "04ce283c-c985-450d-8c18-7abdb942e9ee", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "07ce24ad-7482-44e9-a507-0c12b156b98f", + "observation_id": "1e6452fc-f087-4cee-9e7f-e8b333672bcc", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "e194c151-afbf-4bad-8263-6197048eccb9", + "observation_id": "c0ae8081-e542-43f8-84d8-5c6d47915a60", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "91203e25-9cc7-4336-a187-32a73d92d80a", + "observation_id": "a261da31-6f89-4f9a-9091-eb1dd70c4344", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "03adc08b-2232-4e1c-8733-db214ff1c234", + "observation_id": "cf0d0bf0-f3cd-4423-b914-73fcf31d67d6", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "ff6b290b-4904-4c3b-867c-fd491235f940", + "observation_id": "8deea9dc-cb3c-4eb3-913b-15298966fe77", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "9853a0cd-ba24-496e-9ec3-d7f76f5cb352", + "observation_id": "27588914-8a6c-494b-81c7-8ff28cd3b54a", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "a46c8e6d-46a8-4627-92ba-68c082f96fbe", + "observation_id": "b743e04b-5c13-46c4-aa2a-881c021e090b", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_acd/render_a_camera_pose.json b/data/camera_study/Scene11/k3_acd/render_a_camera_pose.json index 47182c7..47032fe 100644 --- a/data/camera_study/Scene11/k3_acd/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k3_acd/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:03Z", + "created_utc": "2026-06-02T22:40:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_acd\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_acd/render_c_aruco_detection.json b/data/camera_study/Scene11/k3_acd/render_c_aruco_detection.json index 6b68e71..512b548 100644 --- a/data/camera_study/Scene11/k3_acd/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k3_acd/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:03Z", + "created_utc": "2026-06-02T22:40:09Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a5be9fd0-28e5-4af7-9ae6-6064715a0168", + "observation_id": "0a5a4774-9d16-4c28-8ff7-cd6059e44d3e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "1fcbcd79-1c77-460d-afed-811a61d653a7", + "observation_id": "97d59299-e2a6-4cd5-b622-05ee822ae026", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "8646cfd5-36c9-4cbf-8e81-131b8cfae60e", + "observation_id": "532bb61a-60c7-4c66-a8e1-902a3758e0af", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "25119532-80ce-4494-a2e3-9d2a51946c98", + "observation_id": "aa0dea9a-a62d-488d-b371-bc0c45ce7800", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "75bdb474-0187-45fe-a908-9a44e9d49d1f", + "observation_id": "b5443ef9-418c-4b6e-9bfd-50c4405a66b8", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "0487ddcc-caef-40ed-8fb6-5ae69ef4ce60", + "observation_id": "007fc3c2-a6ae-4aad-8494-1d6bb0d670fe", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "f702b37b-fea2-4e2c-9bbd-e3ffea68a6c2", + "observation_id": "cf87c9b2-90e7-4f1b-84aa-49e0386bc72d", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "131429e3-a1e8-483c-98b4-280954c09c43", + "observation_id": "c9570743-396e-41a5-b2aa-c459e51c6741", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "1b8690ff-856f-4b87-af6a-59cd5cb6414f", + "observation_id": "e7d15110-991f-439e-afc7-9e662184fe5a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "a3b3e9d2-eb57-4397-80c7-5a96ec670c1b", + "observation_id": "78598cc4-ad06-4ca2-b7ee-d92f351b2549", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_acd/render_c_camera_pose.json b/data/camera_study/Scene11/k3_acd/render_c_camera_pose.json index a68de52..ebef220 100644 --- a/data/camera_study/Scene11/k3_acd/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k3_acd/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:04Z", + "created_utc": "2026-06-02T22:40:10Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_acd\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_acd/render_d_aruco_detection.json b/data/camera_study/Scene11/k3_acd/render_d_aruco_detection.json index 54e3be3..6200a8e 100644 --- a/data/camera_study/Scene11/k3_acd/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k3_acd/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:03Z", + "created_utc": "2026-06-02T22:40:09Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "25b85081-b6eb-4f3b-a3cc-ce70ded9032d", + "observation_id": "980cd171-996b-4039-908b-1f3c87e24b61", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "f1140636-e802-47d7-b0c4-ee4f7e6a326d", + "observation_id": "02330a7d-ad97-4b83-8fa8-871a6638665f", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "b1a348b9-9e28-4606-8492-48c98a133b18", + "observation_id": "f76a2497-f2f4-465d-ada5-b18bf262ef9a", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "2debf237-68f0-4b72-b421-1a7f2d956003", + "observation_id": "31f336e7-6091-4410-a5a6-e1a4d054f98b", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "fa54a867-febf-423a-abdc-31207e5ce8cd", + "observation_id": "da5dab19-2bc8-4fd5-a6bc-0e6c1c7c9835", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "8e378857-e0b6-425f-96df-b10433bd8463", + "observation_id": "e53b68c7-4ae9-4704-96b8-75f5b42af9af", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "08ebacc2-4173-44a2-8dca-ef251bda8ba9", + "observation_id": "49b9131f-b2da-4a01-827e-5736bf6c152c", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "fa5945e5-df59-428a-ae1a-70e997a0b7db", + "observation_id": "3cd4f0ef-ffff-415c-9f30-33a375cfa6ee", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "4452bf02-6c43-4b86-8bef-1158258611da", + "observation_id": "5ee869c6-587a-4fa2-9625-a601967aa60a", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "e3da4049-d64d-4ac9-8492-601abd314868", + "observation_id": "c2becf87-2a95-4207-ac0a-df5302441b47", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "27624dfa-d02a-4af7-8b40-0aaf7df3f2f2", + "observation_id": "a370d888-892d-48e4-89a5-528a64ecbe29", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "cb082a9b-44d9-4bd6-84c0-52a524b27884", + "observation_id": "f8cc3031-db15-4c03-ab67-4826cd17efc5", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "acad0927-9173-4a88-b432-360339e681ce", + "observation_id": "4d14b2e0-eaa9-47a8-a981-978a1fdd31f3", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "6f447721-6443-4e19-82d3-5d1220b41feb", + "observation_id": "3904abe3-bd13-4010-bbc2-6aead832da41", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "6f997cf1-a0a2-44be-9d6d-adaa0df5c6df", + "observation_id": "929ebe9a-5c80-42b8-9ca8-707004357e6d", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "412d8fa0-80cc-4aea-80f8-714822f40a6f", + "observation_id": "31882b5e-c4ee-4188-a76c-b5620e3737fd", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_acd/render_d_camera_pose.json b/data/camera_study/Scene11/k3_acd/render_d_camera_pose.json index c0dbaa3..3d98e9d 100644 --- a/data/camera_study/Scene11/k3_acd/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k3_acd/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:04Z", + "created_utc": "2026-06-02T22:40:10Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_acd\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_acd/robot_state.eval.json b/data/camera_study/Scene11/k3_acd/robot_state.eval.json index 1b45ac1..63fca36 100644 --- a/data/camera_study/Scene11/k3_acd/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_acd/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.9716410271995812, "mean_abs_mm": 6.710142408059931, "max_abs_mm": 10.070370753887888, - "finger_error_mm": 4.0687983757619985 + "n_unobservable": 1, + "wrist_error_mm": 3.662754685079539, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_acd/robot_state.json b/data/camera_study/Scene11/k3_acd/robot_state.json index 7d2f52c..8a7a0d9 100644 --- a/data/camera_study/Scene11/k3_acd/robot_state.json +++ b/data/camera_study/Scene11/k3_acd/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:06Z", + "created_utc": "2026-06-02T22:40:12Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_ace/aruco_marker_poses.json b/data/camera_study/Scene11/k3_ace/aruco_marker_poses.json index 0325e1f..f71ecea 100644 --- a/data/camera_study/Scene11/k3_ace/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_ace/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:00Z", + "created_utc": "2026-06-02T22:40:06Z", "summary": { "num_cameras": 3, "num_markers": 9 diff --git a/data/camera_study/Scene11/k3_ace/aruco_positions_initial.json b/data/camera_study/Scene11/k3_ace/aruco_positions_initial.json index 1cfef8e..c4afe40 100644 --- a/data/camera_study/Scene11/k3_ace/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_ace/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:00Z", + "created_utc": "2026-06-02T22:40:06Z", "summary": { "num_cameras": 3, "num_markers": 9, diff --git a/data/camera_study/Scene11/k3_ace/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_ace/aruco_positions_optimized.json index 87c8d2e..19561a4 100644 --- a/data/camera_study/Scene11/k3_ace/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_ace/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:00Z", + "created_utc": "2026-06-02T22:40:06Z", "summary": { "num_cameras": 3, "num_markers": 9, diff --git a/data/camera_study/Scene11/k3_ace/render_a_aruco_detection.json b/data/camera_study/Scene11/k3_ace/render_a_aruco_detection.json index 5dc151d..c868a29 100644 --- a/data/camera_study/Scene11/k3_ace/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k3_ace/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:58Z", + "created_utc": "2026-06-02T22:40:04Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "827c12a6-02c5-4871-90d5-8c2e9966af59", + "observation_id": "c91d03b8-f5b1-4245-962a-96e2de229c40", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "aed58ab5-4edf-4e0c-9789-73f011f5b451", + "observation_id": "86b6a5e5-785d-4e81-bda1-e71a908ca9f1", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "06551509-7363-47c5-9379-1eaa851c7797", + "observation_id": "7b781ac5-1381-4aca-8450-8dd53add447e", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "6360d4a8-acc9-4cf8-917f-9af50089db53", + "observation_id": "31e3a20f-d595-40f4-b787-1d84a011a237", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "8a34c61d-7be5-427c-88c3-560e06fb0ff1", + "observation_id": "5ed2af95-04ac-4602-a538-1898a49b4afc", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "10297099-660f-4321-9a80-715206cad16b", + "observation_id": "8451c628-1889-4c9a-b2cb-2233efa96c03", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "0557f376-fc77-4d81-a7c3-c9197393895b", + "observation_id": "85a3f8ae-f0d4-4aca-828b-3ce3a4db2eb9", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "3d3b342f-53f2-4353-8a8d-2f570ae44643", + "observation_id": "41ef2be8-f0f5-4a80-863c-ef25c9717c10", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "e48e5805-8a64-4911-ba49-c2c075a56f37", + "observation_id": "3def34c9-c796-4da1-8067-ad3ebcb4e706", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "bf2d88f0-695f-4bc6-8514-7940257e4e95", + "observation_id": "0826070e-0623-4b8d-bc3a-f7fc9641eb64", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "1cfcd814-3de6-4ba5-bf1d-9df53585a818", + "observation_id": "936f66f5-4864-484a-a6ef-b05a983ab9c5", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "49991473-6e55-4edb-a1e6-5c26b0af35f8", + "observation_id": "2f583858-3308-4d2b-a6c4-3f565bccae7d", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "00a8d1c3-83f2-4d8c-9e5a-4f7a3bcffcd3", + "observation_id": "4f28cf9c-8bf2-4156-8a86-8f4692d2cb21", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "572a3cae-2fe4-480f-b03b-5004eb4a20cf", + "observation_id": "fd973680-a655-4526-942c-0d328fbc64d5", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "2e54ed91-361d-45f2-8405-e1173b8587a5", + "observation_id": "de5c3657-028f-4ecd-9250-060438710995", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "1005a8d8-a7a3-40eb-bd62-4e4175b2fb97", + "observation_id": "8894e0f1-b1a6-47fb-827a-349786d6e382", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_ace/render_a_camera_pose.json b/data/camera_study/Scene11/k3_ace/render_a_camera_pose.json index 6396836..3222ae0 100644 --- a/data/camera_study/Scene11/k3_ace/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k3_ace/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:59Z", + "created_utc": "2026-06-02T22:40:05Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_ace\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_ace/render_c_aruco_detection.json b/data/camera_study/Scene11/k3_ace/render_c_aruco_detection.json index acda007..81df0b4 100644 --- a/data/camera_study/Scene11/k3_ace/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k3_ace/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:58Z", + "created_utc": "2026-06-02T22:40:04Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4e79c74a-cd6f-4659-8e48-2ce773ee961e", + "observation_id": "cd822ebd-46ab-4cfc-903c-e556e027c300", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "52d9777b-11c6-43a5-93d4-c97674a2af2e", + "observation_id": "d7fff1cf-0d7a-4081-b327-7ec6b9c97756", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "cf53e474-96ef-49c8-8049-baa37edc5328", + "observation_id": "094b3d5b-2f31-4013-ad83-ee165c0f6913", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "f911801a-f907-45ff-9c5e-d9f07abf36c2", + "observation_id": "01d9c62e-d58d-4a0f-ab7a-aadd63b4a77e", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "a136a462-89d4-4ccc-82d5-fbb6efb69ee5", + "observation_id": "9760e5d0-a247-4b38-ba51-56bfc1f9c2a7", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "c1df4214-fb35-4912-b86e-7b1506ab9afd", + "observation_id": "98685320-06e8-4ba8-b531-c3587e0fdbc7", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "15395624-501e-4aac-ae48-05c17e7ba0d8", + "observation_id": "4bcb0795-1467-4944-8e7f-b576b4e5c718", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "50d92275-acd4-4fa9-9982-bd1d853b91f0", + "observation_id": "19837808-ac9d-418e-94a8-bdf85c61cbc1", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "81726269-c89c-4de1-85d7-b02c68260d56", + "observation_id": "095d8f83-a69f-43dd-bf9a-5063fcfe9d6d", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "09c9b8f9-76cf-40c8-a7bd-59fd359267ae", + "observation_id": "f10dd6ad-9f0a-418f-8c4d-95f957b8fe8d", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_ace/render_c_camera_pose.json b/data/camera_study/Scene11/k3_ace/render_c_camera_pose.json index 70cf6dd..c51c10f 100644 --- a/data/camera_study/Scene11/k3_ace/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k3_ace/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:59Z", + "created_utc": "2026-06-02T22:40:05Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_ace\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_ace/render_e_aruco_detection.json b/data/camera_study/Scene11/k3_ace/render_e_aruco_detection.json index 5ecb514..f58ef8d 100644 --- a/data/camera_study/Scene11/k3_ace/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k3_ace/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:59Z", + "created_utc": "2026-06-02T22:40:04Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "cfb944bb-a5f0-4750-90d3-12615b751c2e", + "observation_id": "ad6d19f6-bb89-4906-aca4-0849ec29caab", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "8f529bb9-5779-44be-8354-9f671d5ceee5", + "observation_id": "c0a1f6a7-c90d-4209-a603-f6b301b43fc6", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "82d0ee69-5136-486c-b295-3b3d12c4622f", + "observation_id": "508142ce-b96d-4535-8d89-4aae35159f21", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "6f29ca28-7a56-4491-9952-da4946d4e423", + "observation_id": "86cc88b3-7657-45b8-bbb7-2f44842ae83d", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "0a04adfb-0c1e-406c-9f43-3d09e2089ed6", + "observation_id": "7ea84f61-aeb5-464f-9c3b-3e5788fb7f5e", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "9bb58162-003c-44b9-9775-bd509f00a873", + "observation_id": "7eda6193-c8c0-4bfc-a459-8237ecd7204e", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "2736e06b-1bea-4807-938d-58819b7f02d2", + "observation_id": "c0da48eb-8fba-4c4e-b058-8d3c443966ec", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "0b7f9b86-1d8c-4e40-8701-b81ecf666305", + "observation_id": "cfe3a5b4-e711-457c-8761-23169de3be60", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "7f2566bf-6124-41d4-b58c-7d9834189b8e", + "observation_id": "e293b050-5165-4bc2-b2b5-a728894e5b5d", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "ef9a0a9a-47f6-433c-990d-c4438b39e67a", + "observation_id": "abe8d0db-a73b-4f0d-a0e7-64e5b60c413f", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "ad8a77bf-ac08-4d32-a716-9756a8d1a330", + "observation_id": "3fabc148-6dbe-497b-ae9d-0a74b5da29b0", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "25d69120-542e-4bb5-ae4f-c68d6c0131b6", + "observation_id": "d1b2fe95-76d9-436b-9485-7d21c899f909", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "9d007604-5608-4409-b06c-55f8243c7e97", + "observation_id": "e36cd598-bb17-463b-9c5c-459031e2fe4c", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "38187205-26b6-4af9-af26-acbb77cf36bc", + "observation_id": "68904aa9-3532-4032-8f12-52757d3e79e5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "5a1a5dbe-453b-4cbd-93e5-e47eeb8b0374", + "observation_id": "b3a4913f-1b41-4068-89ea-e87b6fc88941", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "20b4e7fd-69eb-45d1-9a70-33febba87f62", + "observation_id": "9ebafe43-f493-4a8a-9f89-7ba89f397de0", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "b15b38c5-57d2-4c5a-8a59-acca17c726fc", + "observation_id": "7f2b5d9e-98fa-49d9-aa83-f44722dcccb7", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "f416f09d-dd46-40f2-8aa6-78450e1483bf", + "observation_id": "7baf5586-a4a2-4b97-b721-55c1cf789223", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "eb5e8c1b-d70f-4a27-a38e-e38f0d202d2c", + "observation_id": "8aead7b3-8daf-45f1-a57e-00df1dcd56c6", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "2c745e52-39ba-4947-92c3-443a62000615", + "observation_id": "ff77804b-c227-4ffc-9c7a-b9d3908a7a69", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "b86bf307-a9f7-47ef-9ee2-aa0bbc75d889", + "observation_id": "ebd1e908-f611-4a2e-ae36-586d55d19853", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "fa42547d-eb6f-486c-8393-8758f3cb9211", + "observation_id": "84acdc5a-b27a-4525-80af-04b2c8a3bb39", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_ace/render_e_camera_pose.json b/data/camera_study/Scene11/k3_ace/render_e_camera_pose.json index ffe1804..0913b06 100644 --- a/data/camera_study/Scene11/k3_ace/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k3_ace/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:23:59Z", + "created_utc": "2026-06-02T22:40:05Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_ace\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_ace/robot_state.eval.json b/data/camera_study/Scene11/k3_ace/robot_state.eval.json index 2fcce33..c33e994 100644 --- a/data/camera_study/Scene11/k3_ace/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_ace/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 4.808609624449758, "mean_abs_mm": 3.8877568400358626, "max_abs_mm": 5.228637374359195, - "finger_error_mm": 2.751878142432998 + "n_unobservable": 1, + "wrist_error_mm": 4.160339732264532, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_ace/robot_state.json b/data/camera_study/Scene11/k3_ace/robot_state.json index 222f952..c15faa0 100644 --- a/data/camera_study/Scene11/k3_ace/robot_state.json +++ b/data/camera_study/Scene11/k3_ace/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:02Z", + "created_utc": "2026-06-02T22:40:08Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_acg/aruco_marker_poses.json b/data/camera_study/Scene11/k3_acg/aruco_marker_poses.json index 1f91d8e..4866d0c 100644 --- a/data/camera_study/Scene11/k3_acg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_acg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:39Z", + "created_utc": "2026-06-02T22:40:47Z", "summary": { "num_cameras": 3, "num_markers": 12 diff --git a/data/camera_study/Scene11/k3_acg/aruco_positions_initial.json b/data/camera_study/Scene11/k3_acg/aruco_positions_initial.json index b8c280c..59d78a8 100644 --- a/data/camera_study/Scene11/k3_acg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_acg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:38Z", + "created_utc": "2026-06-02T22:40:46Z", "summary": { "num_cameras": 3, "num_markers": 12, diff --git a/data/camera_study/Scene11/k3_acg/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_acg/aruco_positions_optimized.json index ae79fa4..4840b67 100644 --- a/data/camera_study/Scene11/k3_acg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_acg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:39Z", + "created_utc": "2026-06-02T22:40:47Z", "summary": { "num_cameras": 3, "num_markers": 12, diff --git a/data/camera_study/Scene11/k3_acg/render_a_aruco_detection.json b/data/camera_study/Scene11/k3_acg/render_a_aruco_detection.json index b4d7b77..e9d8acf 100644 --- a/data/camera_study/Scene11/k3_acg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k3_acg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:36Z", + "created_utc": "2026-06-02T22:40:44Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "61086d36-8847-402b-950d-48297ba2f649", + "observation_id": "44d15b3d-9f76-4f01-bcf4-9d7c19f567bf", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "31e94744-2e31-4308-8cc6-a23f275b1f6a", + "observation_id": "ceb68d5c-adc4-4f30-a2b6-d68cd9cdf884", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "a519a681-6e17-40cb-90fa-f3062ea66ebd", + "observation_id": "b8b508d0-1cc3-43f3-8874-fab185c321f2", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "595b7a3e-3dcd-4fcc-a3eb-2686c1731c09", + "observation_id": "c1c68db0-4649-45be-87dc-83572c2f45c1", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "c6ac5025-9df6-4504-9032-adfd3e6afc35", + "observation_id": "b559fe30-ebba-40b2-ab99-038f86058e20", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "eae60b20-047e-4c56-ba21-17e83d6a9b32", + "observation_id": "0b9d95c0-68cf-4976-9824-2837d2549ed2", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "b569e6ae-61b4-4ad4-be87-fcd241801856", + "observation_id": "03030567-e224-4802-965e-0a126bb9c9f9", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "dab1be82-e64d-400a-8a42-8ff6e5f3aeaf", + "observation_id": "66517ea7-9092-4e3a-a73e-cfd493004f1b", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "f3819e2a-8bf1-4cdc-acd4-c7c3f2235d4d", + "observation_id": "e5eb682b-0412-4033-8e26-de8abe285733", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "70cc63e1-12de-4ae3-b8ef-558735b4ca7f", + "observation_id": "582b7bf2-620e-44da-be88-8d45a5a14d0f", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "0440d4c5-c510-4df9-bec6-83dc8b82dfb1", + "observation_id": "da89a7af-4e15-4054-9c65-9e1d3f9c9d63", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "93a65781-9648-4f18-a638-0a7a34095b60", + "observation_id": "4b6c9b73-ba20-44fc-b025-4a814e4d8720", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "c0b612cf-5a9e-403c-bd65-ce47f2e918f4", + "observation_id": "a77a613a-3347-4421-a484-bcb0c02d0a7f", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "f1db5d51-5acf-4b72-a521-5b24d04099ae", + "observation_id": "1c7919c9-a9f8-4a17-bd08-d9b948bfc6c5", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "244fd342-83da-4cb3-8c02-59c82090e16f", + "observation_id": "ef5a411e-7a64-4555-915c-aded67e6f8fe", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "440a39ad-e9e0-408c-877c-1e7cd14af574", + "observation_id": "a05dc522-ea06-46ec-9625-9677d34f223f", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_acg/render_a_camera_pose.json b/data/camera_study/Scene11/k3_acg/render_a_camera_pose.json index e8a77f3..0022ed8 100644 --- a/data/camera_study/Scene11/k3_acg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k3_acg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:37Z", + "created_utc": "2026-06-02T22:40:45Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_acg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_acg/render_c_aruco_detection.json b/data/camera_study/Scene11/k3_acg/render_c_aruco_detection.json index 871538f..3f0e8a8 100644 --- a/data/camera_study/Scene11/k3_acg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k3_acg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:37Z", + "created_utc": "2026-06-02T22:40:44Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "039379fc-4fec-4746-9762-876939ab4433", + "observation_id": "4cff0498-875b-45b0-a02d-6885ec4bdfc6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "9f63d39e-5f33-4bdc-bb36-9a2eb80ee469", + "observation_id": "dfb6a87e-5d97-4c35-801d-e78a6239e413", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "cab72bad-7fe7-4775-8eb2-5df175995f93", + "observation_id": "74be8736-d2dd-4253-a62b-2795fb7a592e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "87f56c37-6d04-4f18-b681-ccc3ef028ac1", + "observation_id": "2af56693-b9bb-49b2-9fc5-9c5ac5a5e072", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "caa12d4c-b2d2-431c-acb4-c2c467df9cc9", + "observation_id": "5838df2f-b90c-461b-a24d-968fe271f5e6", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "b211b009-8cba-496e-8b07-19940b4e419f", + "observation_id": "4c3e174a-272f-4669-b5c7-e3c6bf8fc3e7", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "58ed2e67-e41b-4816-9b8d-6dfd54874c39", + "observation_id": "20d128dd-8a69-4b3d-a092-c8721238385d", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "b7f2f0a3-ddf1-4a8b-bdfd-b9c58da8581a", + "observation_id": "e1b8c731-b241-4c0c-a644-0f454dd99ffe", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "f1ba9970-7424-4f86-ac58-5ecd00fa1681", + "observation_id": "61a87547-f54c-4b91-8c14-5530a0f7ddef", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "c98cab4f-a884-43f2-875c-8afb1b12e94d", + "observation_id": "098b22c5-ba65-41b5-afb9-d7a0f407a30e", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_acg/render_c_camera_pose.json b/data/camera_study/Scene11/k3_acg/render_c_camera_pose.json index f0ff2b1..bd57eb3 100644 --- a/data/camera_study/Scene11/k3_acg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k3_acg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:38Z", + "created_utc": "2026-06-02T22:40:45Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_acg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_acg/render_g_aruco_detection.json b/data/camera_study/Scene11/k3_acg/render_g_aruco_detection.json index 0da6853..b48b5f4 100644 --- a/data/camera_study/Scene11/k3_acg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k3_acg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:37Z", + "created_utc": "2026-06-02T22:40:45Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4dfbc9c9-1bbd-4e97-8986-a299dfafa805", + "observation_id": "9818a11e-e1ea-4c2a-8e79-1b6e7c893fc9", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "67481a62-9c01-49f2-a879-ab3652321ad6", + "observation_id": "843e3815-be2e-460a-b3fa-781a9a2d3ed7", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "79c34f13-318a-4558-871c-9f9b8f91e760", + "observation_id": "46a1bb84-f5c5-4564-b034-e73876cd6349", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "8707b972-0605-4b6d-a4db-f9dd4d3b8105", + "observation_id": "bb23b81d-5fe2-4ac2-aaca-0b308825f16d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "ff59a0e4-f0f7-43c7-aaf7-e9bc45b72363", + "observation_id": "6ae8e5f4-d896-4d68-a96f-a587f324336e", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "cdd3d9c3-8144-4277-8615-8e6473727f15", + "observation_id": "f53de72a-88a1-4ae1-ad7e-881c0408a9ed", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "3c3415e5-fed2-47ce-916c-ab5474746159", + "observation_id": "747294fd-1679-4cc2-8f76-688cb1396dec", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "7a23f68c-75fc-44f8-be5c-3702eede03eb", + "observation_id": "9b50144e-4415-47cf-8eb5-30b7d21eed3c", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "0cf98722-5901-4fdf-9b73-f1b2c194e5a9", + "observation_id": "c355c1e6-0290-4b7c-b14e-11a690b3f14e", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "a2fa7e61-01a8-498e-aa80-fa03d387ed04", + "observation_id": "41207bab-d307-41dc-a911-c62656beeb1e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "27f5d1c0-de68-440b-848a-0cc02c41620f", + "observation_id": "55022264-63a3-4567-8515-7ba89b242f5a", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "9de8c2fc-0192-4f99-be2b-e815b4cd52b9", + "observation_id": "a51e2aa0-66ef-4a95-be32-b12f84e3d78b", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "d56ed500-b7c7-4864-bf11-2b7b2dc1d438", + "observation_id": "44bf6dd8-8363-4d79-8ade-d1266f1c15c7", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "42e51dcb-053b-445c-a561-f744d732459b", + "observation_id": "8ab644f4-0fe8-43d3-a767-0ee93c1abbc3", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "697fd2d4-7390-49c3-8c20-9de5bb38eb99", + "observation_id": "ed1f431e-3f47-45e5-8577-a899fb4f2830", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "9feaa204-3210-4d7d-9a70-898de1e3dbd3", + "observation_id": "8b43e296-10ef-44ac-b8dd-d0102d3d2cfe", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "19471275-88a3-49ae-81a7-de1ee41639e6", + "observation_id": "daf48c95-059c-4dd8-8c78-05d16c3d76f4", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "df9c8b5d-0a9c-444b-a7c4-b82470dec900", + "observation_id": "e02f820d-6ea4-42c5-bb5e-05ee082b77ec", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "31fd2180-a543-4843-9868-bea3a1a6e7a5", + "observation_id": "67d7f3d0-be2f-4304-a5cb-df5cb7c626b0", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "337f7126-2bea-4aef-9fac-bb17b0213a10", + "observation_id": "75f793be-6f2d-4725-99f6-9a6cd00bce9a", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "fd19d9e3-3252-4c10-b0c3-04613211c864", + "observation_id": "10b3fb07-b674-46fa-9ab4-e45e9ba100ca", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "1fdea227-fcd4-4fc0-b31b-80c3c89c9694", + "observation_id": "e7c442ef-bec9-44c2-8118-9fcd90e4ac4f", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "23df89f0-775b-4fa4-bc3d-cda1516a340b", + "observation_id": "908f8792-9964-4944-964b-a72415e970c6", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "c46cb718-d2ec-4b09-aa79-0264a71b1455", + "observation_id": "adaa361e-fffe-4b9e-8e7a-3c1a4e0846bc", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "3f69d615-ea38-4bef-bebc-4974fd1b3123", + "observation_id": "33561fb8-470a-478e-99d1-8e079ea46dd6", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "cd74f785-e535-48f3-9eca-b679af95542e", + "observation_id": "86269954-7284-4c1e-a819-538710f89a5f", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "1d66cdc1-497f-4d44-8007-312af73db422", + "observation_id": "6f167fe3-3ca8-4b29-a8cc-0b9ec1a9a1bd", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "39cc9008-fd59-4fe6-bf7a-e77f582aa7a5", + "observation_id": "5e6c31a2-d836-4a74-abf4-2aa61f08e734", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "c50d6ad0-cee7-4bf8-a596-56dafa4dabf9", + "observation_id": "c77eae89-9163-4674-8738-726cc15f330c", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "12c7f9db-2da8-4501-a629-690819d4534c", + "observation_id": "1fafd9f0-07c9-4f8a-ac1f-af645e2730d6", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_acg/render_g_camera_pose.json b/data/camera_study/Scene11/k3_acg/render_g_camera_pose.json index 8bb27e2..724563a 100644 --- a/data/camera_study/Scene11/k3_acg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k3_acg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:38Z", + "created_utc": "2026-06-02T22:40:46Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_acg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_acg/robot_state.eval.json b/data/camera_study/Scene11/k3_acg/robot_state.eval.json index 5a9b39c..8e1f71f 100644 --- a/data/camera_study/Scene11/k3_acg/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_acg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 2.645644986351101, "mean_abs_mm": 3.339582265277376, "max_abs_mm": 5.342973794203383, - "finger_error_mm": 2.7777493416092853 + "n_unobservable": 0, + "wrist_error_mm": 1.3373863371696988, + "finger_error_mm": 1.079834401757968 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_acg/robot_state.json b/data/camera_study/Scene11/k3_acg/robot_state.json index d64a941..587b94d 100644 --- a/data/camera_study/Scene11/k3_acg/robot_state.json +++ b/data/camera_study/Scene11/k3_acg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:41Z", + "created_utc": "2026-06-02T22:40:49Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_adg/aruco_marker_poses.json b/data/camera_study/Scene11/k3_adg/aruco_marker_poses.json index ee62006..2af6fb2 100644 --- a/data/camera_study/Scene11/k3_adg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_adg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:20Z", + "created_utc": "2026-06-02T22:40:26Z", "summary": { "num_cameras": 3, "num_markers": 14 diff --git a/data/camera_study/Scene11/k3_adg/aruco_positions_initial.json b/data/camera_study/Scene11/k3_adg/aruco_positions_initial.json index ba4cbc7..a1a0bc8 100644 --- a/data/camera_study/Scene11/k3_adg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_adg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:19Z", + "created_utc": "2026-06-02T22:40:25Z", "summary": { "num_cameras": 3, "num_markers": 14, diff --git a/data/camera_study/Scene11/k3_adg/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_adg/aruco_positions_optimized.json index 5362104..b88988d 100644 --- a/data/camera_study/Scene11/k3_adg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_adg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:19Z", + "created_utc": "2026-06-02T22:40:25Z", "summary": { "num_cameras": 3, "num_markers": 14, diff --git a/data/camera_study/Scene11/k3_adg/render_a_aruco_detection.json b/data/camera_study/Scene11/k3_adg/render_a_aruco_detection.json index 3acaa6c..40fb9a8 100644 --- a/data/camera_study/Scene11/k3_adg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k3_adg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:17Z", + "created_utc": "2026-06-02T22:40:23Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "085b0881-fbc5-4042-9b0f-303b7fc181d4", + "observation_id": "9c0c06e0-40e1-46e4-8e35-7903d4c9b801", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "d2f92fb3-115b-4683-a26e-e08f8217b361", + "observation_id": "3d2e8960-a80e-4373-b010-a33381ad12f1", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "010d7afb-da23-4e5a-8fb2-c789473bfccd", + "observation_id": "b56ce0ae-97d5-43d4-a0ac-03d1792531df", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "b1597b6b-f69f-4729-8165-b8db0e1ca34d", + "observation_id": "e8f4e588-b566-4c9d-b640-32010e8eb2ea", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "95eac150-9025-4f97-aadd-2b8bd3aecbc3", + "observation_id": "f39d17a3-309c-48a4-ad2d-0a1a750ae85d", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "39e46742-34b7-4676-8c7c-5aee5130f568", + "observation_id": "5d4d6e91-149f-40a5-856d-74371353186b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "e2df94f9-6a1f-4f26-bfdc-fd38711de475", + "observation_id": "6d0475a4-ff17-46b7-9b11-83b54a19d8d6", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "59e24022-78f4-403f-ac97-3fb00c871925", + "observation_id": "517b2cff-04c9-4f1f-9c93-c7ce8c7a4668", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "6ee7711d-ef9b-4b02-acc9-05e9d2fe1851", + "observation_id": "98c89827-416d-4c6b-bf54-cf20df82e120", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "6f99287c-75fc-46f6-9dbc-474702d79d19", + "observation_id": "849b8916-f770-466a-960e-bba4231d2c5e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "7bab2ebf-66af-4b10-9cf5-88eabefac0d1", + "observation_id": "a4277f1f-0574-4267-9f9e-b9cfcaf0cdac", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "02480556-96d3-4408-b9fa-c5b3a28cb7e1", + "observation_id": "6c0be30f-1f3a-440a-b828-6021fa2630d0", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "513d58b3-bea3-4658-930a-1b2720473baa", + "observation_id": "5352403a-33e7-4460-82a0-ce6ac97e8d04", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "6a306c86-de12-4787-8599-80729a5626fb", + "observation_id": "06b76747-6949-4d48-b2bf-799bbacbd85a", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "2088516e-2678-4161-a70e-95d2e53855c2", + "observation_id": "0363a66b-e80f-4f07-8e14-5650e480d1cd", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "336dd3e7-48a8-4694-9f6c-18fc3daeb4f9", + "observation_id": "0891281f-3429-4ec8-969e-b4f778b84562", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_adg/render_a_camera_pose.json b/data/camera_study/Scene11/k3_adg/render_a_camera_pose.json index c57fa7f..14ed025 100644 --- a/data/camera_study/Scene11/k3_adg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k3_adg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:18Z", + "created_utc": "2026-06-02T22:40:24Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_adg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_adg/render_d_aruco_detection.json b/data/camera_study/Scene11/k3_adg/render_d_aruco_detection.json index 19f0f6e..2f486c1 100644 --- a/data/camera_study/Scene11/k3_adg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k3_adg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:17Z", + "created_utc": "2026-06-02T22:40:23Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "04f7d241-549a-4ee6-8c94-f041aac65825", + "observation_id": "20712f63-b4ae-452f-b501-cc1157ff35a1", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "235f8e97-1efa-49c2-b61c-961ce51d32b6", + "observation_id": "ede3283c-e9b6-4c9c-bef4-9375baed82ac", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "06709cde-e57e-41cd-913a-68fdf788e737", + "observation_id": "8b1a7845-fc76-4e60-8b47-165b4379949e", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "56502b97-d230-401a-ace7-cef20fe74213", + "observation_id": "fd9e6e3f-65f4-45c5-9f84-8b413d21ac67", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "4dcf915e-8821-4f04-a8e6-9d9450ff12cf", + "observation_id": "365d3537-5312-47f5-98da-0f764f15c913", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "30326043-0e74-45f7-8097-fddc8493b227", + "observation_id": "ac41f5b5-c076-4fb2-8f52-3f220cad50eb", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "8e74967e-da25-4845-9d01-c5b49bfc8c2f", + "observation_id": "bcd953d8-50a1-4659-9fd7-7b8e68bed00b", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "50c36a6e-1f78-4931-aa00-8388b7a9c002", + "observation_id": "c8f0618b-38a5-4b8a-a781-c4152f79aec6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "2ec5490d-8394-429a-a88d-17e7e7dc0ea7", + "observation_id": "8736c994-af70-4667-9334-881cf337be07", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "eddd8c95-d756-482d-8578-59cb3e288ac3", + "observation_id": "c42bcf5a-f877-4031-8054-039d4132804a", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "26e5b333-b790-47e4-af69-8821d4dd8fdf", + "observation_id": "5d662620-1119-4bdb-82db-7a41da5780b1", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "036b2021-0054-4a36-909e-33ff75096c88", + "observation_id": "b80d3297-f762-439f-ac56-9fce06df3524", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "235def32-1cb5-43d2-943c-4b0f565f7cba", + "observation_id": "2cdfafbd-1207-49a3-9146-48fe33f6c0de", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "3e10457f-2efd-4da9-8b60-2d52e3d382ce", + "observation_id": "fd684810-7d0d-46b1-9905-721cad70238b", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "670da33c-7157-443b-8784-ee5775e0195e", + "observation_id": "98a4e761-cf92-4ef4-8f56-cf48a278361f", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "5e251efe-9eeb-4b24-af6f-a61344b81272", + "observation_id": "db0ea2e6-a8e6-4df1-9ec5-72a580312eaa", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_adg/render_d_camera_pose.json b/data/camera_study/Scene11/k3_adg/render_d_camera_pose.json index 0a93c8e..b7d2448 100644 --- a/data/camera_study/Scene11/k3_adg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k3_adg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:18Z", + "created_utc": "2026-06-02T22:40:24Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_adg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_adg/render_g_aruco_detection.json b/data/camera_study/Scene11/k3_adg/render_g_aruco_detection.json index 85531b9..3466aa3 100644 --- a/data/camera_study/Scene11/k3_adg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k3_adg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:18Z", + "created_utc": "2026-06-02T22:40:24Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0355e597-95f4-4988-bbe8-e6cc068a5dca", + "observation_id": "67a2599f-cc33-46f6-893d-064c44a03001", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "521eb569-0d3f-4307-923d-5898be436f9e", + "observation_id": "9e6b45c0-f382-4168-a78e-ee2f8f617cb4", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "3a04db37-d5c0-4bde-8125-666ef4b22a60", + "observation_id": "ecfa33fa-1842-4841-926f-2df6b909b450", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "62f7bcff-5056-49a6-9ba1-5488138dc819", + "observation_id": "136a7fd7-7923-42ca-96fb-5cf7d3dd6617", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "03c48f11-76f2-4d91-8910-cc23f0432575", + "observation_id": "e2ebcffe-299f-4b36-bbc9-9cd03142259e", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "5bab2b76-551b-4867-a892-d6b4ecc47936", + "observation_id": "6c7dc15b-eb5f-4c67-88d7-fe9134d0eb50", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "df7806e3-f155-4378-aed0-7f919bd5cc26", + "observation_id": "5028bbfd-d84d-432b-9f82-9f4ff1eb53ac", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "2c53fa30-38ab-44bd-85a2-c75ac2a6c649", + "observation_id": "89392a2d-7155-4c37-bfc1-7640d955718a", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "452815f6-cb5c-44d8-80be-203370d5933e", + "observation_id": "92251fae-aed5-4286-a033-c27c5533a3a2", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "c14bd9d1-adbd-4d99-8d88-f5633b360da3", + "observation_id": "6250ce67-37e6-4d18-8b95-e0019aa28dcf", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "21e1df1b-3f0e-4f14-a79e-bafd4ffadc1e", + "observation_id": "5d0eccf4-831b-4539-b5ce-16b13edf7499", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "1789631b-59eb-470b-ae7c-a5e82087269f", + "observation_id": "991395d9-683f-4f40-861d-617a0a971126", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "db59321f-57a8-44f9-a26e-ccb4d74d4760", + "observation_id": "aadd8970-cdbc-4d1e-a49d-0d326d4fb78f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "bb0e0c73-fd27-47d4-915e-382f929db45e", + "observation_id": "d7cb6ce4-6d1b-49df-b9cf-5d8a4e6f1240", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "384c051e-bad8-42fa-ac78-e6beed300d63", + "observation_id": "10b91287-f3a6-4891-b01b-1bd7d7689646", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "52e1c43b-4e8b-48f2-8fb9-03dda982933b", + "observation_id": "4cae2d6f-16a2-448f-be60-23ecfb0cba0c", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "e5a7b14b-4a5a-444d-bd6f-9d2d28fec07d", + "observation_id": "417d9069-a699-489c-9261-f6e2798caeae", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "356f04a8-0deb-41f9-9e8d-17af4d2034d3", + "observation_id": "c61413b7-e155-4acc-b620-3840bd825ca9", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "edd91ae4-ce86-4e14-a9a8-29fb7c138334", + "observation_id": "48784683-59c1-47df-9e31-73fd82066e6e", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "d976e25f-c477-4e6f-bdf0-a26d879e53a6", + "observation_id": "75034329-e797-4080-9b35-b0f514f354bf", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "79db90f4-701e-44ed-8294-e8b757913225", + "observation_id": "3edb9a24-b461-4b08-a09e-680bb8dafff9", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "e9848e01-3507-40bb-b802-3006f0833c71", + "observation_id": "25f64c11-b503-456f-b1ff-a69d2b3c95ea", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "dead8ffc-8603-4384-8e68-65c3b0e0c17b", + "observation_id": "878014bd-d345-425e-811b-213181f59f75", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "cffee4b9-8b30-4bac-a05f-5ae90fc45248", + "observation_id": "c794517d-0477-4d74-8366-3fde6e2f618c", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "8af1cd06-5676-4273-a589-fef5aaaf0137", + "observation_id": "3aee6cc1-7f73-4559-83e7-1efab8c7435c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "da5c7a11-9a41-44b6-89ac-24fb6338857a", + "observation_id": "4cba9381-26b7-4b0f-8cdd-110ef491112f", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "2c40cc81-37ae-4053-8b55-a9c8a7147372", + "observation_id": "b452ed9b-4b1b-47b1-87e8-89c5a8902868", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "b7319edb-358d-47dd-87c2-17c7de004fe9", + "observation_id": "005daafd-e268-4c71-9df6-4279d85b8316", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "c4e9bc9d-35c1-4ba3-bb27-03bda6501a9e", + "observation_id": "dfa4d670-7ecb-4307-a46b-565dd39b3aae", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "f7734922-b025-4f68-b5a7-1062aa0983ca", + "observation_id": "614cb4d9-6f0a-4f39-a14f-bcbe4c762d1a", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_adg/render_g_camera_pose.json b/data/camera_study/Scene11/k3_adg/render_g_camera_pose.json index 5ae1622..281ff1e 100644 --- a/data/camera_study/Scene11/k3_adg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k3_adg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:19Z", + "created_utc": "2026-06-02T22:40:25Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_adg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_adg/robot_state.eval.json b/data/camera_study/Scene11/k3_adg/robot_state.eval.json index 6d0a991..302e472 100644 --- a/data/camera_study/Scene11/k3_adg/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_adg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 2.6011506993970386, "mean_abs_mm": 2.50791806095351, "max_abs_mm": 4.428768028931257, - "finger_error_mm": 3.2460952501361526 + "n_unobservable": 0, + "wrist_error_mm": 1.6758388953960426, + "finger_error_mm": 1.2061475952750136 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_adg/robot_state.json b/data/camera_study/Scene11/k3_adg/robot_state.json index 6a4dc41..0167422 100644 --- a/data/camera_study/Scene11/k3_adg/robot_state.json +++ b/data/camera_study/Scene11/k3_adg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:21Z", + "created_utc": "2026-06-02T22:40:27Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_bde/aruco_marker_poses.json b/data/camera_study/Scene11/k3_bde/aruco_marker_poses.json index 0cb9ebd..3347df3 100644 --- a/data/camera_study/Scene11/k3_bde/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_bde/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:34Z", + "created_utc": "2026-06-02T22:40:41Z", "summary": { "num_cameras": 3, "num_markers": 16 diff --git a/data/camera_study/Scene11/k3_bde/aruco_positions_initial.json b/data/camera_study/Scene11/k3_bde/aruco_positions_initial.json index 1702eb3..93c57ea 100644 --- a/data/camera_study/Scene11/k3_bde/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_bde/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:33Z", + "created_utc": "2026-06-02T22:40:40Z", "summary": { "num_cameras": 3, "num_markers": 16, diff --git a/data/camera_study/Scene11/k3_bde/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_bde/aruco_positions_optimized.json index ba9991e..bdd5bf5 100644 --- a/data/camera_study/Scene11/k3_bde/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_bde/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:34Z", + "created_utc": "2026-06-02T22:40:41Z", "summary": { "num_cameras": 3, "num_markers": 16, diff --git a/data/camera_study/Scene11/k3_bde/render_b_aruco_detection.json b/data/camera_study/Scene11/k3_bde/render_b_aruco_detection.json index 984009f..a64be50 100644 --- a/data/camera_study/Scene11/k3_bde/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k3_bde/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:31Z", + "created_utc": "2026-06-02T22:40:38Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "796b6369-3b52-4b99-8327-f3d226584647", + "observation_id": "9b128483-0475-4305-8c98-db677872b505", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "6f5dd51b-dfb8-4077-b517-5661e2523f68", + "observation_id": "91117d41-fd73-4a26-8506-8e492796b60c", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "14a8947b-107c-482a-871c-abb0bdb16ab6", + "observation_id": "6fbac404-ab71-451b-836f-fabdc15d5b25", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "4a8e146c-9621-48c3-a50f-4ca48d5474d3", + "observation_id": "7a30e130-de97-42c5-9209-a82c7f349048", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "89edebb2-5510-4684-8a5f-1b8fafaafc66", + "observation_id": "e459a9ce-20ab-4b88-97db-97c2b638a620", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "4a0245cc-e138-4566-8604-918e6e206821", + "observation_id": "f0e4ccf8-ab6f-4140-9375-c4740f670e0b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "347bc6be-9960-4f13-9b92-5387ee24c5ce", + "observation_id": "e0eba9cb-6164-4593-bf63-88777fe69a3f", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "ed330eec-1ffb-41b4-af03-7bf82b319e50", + "observation_id": "395b5187-5ad9-4914-8443-029f0698d7d3", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "648a6369-6d4a-4940-9d54-e2a941caccc8", + "observation_id": "c0f30136-d00c-4790-a8e4-3ea0e6820471", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "9365bc32-383e-445f-bd5c-4a2fe20b718c", + "observation_id": "15191a5c-ecc1-40e9-9a21-c9b3ce69a6f0", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "030e0e66-8402-4fa8-acca-ecc77ab0048b", + "observation_id": "df83e388-71a4-4a87-a6fa-0c797a2edcc8", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "215d9886-5ce4-47a4-a125-b907668403bb", + "observation_id": "e723925e-3d63-4f79-99c3-c36b2b2f8051", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "a04e3dd7-5c00-438f-82af-0ef0a54b0236", + "observation_id": "0f135fe7-0272-4291-9465-68997dd4b7b0", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "88c8e474-d7b0-49b4-a876-ba1c7b1d2026", + "observation_id": "a379ea18-2929-48f3-ac78-1b5f1e464383", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "05907b0c-746a-44fe-9bc2-23b9354c5040", + "observation_id": "2b82c490-ee0e-4be2-850a-22f838a4b219", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "a7e21cf3-1bfa-429c-8b7c-0ce69fa34cd5", + "observation_id": "5034159c-6c33-4fac-8e49-a61fc1187b55", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "7d0e7478-7c15-4878-b3e9-f5cc2b1f6577", + "observation_id": "5c55a8f9-3ccf-40a5-a68b-498d6641b2c2", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "396742c4-5cb3-4721-bb19-f517e6e5a5c0", + "observation_id": "a33aefdb-dfb6-4890-abff-7167d8137ea1", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "e7f386c7-efda-4023-b602-5960cec38f05", + "observation_id": "5f47a36d-abda-46ea-a958-02917a3d2777", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "f241ee46-4ece-4b64-bf9e-b78f10fc5365", + "observation_id": "67f22e93-9bbe-45dc-be20-a27b58a600a8", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "a9f8f61c-9403-429b-afa8-26b50ccc6c27", + "observation_id": "be637da6-8fa5-4a24-99c5-292e7d636c08", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_bde/render_b_camera_pose.json b/data/camera_study/Scene11/k3_bde/render_b_camera_pose.json index 65362b4..d8329fc 100644 --- a/data/camera_study/Scene11/k3_bde/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k3_bde/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:32Z", + "created_utc": "2026-06-02T22:40:39Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_bde\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_bde/render_d_aruco_detection.json b/data/camera_study/Scene11/k3_bde/render_d_aruco_detection.json index f594acf..bd38169 100644 --- a/data/camera_study/Scene11/k3_bde/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k3_bde/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:32Z", + "created_utc": "2026-06-02T22:40:38Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "57994984-70c4-4701-87c2-5522daef4ca4", + "observation_id": "4140ee2e-a469-4d2e-a506-6e838c187f2f", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "cb1f1a88-c391-47c7-9ef6-3d1f62a539dc", + "observation_id": "87c4ac02-00ea-4843-a1b3-d91ce82cc82a", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "00a72d74-6a51-4e9a-bc08-36f83b107345", + "observation_id": "57dfdf36-6fc0-4853-94a1-74aea06f2d0e", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "57a59459-22e8-4ade-8732-38903425403c", + "observation_id": "ec202487-228c-465a-9072-5a04074ce556", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "14122940-6909-4adf-820f-9e77bc38e4b9", + "observation_id": "1c4aceaa-2569-4141-afe0-a5a805d3202d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "ba2c554e-ab99-4cf0-90a9-4c20594dcf3f", + "observation_id": "029b4c6d-7a9e-43b3-9664-4f9c3459d9d3", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "cadfb6e5-0a68-4c4a-ab58-ae0429e259a9", + "observation_id": "2a9d3f8f-2d41-47ad-9d38-476e3c55be37", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "b3585201-4e5e-4876-a68b-7fdcb66d6133", + "observation_id": "98067f75-b6da-4bea-8f44-955b8f94e0f8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "cfed9b15-7dac-414a-85fe-28bac851692c", + "observation_id": "900ce4b6-b936-4136-a71a-e4ab826b6562", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "2ebae909-73c8-47b7-9e66-894e31e0da7f", + "observation_id": "2ecbe8c1-f0c4-4a1f-ab1f-037bc77cb414", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "297603d5-2aa4-4e86-aad1-be1b2164be19", + "observation_id": "0dd5a5c7-81ea-41d5-b4a5-b3b1247f3993", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "06b0309c-5a03-47eb-aa1f-0d1c4c6b3917", + "observation_id": "dc77399a-9638-45ae-a07f-8ba72ea5e4f2", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "e03c1f39-80b1-4ac4-80ff-8c7710186d90", + "observation_id": "7eaf8f4e-100a-461c-9e5f-fb2e8158ad0b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "887405dc-e972-4035-82c3-369634ca3945", + "observation_id": "be846f31-5678-4685-88af-42fe0f636481", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "0cd4937c-fcf8-43ef-b2cd-6fe01a3c1239", + "observation_id": "016bc36e-aecf-48dd-a7d0-f7cbf7f80547", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "e72a9647-8ebb-473c-a343-a555474320f1", + "observation_id": "af94c5a3-88fe-41f1-b27d-3608f0e6dc5b", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_bde/render_d_camera_pose.json b/data/camera_study/Scene11/k3_bde/render_d_camera_pose.json index d19f280..5ab9c47 100644 --- a/data/camera_study/Scene11/k3_bde/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k3_bde/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:32Z", + "created_utc": "2026-06-02T22:40:40Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_bde\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_bde/render_e_aruco_detection.json b/data/camera_study/Scene11/k3_bde/render_e_aruco_detection.json index 656506a..ec62cbc 100644 --- a/data/camera_study/Scene11/k3_bde/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k3_bde/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:32Z", + "created_utc": "2026-06-02T22:40:39Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8011d979-70f2-415b-b520-2daeae386693", + "observation_id": "c013db4f-5ca7-430c-8b87-dd634c8b33ca", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "41c7999a-304f-4918-b945-5792c31289e9", + "observation_id": "525bfd79-6f96-47f1-b6e0-8d3febfe7381", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "7eb680ba-0bc3-4c89-a8be-4d9dc83a472f", + "observation_id": "0610b302-2761-42ab-8b38-5e5aee2dfb00", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "42b6e8e3-28db-44f9-a817-445d9de10736", + "observation_id": "6323b77f-6823-4212-996b-ff646e3a2371", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "6b014cb4-2a20-4f05-ac21-0a4ddf1c3a21", + "observation_id": "6040de11-c81f-402f-a31d-64176b084dba", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "7637a2a9-b035-4f87-805c-75655f787b9f", + "observation_id": "b81538ad-846a-4e1d-91d0-b196346ecb2c", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "c87c385d-4469-4874-a81b-daa79fe3526e", + "observation_id": "4888967a-06d4-4b0c-a674-9f56e93185ac", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "9d3d38de-a82e-4667-bf1b-4ba0405ac7bf", + "observation_id": "c685baf9-90a0-41fd-9a25-26c509a26859", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "8b0123c4-a689-4c36-9e69-210151fc09d7", + "observation_id": "7d8b55a7-2cbc-4fc0-ae26-d5b459735d7e", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "3a3501a9-2cb6-40e0-b690-589eac73217d", + "observation_id": "7189d4f8-5bf3-4102-824c-ced191577914", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "4c5b16d6-8a3a-47d6-a627-09f56bd34290", + "observation_id": "1e0d4e00-6965-4513-94d2-c96b99e9ac06", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "b9b63b82-803e-4eab-9615-2fe91ab76b78", + "observation_id": "ba468e88-6448-49a7-a07a-aa26e9ac40b6", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "ec417f89-cd5f-492e-8dc1-d5e5880880ca", + "observation_id": "d6eef07c-87e3-4f37-ba82-4207462ca18d", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "448f9ddb-404f-4d16-ac7e-137312ac60a3", + "observation_id": "20cfadda-5260-4871-9d1c-99e15d66ea83", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "084bcfbc-ef57-443d-94e5-4710698252a8", + "observation_id": "1874f21e-e36b-4574-9794-e696763d62be", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "50125b5c-3252-458f-808a-f9d928987c0c", + "observation_id": "352f8e4b-6843-4994-8b20-63295bfbca7a", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "58be2929-17d3-4552-be16-29959b09ead4", + "observation_id": "ff90b539-9487-4840-a56d-c24789ed80c4", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "6c750e2f-7238-40c5-b076-b9b4f9c4846f", + "observation_id": "d49a9a76-7fa8-44df-8a57-0dbe42e83ec8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "aeacd79c-7b71-4692-a611-eebd0c9341d1", + "observation_id": "6b0b6cec-9d15-4c37-aafd-a2ad28a0fd86", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "20dc64ba-23f3-437f-9be9-73ae60158d6d", + "observation_id": "63873655-d859-4878-8f75-58418c9bbb4c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "c30687fe-9080-4c50-bde2-f164da1f43d9", + "observation_id": "fcb03e9f-bc7d-438c-9eb8-cd2c09ef4d4c", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "9e891bf9-a70c-428b-a2b3-3ad593c73477", + "observation_id": "73a79dd7-d257-48cc-a005-14dfb119f2e0", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_bde/render_e_camera_pose.json b/data/camera_study/Scene11/k3_bde/render_e_camera_pose.json index 1b67f5f..790a0da 100644 --- a/data/camera_study/Scene11/k3_bde/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k3_bde/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:33Z", + "created_utc": "2026-06-02T22:40:40Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_bde\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_bde/robot_state.eval.json b/data/camera_study/Scene11/k3_bde/robot_state.eval.json index 1d9f16e..f745502 100644 --- a/data/camera_study/Scene11/k3_bde/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_bde/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 2.841636101060004, "mean_abs_mm": 1.616242956938505, "max_abs_mm": 3.074756068353498, - "finger_error_mm": 3.0281438311261266 + "n_unobservable": 0, + "wrist_error_mm": 0.9316184459881118, + "finger_error_mm": 4.344389768106408 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_bde/robot_state.json b/data/camera_study/Scene11/k3_bde/robot_state.json index 17d9ae6..3e12796 100644 --- a/data/camera_study/Scene11/k3_bde/robot_state.json +++ b/data/camera_study/Scene11/k3_bde/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:35Z", + "created_utc": "2026-06-02T22:40:43Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_bfg/aruco_marker_poses.json b/data/camera_study/Scene11/k3_bfg/aruco_marker_poses.json index aa70356..22ca5fb 100644 --- a/data/camera_study/Scene11/k3_bfg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_bfg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:10Z", + "created_utc": "2026-06-02T22:40:16Z", "summary": { "num_cameras": 3, "num_markers": 19 diff --git a/data/camera_study/Scene11/k3_bfg/aruco_positions_initial.json b/data/camera_study/Scene11/k3_bfg/aruco_positions_initial.json index 7fd9375..0da8029 100644 --- a/data/camera_study/Scene11/k3_bfg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_bfg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:09Z", + "created_utc": "2026-06-02T22:40:15Z", "summary": { "num_cameras": 3, "num_markers": 19, diff --git a/data/camera_study/Scene11/k3_bfg/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_bfg/aruco_positions_optimized.json index 097490c..48c2d07 100644 --- a/data/camera_study/Scene11/k3_bfg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_bfg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:10Z", + "created_utc": "2026-06-02T22:40:16Z", "summary": { "num_cameras": 3, "num_markers": 19, diff --git a/data/camera_study/Scene11/k3_bfg/render_b_aruco_detection.json b/data/camera_study/Scene11/k3_bfg/render_b_aruco_detection.json index 5990722..6aebfc9 100644 --- a/data/camera_study/Scene11/k3_bfg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k3_bfg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:07Z", + "created_utc": "2026-06-02T22:40:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "19c745f1-29d6-477a-ad4e-f1bf5ccf4f05", + "observation_id": "322bec9a-3526-4513-bd1f-c330fa4210d2", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "454a7614-1a44-41c8-a5c9-e6c93b49b593", + "observation_id": "a0d63753-4a21-434d-b9c9-4939bdf2a817", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "8236ed51-1768-4027-b2eb-99dcc6458d0b", + "observation_id": "e628e1c1-c656-4e1a-90a7-602d4961b8ee", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "e7809af1-169b-4c11-9267-0ec1ff48a133", + "observation_id": "94093df9-3085-4202-81e1-825822d8b379", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "64809ca7-0346-4fab-b607-29f924488484", + "observation_id": "34bda2c1-c2da-4744-9bce-7ad175b4c037", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "92895eee-13cb-4e10-a6b5-29c727f01253", + "observation_id": "3873bc29-c042-48b7-a1e9-c547b0eb757a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "d007c3fb-852e-47c6-b59c-28612d352c53", + "observation_id": "d5c444ac-3fab-4c02-b7ec-d3fbf0e941b1", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "4ad0f9b9-f5ed-45d5-a94a-cd16cf65f877", + "observation_id": "50707397-fcf7-4b19-aea1-5189fd2c2d8c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "f9d3b290-0ab0-436e-8228-e39c5cea9f5d", + "observation_id": "1fa8d159-eeaf-4260-8eca-8534802ede6b", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "e484c337-8cc1-4297-b804-dae7d314f578", + "observation_id": "9ae7eee1-3b30-4d9f-884d-08051eb38fec", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "fe58e2df-4a1c-427c-92ae-4e14c4a6977a", + "observation_id": "1a75a103-7680-4d5a-990a-cc197891d932", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "d15b9720-1e0b-4e9b-915b-4b672a93e796", + "observation_id": "88d33233-4ad3-4132-85db-db79b26f3c4b", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "01d04d01-3840-4954-8c9b-985ee811b3c1", + "observation_id": "c395b671-3f72-4837-bf4c-871662d4d59d", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "216397fb-3cb3-4e4f-b7f8-257a8716bb04", + "observation_id": "4dd47d07-78ef-4270-a945-8831a7c9ca27", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "f0af7e5d-02b6-458a-b901-ecb2ff97d810", + "observation_id": "90f92963-f3b8-40c5-9b59-41c929f4aa60", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "13cc00dc-9eb6-459b-8228-ae43fed716ff", + "observation_id": "d025481a-4f24-43c2-b5b0-798fd6a2d6da", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "487a6fb0-ebdc-4e6e-a5ad-5a110ebb7f23", + "observation_id": "75125008-4f78-4b56-b734-b834b08c6c9e", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "600564bb-c628-457f-99f1-0a892be160cf", + "observation_id": "a90a03f8-9496-4065-b46d-95cd5a3d3811", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "a1c6782f-eb31-49cf-aa5f-2468cf194e53", + "observation_id": "807ee0cd-23e0-4de2-afa6-df7a0746d4a7", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "cdd2b9cd-ca2f-4ea1-b8ee-4aa53c40c2bd", + "observation_id": "66ab4311-1a45-4c1f-8337-a03aef2552a7", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "69a8528d-9b04-448e-ae8a-12dbd4c7757f", + "observation_id": "f7691a4b-4c5e-43ce-a463-4758294a8f04", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_bfg/render_b_camera_pose.json b/data/camera_study/Scene11/k3_bfg/render_b_camera_pose.json index 901a7b8..34d5d03 100644 --- a/data/camera_study/Scene11/k3_bfg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k3_bfg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:08Z", + "created_utc": "2026-06-02T22:40:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_bfg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_bfg/render_f_aruco_detection.json b/data/camera_study/Scene11/k3_bfg/render_f_aruco_detection.json index 4a55664..00b6437 100644 --- a/data/camera_study/Scene11/k3_bfg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k3_bfg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:08Z", + "created_utc": "2026-06-02T22:40:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "112fca68-043a-4c24-92f7-3735e35f6294", + "observation_id": "6c96955b-37c2-41c4-9db8-bdcba1a6bd2a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "b73a8495-d78d-4b8b-a18a-787dd42f8458", + "observation_id": "dfdd2bb3-266d-40f3-a581-c66d44782901", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "0d3c8104-7920-4f59-b69b-70a4ab5e220f", + "observation_id": "41820485-43bb-4570-bf6f-7424e74f8309", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "4c65cfae-0e26-44dc-9182-b7415620c2f0", + "observation_id": "0e4728c4-8168-47bf-be4c-0b76ee5f8f08", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "89bff6ee-d241-4f8c-9e2d-fe2274fe84bb", + "observation_id": "bfbe51e6-81a0-4485-b350-8337df8572f5", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "f3d88b77-b393-4525-b7da-73b47113b728", + "observation_id": "f964c5ab-5cb3-4f6c-b2ee-0a8f1d48c906", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "b1af5144-67cf-40a8-b287-1765446666b2", + "observation_id": "c9ae2e71-5f17-493a-b6ae-9709d78f5fca", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "eb8f4b75-9a73-4ef4-acf5-f1f763eeaacf", + "observation_id": "7030ec8e-3d5a-4afb-93d2-d1514e3204c7", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "2dedcc05-5e90-4d76-bd08-6c3b1e13d128", + "observation_id": "e048052f-20bf-466a-947d-acbc99b17fb3", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "dffead22-b85a-4d22-a2d5-41dc5f2952af", + "observation_id": "d125e3f8-5ab0-433e-b6e9-052e1e0876d4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "79892c2f-61f4-41b9-9352-9d5178cba870", + "observation_id": "507676b9-68ad-4207-ae0e-0d1a5a6a14ab", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "c4cf39e5-9d4a-4d55-93b2-64fa75d36279", + "observation_id": "9c430483-dc12-4aa7-a582-8dec02c1ee48", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "dff2bfc0-4c9d-4aab-9d9e-6fdc0f006acf", + "observation_id": "725ec935-c9e7-42e7-b813-ad12df47e4e4", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "495be334-f9f9-4fab-99b2-7cc5133c9774", + "observation_id": "f939c8bd-d91c-4f18-ad28-c50fa1f1007c", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "84c42df3-f293-4499-a646-1fbde4805d11", + "observation_id": "fc68ed3d-073d-4b89-823a-a08fa6927f68", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "a522bfcd-fc55-42e3-9a73-b7bf3523811e", + "observation_id": "c0eebf89-cdec-44e6-9afd-9246c846d02a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_bfg/render_f_camera_pose.json b/data/camera_study/Scene11/k3_bfg/render_f_camera_pose.json index 100eed2..d644cc6 100644 --- a/data/camera_study/Scene11/k3_bfg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k3_bfg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:09Z", + "created_utc": "2026-06-02T22:40:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_bfg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_bfg/render_g_aruco_detection.json b/data/camera_study/Scene11/k3_bfg/render_g_aruco_detection.json index 11ebe93..48f4655 100644 --- a/data/camera_study/Scene11/k3_bfg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k3_bfg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:08Z", + "created_utc": "2026-06-02T22:40:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e6325a70-8879-4d3c-8cd6-cccce08326ba", + "observation_id": "af8d0b6d-9f80-4696-9f30-546b55a161d9", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "7fb313c7-2e42-474a-98fa-fbd50c75e1f0", + "observation_id": "da776018-3689-4db4-b109-c1748611e42a", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "ec5b9dfc-5c12-413b-a5bd-54bc02deb1cf", + "observation_id": "0ffcef93-7af2-4c1c-8aea-b93c4a2ecacf", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "b17a8135-cdd9-4afb-b868-e6cc4e01191c", + "observation_id": "619d9709-146a-422c-9d25-1f5f9e9eaeaf", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "c6622f82-42ba-474e-baa1-7d0d36101152", + "observation_id": "e2e55318-0b7e-4a85-be1b-ad114ca8895b", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "bf002096-d694-4e2e-8ed2-824014cc9b68", + "observation_id": "f9856c81-beea-4e70-8cce-457a83dfc049", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "257e603b-8761-48d0-a6c6-6c0d31d47252", + "observation_id": "706c7d9f-c527-410a-9441-4b574b7354da", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "72246cd9-3a20-442d-9bd4-ebecda27a38c", + "observation_id": "0264310f-1645-4042-beea-93fa4dffbc52", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "f6c72a6a-2ddb-4d71-82f9-a94358d964a8", + "observation_id": "51799902-4172-4488-a322-f1928853e896", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "4dff3fb1-2418-471b-8879-34b2bbfcbd6f", + "observation_id": "567810a0-3db7-4206-9a63-fdfbdf430ebc", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "8aa9f960-bb7b-48c6-8c4c-34d0c186773c", + "observation_id": "85f71af0-676d-4eab-a43f-210aec6b0e1b", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "dd080d81-0c31-41b5-96fe-9df967299091", + "observation_id": "b64f4719-50ee-4580-84b3-561133b0a0a7", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "f33dbaab-946a-4f2b-b437-01cd9037dd60", + "observation_id": "4f428369-6e2f-4080-9b95-918fcd0660e1", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "a49a521f-fcae-41d6-9cdd-0642b8379ad2", + "observation_id": "aaffe2b7-9562-4bcc-9a51-1eb404d39dbb", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "4a2f52a2-adc9-4806-a150-228617a0b1bc", + "observation_id": "ccdaadea-bde2-4967-8501-d7a09feea820", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "b0416d49-aed3-432a-b13f-dff46fbbae77", + "observation_id": "f68417bb-266e-4450-9757-d25b0e4f14a8", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "41d6a835-a1b5-4428-a7c7-30fbee9ae5f7", + "observation_id": "03e5f1c2-1703-45c0-96b3-cb4506ce400f", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "6f2225d2-8834-48c0-87c3-9df7c6e18d60", + "observation_id": "0c88317d-4aa9-4f9d-a04b-c037582737b5", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "06f6afe7-662c-4b18-a222-9f8387f39d52", + "observation_id": "8a08bf67-9d91-4fc3-9b0a-61dc903b942d", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "4ca2b4cd-4400-4944-9099-fd547b651c28", + "observation_id": "b45f0656-5597-452c-ae28-5476dd3761a4", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "085f9783-d99b-4002-a065-cad78d6b4c7c", + "observation_id": "cf9efd3a-b807-42d6-af7c-298011594a04", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "d2368194-63ce-4315-b5db-eb7ef4ede5a7", + "observation_id": "1938f0d4-b1ce-41a4-969e-260ded27433e", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "f48dbf08-7d34-412b-abf3-9bc961e22413", + "observation_id": "30cdced3-94e7-4a09-b9b5-7b2086b12946", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "11ed6d79-d69c-44a2-aeb0-07ed8f0646cd", + "observation_id": "e51ad692-b234-4385-a091-aa2c81299338", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "3642ccef-e77a-47c5-be35-c71e797a4d53", + "observation_id": "b4e73949-d2da-4ecf-be57-79e31e5e0686", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "e845e244-20ab-4665-83f0-84d82c006634", + "observation_id": "2e816006-67cc-459d-ad01-596b1a748002", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "ed10be97-f217-42f7-98cc-40eb4de55d14", + "observation_id": "74fe6b43-3a61-4194-96cf-0d5675fc2874", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "d0e190d2-2622-4ffa-b49b-48990692f92f", + "observation_id": "28b051fd-feff-4f3e-af6f-fb780ba23943", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "20a2374c-a9c9-4d62-aad9-85b23213753f", + "observation_id": "e74557e1-ca8c-4501-9ff5-f03ddb3bb3bb", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "8a05ff71-52f3-4dea-9457-9bd411de261c", + "observation_id": "c98101c5-39a5-4a94-bb7c-668308dfd4a7", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_bfg/render_g_camera_pose.json b/data/camera_study/Scene11/k3_bfg/render_g_camera_pose.json index 78726c7..d085a39 100644 --- a/data/camera_study/Scene11/k3_bfg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k3_bfg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:09Z", + "created_utc": "2026-06-02T22:40:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_bfg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_bfg/robot_state.eval.json b/data/camera_study/Scene11/k3_bfg/robot_state.eval.json index e229049..f9319e0 100644 --- a/data/camera_study/Scene11/k3_bfg/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_bfg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.241488188882954, "mean_abs_mm": 1.8606725379669484, "max_abs_mm": 1.8606725379669484, - "finger_error_mm": 39.31679848458195 + "n_unobservable": 3, + "wrist_error_mm": 4.7244383277773006, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_bfg/robot_state.json b/data/camera_study/Scene11/k3_bfg/robot_state.json index 94a30c4..8ecc6c9 100644 --- a/data/camera_study/Scene11/k3_bfg/robot_state.json +++ b/data/camera_study/Scene11/k3_bfg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:11Z", + "created_utc": "2026-06-02T22:40:17Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_cde/aruco_marker_poses.json b/data/camera_study/Scene11/k3_cde/aruco_marker_poses.json index dd0c3b2..7e725c7 100644 --- a/data/camera_study/Scene11/k3_cde/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_cde/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:44Z", + "created_utc": "2026-06-02T22:40:52Z", "summary": { "num_cameras": 3, "num_markers": 13 diff --git a/data/camera_study/Scene11/k3_cde/aruco_positions_initial.json b/data/camera_study/Scene11/k3_cde/aruco_positions_initial.json index 3c5b29f..aa5c8b4 100644 --- a/data/camera_study/Scene11/k3_cde/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_cde/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:43Z", + "created_utc": "2026-06-02T22:40:51Z", "summary": { "num_cameras": 3, "num_markers": 13, diff --git a/data/camera_study/Scene11/k3_cde/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_cde/aruco_positions_optimized.json index 634c250..b574294 100644 --- a/data/camera_study/Scene11/k3_cde/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_cde/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:44Z", + "created_utc": "2026-06-02T22:40:52Z", "summary": { "num_cameras": 3, "num_markers": 13, diff --git a/data/camera_study/Scene11/k3_cde/render_c_aruco_detection.json b/data/camera_study/Scene11/k3_cde/render_c_aruco_detection.json index b57f26d..235b00b 100644 --- a/data/camera_study/Scene11/k3_cde/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k3_cde/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:41Z", + "created_utc": "2026-06-02T22:40:49Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9ae5abeb-0483-4a02-b2ea-7d39ff3e1378", + "observation_id": "72200a20-5c00-4483-9010-a2b7fe0db5f6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "4cbd9ad5-b8b6-4550-9217-33c0649a4dda", + "observation_id": "d5911e4c-67a4-48fe-9925-5fd244659f47", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "81e96da0-d8f3-4f0a-8a84-5f602ddff0cf", + "observation_id": "5aefa88a-2f13-4d22-a220-167c5655c1fb", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "b98cf053-3be4-4fef-9c24-8c1954cf3682", + "observation_id": "ac6b3fcc-5abb-432d-b725-6bbe7d14e604", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "5f2a3731-1ec7-4ffa-a38b-a51cf46cb38f", + "observation_id": "cdf3df82-0ccd-4a8e-9a55-4fd1580a869b", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "334b21c9-0179-4fc5-9d53-103a877ca017", + "observation_id": "2c5a1aaa-144b-4e23-8a15-30f53b956a8a", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "775c90c1-487a-4969-b3ce-40ff6118e979", + "observation_id": "d9a154ae-765f-471f-9cb9-14a35ecccf87", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "82d9606b-73bf-4fdc-bcab-1d74009a90a4", + "observation_id": "72202b71-5d4e-4133-b24f-a69713352f2a", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "82adfef4-a006-41d2-8884-5ba85a32b375", + "observation_id": "e93d2ac4-504f-414a-8320-ce13c7dbd133", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "54554f12-6678-4f86-80f5-47073ff4935d", + "observation_id": "9d0de34f-3266-486b-b101-4359b8d3fad4", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_cde/render_c_camera_pose.json b/data/camera_study/Scene11/k3_cde/render_c_camera_pose.json index 8f40293..96c21eb 100644 --- a/data/camera_study/Scene11/k3_cde/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k3_cde/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:42Z", + "created_utc": "2026-06-02T22:40:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_cde\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_cde/render_d_aruco_detection.json b/data/camera_study/Scene11/k3_cde/render_d_aruco_detection.json index b272990..93bdbbb 100644 --- a/data/camera_study/Scene11/k3_cde/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k3_cde/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:42Z", + "created_utc": "2026-06-02T22:40:50Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3fd0e2b6-7afc-4ec2-b4d5-c805080e7795", + "observation_id": "c39b69ba-2d1c-4d70-bf4d-b973377e42b5", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "e3dec4ee-ece7-4d66-92c1-a8b22cc53d41", + "observation_id": "b1f245a4-efff-4b6a-8fac-9b6285780eda", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "75283e93-bed8-4b7b-8940-b18d7139a14f", + "observation_id": "11863256-0af1-4a1f-95cc-34b597ca4b84", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "b924c5b8-b875-45f4-bfa8-2f087d21863b", + "observation_id": "91c688f4-3b4f-482f-8e59-95257aee1505", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "29d30f93-19f7-4912-bba0-3226292c419f", + "observation_id": "72a40c26-1fc3-42ef-8e5f-231063ddec89", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "b0637cdf-f5ed-4607-98a0-81f682de9891", + "observation_id": "19a88786-3600-46a6-91b3-302c7245f335", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "fb83f27a-6108-4753-abc1-203d30e7dff7", + "observation_id": "0fb8352b-f916-411d-8bc2-d4c05572a391", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "47669ec8-d810-4daa-81ae-2aa7787b5f69", + "observation_id": "8db6a34f-ff80-43e2-8d76-3a6b21677ccd", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "6bfc1faf-42d6-4fea-8251-5403f993f611", + "observation_id": "5a074905-6a8a-496c-8aa8-2726b047344a", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "1ddfc568-6185-4e7c-bdb5-d119291819c2", + "observation_id": "cb0ab5c2-5861-4bdd-a0f4-86718a9cd373", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "f3b19fa2-634c-4a5c-8a4b-15d29f78547c", + "observation_id": "898ac265-db75-463c-90fd-6d82aef04c2a", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "d4b586e7-6ed0-44fe-9d27-4a3372639da9", + "observation_id": "6dc14fe8-db7f-4e29-9ad0-1698d4a35439", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "a7c37561-2649-4800-a323-3137162f269d", + "observation_id": "93ab37fe-0266-4374-a68d-acc09e33ffdd", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "8b89370a-c86f-4736-83f2-915ddf498853", + "observation_id": "2156d6a5-41f2-44eb-9b08-02da1b98f605", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "92dc0bd8-abb4-4d8e-9e40-d96e0b24ae29", + "observation_id": "1a2a4cd9-b213-4ac0-8d63-5c87583bb124", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "55339ba0-dc05-45c7-bced-cdd445d8880f", + "observation_id": "0c9f373a-915c-47f4-b2ab-0af632d583de", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_cde/render_d_camera_pose.json b/data/camera_study/Scene11/k3_cde/render_d_camera_pose.json index 4d225e4..5097b7c 100644 --- a/data/camera_study/Scene11/k3_cde/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k3_cde/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:43Z", + "created_utc": "2026-06-02T22:40:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_cde\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_cde/render_e_aruco_detection.json b/data/camera_study/Scene11/k3_cde/render_e_aruco_detection.json index 2cb930d..804326c 100644 --- a/data/camera_study/Scene11/k3_cde/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k3_cde/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:42Z", + "created_utc": "2026-06-02T22:40:50Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "24bc495f-4f85-4020-b240-b7c06c2fca64", + "observation_id": "c98ab0f1-3309-494a-ae56-29fe87fa8d91", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "574150f4-6847-406e-a697-9c85e3bee575", + "observation_id": "128ebf36-e8e0-4521-af0a-f1f5116684ff", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "6ff41784-a60a-4f86-aee0-7e9cd7c75b65", + "observation_id": "5a89d16d-2386-475b-aa1b-428a0303dae0", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "51b206a0-7a67-4a3b-9826-a3845007d0e1", + "observation_id": "64f71d55-6030-4a31-8258-69044fc12be8", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "0d62cc6c-fd9d-4d78-9178-06d1a1235120", + "observation_id": "b8bf038b-df33-4e8b-8ae7-83fba0151705", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "bfbfc993-7091-4f04-a759-d82c07ef30bb", + "observation_id": "b8dc214a-a88a-4706-941c-288b5cdc6a01", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "5aadd323-d6ed-4b6c-a63a-59bf87c6d660", + "observation_id": "c2185606-d868-427c-9af9-40c6b617fd30", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "1282493b-ade9-4aeb-b96b-d1171cd649d4", + "observation_id": "bfc6d984-c769-494c-9a04-fe21d9551689", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "59f90ce8-ad0c-411a-8a4b-ca2c533bcd0e", + "observation_id": "6f9f8a98-4af5-47db-bbeb-ef21a85646d0", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "e9c1c3e6-64d1-42a0-a9f5-f45c374005c7", + "observation_id": "b44652cc-2e23-407f-a4bf-775d1f704ed2", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "04ce323e-5bcf-4617-9f34-04825e3b15bf", + "observation_id": "7c2dc13c-19fb-42d1-9bbe-2483b2865f68", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "1788437d-3f7e-4114-b57b-b946da28711f", + "observation_id": "20af1ac9-a431-4552-a517-c6835d5c6fd8", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "fd59d519-1f3e-41da-820a-ad0350d75b70", + "observation_id": "ac9dc08b-d21a-43e7-a440-47985294cecb", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "8626d820-a0a0-43d4-ac2e-c5aa3e4b1d68", + "observation_id": "c61e13b4-4c70-4ef2-afef-8a57c1b35fa4", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "89188bf1-2c5b-4a6e-87f5-a10411d19186", + "observation_id": "88745153-2e62-494b-a904-26b70511fbee", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "a213783a-0cd3-4246-871f-7f16429e385d", + "observation_id": "798f0555-6cf9-4a34-b110-7e0abe12e5ea", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "a4ef250f-00cd-4650-a1f5-af2900db050a", + "observation_id": "d4b6d9df-a0ec-4232-b5c8-4729df9cc46d", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "5b80340b-479b-4e62-bf0d-c48f183a92af", + "observation_id": "3fdf0460-51b1-472a-b1f1-fd08e1489d78", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "1d4a8def-f08b-42c9-adb3-32dd8ad68084", + "observation_id": "3f479f83-1f21-4c33-ba82-5c7dc7907e6f", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "4d2cc2f9-ec43-4367-80ed-aef4edc3a5da", + "observation_id": "6e0bfa4a-0ea1-4ae4-8a81-1a471c9f48d1", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "7d44bace-968b-4311-885b-23a206c5966a", + "observation_id": "c1051ba7-c5ac-42bc-b19d-759c0ec474e1", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "01b891a1-52c6-445a-b27b-3024b11aad4c", + "observation_id": "145b9df1-44d5-4d68-b354-8c6a5a58cb21", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_cde/render_e_camera_pose.json b/data/camera_study/Scene11/k3_cde/render_e_camera_pose.json index 49f9a90..6e12c63 100644 --- a/data/camera_study/Scene11/k3_cde/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k3_cde/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:43Z", + "created_utc": "2026-06-02T22:40:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_cde\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_cde/robot_state.eval.json b/data/camera_study/Scene11/k3_cde/robot_state.eval.json index 7f0278e..4099289 100644 --- a/data/camera_study/Scene11/k3_cde/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_cde/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 5.945199296513152, "mean_abs_mm": 4.304505105402948, "max_abs_mm": 6.683312016309577, - "finger_error_mm": 4.2306647737689485 + "n_unobservable": 0, + "wrist_error_mm": 2.638677283194593, + "finger_error_mm": 4.720197096160115 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_cde/robot_state.json b/data/camera_study/Scene11/k3_cde/robot_state.json index a184e40..1f617f7 100644 --- a/data/camera_study/Scene11/k3_cde/robot_state.json +++ b/data/camera_study/Scene11/k3_cde/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:46Z", + "created_utc": "2026-06-02T22:40:54Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_cdg/aruco_marker_poses.json b/data/camera_study/Scene11/k3_cdg/aruco_marker_poses.json index 57b10e8..db27f1d 100644 --- a/data/camera_study/Scene11/k3_cdg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_cdg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:25Z", + "created_utc": "2026-06-02T22:40:31Z", "summary": { "num_cameras": 3, "num_markers": 10 diff --git a/data/camera_study/Scene11/k3_cdg/aruco_positions_initial.json b/data/camera_study/Scene11/k3_cdg/aruco_positions_initial.json index 32b2af4..a348bfc 100644 --- a/data/camera_study/Scene11/k3_cdg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_cdg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:24Z", + "created_utc": "2026-06-02T22:40:30Z", "summary": { "num_cameras": 3, "num_markers": 10, diff --git a/data/camera_study/Scene11/k3_cdg/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_cdg/aruco_positions_optimized.json index f615a40..d168946 100644 --- a/data/camera_study/Scene11/k3_cdg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_cdg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:24Z", + "created_utc": "2026-06-02T22:40:31Z", "summary": { "num_cameras": 3, "num_markers": 10, diff --git a/data/camera_study/Scene11/k3_cdg/render_c_aruco_detection.json b/data/camera_study/Scene11/k3_cdg/render_c_aruco_detection.json index dd71c32..6dcf907 100644 --- a/data/camera_study/Scene11/k3_cdg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k3_cdg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:22Z", + "created_utc": "2026-06-02T22:40:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "16971cd5-21dd-4784-be1d-b77a52c734c0", + "observation_id": "a0948ed1-e5df-459e-91a9-fe5810e5bc84", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "2f1f7834-d0c0-4cff-b55d-8bbcbad6ce64", + "observation_id": "546581e1-cbb5-466b-b453-eb7527f8bdad", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "04d25f16-cd66-4356-a40c-e7a8c50fe748", + "observation_id": "8822b989-6890-467e-b0ad-b6669862890c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "e04d8790-ece5-4c40-8ac5-29290fb5625f", + "observation_id": "bcd75c21-b87c-43ef-8306-222d0755833e", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "76ca95c9-b586-4c3d-ad4b-7cee3cbaef1a", + "observation_id": "f789f0a8-8a95-4cf7-b736-16afafa0df7f", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "1a1154b0-356e-4a79-a0f8-5f88a9133731", + "observation_id": "ba1bc014-d994-4f27-b109-9b6429b0ae9c", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "273bf066-aabb-41e0-b600-65c70fda8d1d", + "observation_id": "5f81b070-413d-4b78-bc27-9ba7f57de024", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "aaacf754-ce96-461e-8294-eb0f440d1261", + "observation_id": "994210cb-79df-4b8e-8550-2f7e98fe5a0a", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "fd056fc5-e683-497f-990a-fb08825b7f6b", + "observation_id": "1af1488f-e4b0-40be-8120-f40b457641a1", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "963e4756-c450-4618-98fa-7339a0a2a8dc", + "observation_id": "f12810cb-ecf9-4cc7-9c11-a60d6d1c9c73", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_cdg/render_c_camera_pose.json b/data/camera_study/Scene11/k3_cdg/render_c_camera_pose.json index 730bb17..bc41271 100644 --- a/data/camera_study/Scene11/k3_cdg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k3_cdg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:23Z", + "created_utc": "2026-06-02T22:40:29Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_cdg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_cdg/render_d_aruco_detection.json b/data/camera_study/Scene11/k3_cdg/render_d_aruco_detection.json index 7d3e242..fa71c41 100644 --- a/data/camera_study/Scene11/k3_cdg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k3_cdg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:22Z", + "created_utc": "2026-06-02T22:40:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "232c0537-14e3-44da-9b35-4d99d68e46eb", + "observation_id": "1d987874-b29c-480e-ad95-aa980ba20e02", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "fd3a1d7e-3e8e-4daf-833a-37c5ae309b37", + "observation_id": "b3c8d7d5-a873-4758-a489-8c74ddb67d2f", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "7ac62dc0-e9f5-43c4-b6d0-c6a657e30914", + "observation_id": "5ddcc185-0fb7-4efe-8651-91845debea41", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "09d4ce57-e6aa-46a7-aad6-f6801219f9d9", + "observation_id": "5f0567a4-c66c-4d5e-8c5b-4c451715e51f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "77e51904-d772-4e48-8253-8d384bed442d", + "observation_id": "201884b7-8508-48a5-bc9a-2a3cd0cdef4e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "311b1af5-c5cc-4a8f-b1d4-11dcfa15d9fe", + "observation_id": "ce75b908-eb48-4983-82a7-4ed52dbcc55e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "db36b2f2-649f-4206-9151-7106ba001c34", + "observation_id": "12aa3a4a-7361-47c1-a7e0-773affe6c042", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "f2d3ed2b-2f48-4c8d-a90a-22325889ba0d", + "observation_id": "928d2748-c48d-46be-b40d-2334c9a231aa", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "e78d0482-f997-496d-933b-5c9159053963", + "observation_id": "783907a6-6e87-45ad-bbbe-e96ec1229fb4", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "04eac468-187c-4d0f-82f6-367c420da823", + "observation_id": "ff40d063-44f0-4acb-b242-6f575006cfd7", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "08dfc254-cd71-467c-a4eb-d1ce531a02a7", + "observation_id": "1d508061-9600-4718-8961-64df6e6ed346", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "de3b1981-5f3a-47b6-8b0d-3e3fbd7eac23", + "observation_id": "240e6978-8bc9-4cf9-9edf-d97f08675b20", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "1258aa6a-e288-4b14-86c7-0647f95c0713", + "observation_id": "05b23c29-61bd-422b-bb48-625b11c42405", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "7fedd74c-98f0-4b1e-b6f4-892169897c09", + "observation_id": "0667e346-01e7-47fa-8c07-537222aafcfe", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "ec3b3af9-e21e-40ae-aabd-238c5cf40758", + "observation_id": "38efe127-c46c-45d4-bb85-b2de58e246de", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "18793824-372c-4c30-a345-31dab14c4260", + "observation_id": "3abc13bd-1cc8-4af2-bb0a-8ce86cda8707", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_cdg/render_d_camera_pose.json b/data/camera_study/Scene11/k3_cdg/render_d_camera_pose.json index 2f9be9f..2be413b 100644 --- a/data/camera_study/Scene11/k3_cdg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k3_cdg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:23Z", + "created_utc": "2026-06-02T22:40:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_cdg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_cdg/render_g_aruco_detection.json b/data/camera_study/Scene11/k3_cdg/render_g_aruco_detection.json index 156ebb3..b7c2148 100644 --- a/data/camera_study/Scene11/k3_cdg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k3_cdg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:23Z", + "created_utc": "2026-06-02T22:40:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c216cca4-5bd3-4daf-a429-b97861927888", + "observation_id": "1ceb41e2-eb3c-4c7c-83a8-8d745b0c8dfe", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "e852d53f-121a-4ae5-a49f-fea064fb0e51", + "observation_id": "b12eb623-ecc8-47fc-bd4c-9e62d5ebe008", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "28e5fb5c-7c20-40aa-8c8c-93375954f776", + "observation_id": "ab1ad303-1078-437d-9ffb-fcee3f376e15", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "796ec1e3-f5be-4f08-addb-fc5a198f447c", + "observation_id": "e801d5ee-3f27-4374-9632-151cbd4b4174", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "9b8a8a3a-6b95-42a3-8ba5-dc9c3e101d3f", + "observation_id": "6291d570-b371-47f8-a9ae-5c51fde7e35c", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "35b87ea3-8789-46ea-b76b-d58df77fe82f", + "observation_id": "c6b4c748-eaa3-45cc-b764-af2573dc6c5c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "7e969796-dd44-4f40-85f3-c42b996fc274", + "observation_id": "6700e3fa-5af0-40ef-b386-e93b71812028", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "3a41c792-a94c-4fc0-b0e1-ab57a7bd2e60", + "observation_id": "a0309dcd-8438-4be2-8fd8-ca3a7e486618", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "9b68ec69-b7b2-417a-8008-260f13071bd6", + "observation_id": "e45c7c06-9099-4c8d-b1f9-4abe9535b476", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "8f56072a-1d9b-471e-b453-0101b5d3cb74", + "observation_id": "b004c4f5-c068-4534-a8cc-6673ca6457ca", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "2da49734-4fd5-4e75-8d45-559e2d7365bd", + "observation_id": "3caa3bac-79e4-4f74-b536-ab241185a482", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "5aeebf20-e539-4809-9039-73e6b39e444e", + "observation_id": "8ed4c1f0-1f99-4ca3-8719-ab57e7b2c3a1", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "51c53559-0d59-41fa-a7ca-3f7f56e19e82", + "observation_id": "8aa352b1-94d7-4a21-bbe7-b8c8b1682d5c", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "2deb5112-5eee-4ba6-9c2f-e18370fa7652", + "observation_id": "1cccea03-2bf6-4fa5-85dc-e68b0e4a306a", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "99f9a5fe-2078-40bf-895a-2b0b1d1c5c69", + "observation_id": "3074144f-a9ec-40fe-b265-fc7779bf591f", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "d126f174-5b28-487f-875f-4f8433ece5ba", + "observation_id": "894526aa-be9c-445b-9e8f-578559ccbcc1", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "998cdd61-a6cd-4d1a-a678-225e193e7876", + "observation_id": "5f0c3dde-cb5d-49f4-8903-7c0094284114", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "4f9399ae-72dd-4bea-a9bd-65e8e76ae174", + "observation_id": "b5be53ed-44f2-4207-865a-f886ecff31ea", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "a68cc72f-0f38-41a6-a248-156e3b006782", + "observation_id": "e57fdcac-aa8b-4453-a0e4-d967af6af064", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "ef97591c-a01d-4833-8fe1-d720d12e5d6c", + "observation_id": "e0034f8c-92b0-4f83-b941-1106d0c9d79d", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "9b77aa23-6a05-4f66-ab71-9e378051409b", + "observation_id": "b9ead3ac-055f-4382-a6eb-1f4103dd38b2", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "f1b685e7-55f4-4ca9-b0e6-b472bbbb225b", + "observation_id": "9fc694f8-9eb9-4225-86f2-503c579b4e71", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "344514a7-c6dc-484d-be06-12c00500bbc5", + "observation_id": "6c39f04b-f25b-4c6e-85f0-ed3d967b241e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "4d4d9a4c-4fe7-4b7a-91c8-7b9d913c2e71", + "observation_id": "c39bdef7-705f-4f4e-a363-550e8d01bfc8", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "250a24f3-b7f7-4d23-9a53-10c3b401c252", + "observation_id": "e0dfe809-a37c-46fc-bdba-c6f9342c7b9c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "575fccd8-373c-4802-9ba8-504045c1430a", + "observation_id": "c4273305-b11d-4a30-8ee9-a2331abb9265", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "51fc03fd-cba3-4e86-ad47-78c2c70101a0", + "observation_id": "c9d11bf2-43ea-47ac-b705-16ab271ede81", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "0174eb83-ff54-431f-bfa0-cb8ee7bf2bfa", + "observation_id": "efbefbb6-4de4-48c5-935a-252f940e9848", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "631d1fab-f3ee-44f6-a6cd-d2c2deaf2b19", + "observation_id": "792301d6-6702-4ca7-9a7c-7e7974986a66", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "35a84883-8f97-4dcb-9712-43f166bee684", + "observation_id": "65ed493d-c8eb-486f-a639-5fd1aa8c5167", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_cdg/render_g_camera_pose.json b/data/camera_study/Scene11/k3_cdg/render_g_camera_pose.json index ad1b115..f1e5815 100644 --- a/data/camera_study/Scene11/k3_cdg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k3_cdg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:24Z", + "created_utc": "2026-06-02T22:40:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_cdg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_cdg/robot_state.eval.json b/data/camera_study/Scene11/k3_cdg/robot_state.eval.json index bcdebdd..3c6465e 100644 --- a/data/camera_study/Scene11/k3_cdg/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_cdg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 2.0015002357132516, "mean_abs_mm": 7.116705069553965, "max_abs_mm": 9.87110163403669, - "finger_error_mm": 4.430459451221965 + "n_unobservable": 1, + "wrist_error_mm": 5.463205088425235, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_cdg/robot_state.json b/data/camera_study/Scene11/k3_cdg/robot_state.json index b739c16..544601c 100644 --- a/data/camera_study/Scene11/k3_cdg/robot_state.json +++ b/data/camera_study/Scene11/k3_cdg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:26Z", + "created_utc": "2026-06-02T22:40:32Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_cfg/aruco_marker_poses.json b/data/camera_study/Scene11/k3_cfg/aruco_marker_poses.json index 86206a7..8ef12ec 100644 --- a/data/camera_study/Scene11/k3_cfg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_cfg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:30Z", + "created_utc": "2026-06-02T22:40:36Z", "summary": { "num_cameras": 3, "num_markers": 13 diff --git a/data/camera_study/Scene11/k3_cfg/aruco_positions_initial.json b/data/camera_study/Scene11/k3_cfg/aruco_positions_initial.json index b41269f..50c1470 100644 --- a/data/camera_study/Scene11/k3_cfg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_cfg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:29Z", + "created_utc": "2026-06-02T22:40:35Z", "summary": { "num_cameras": 3, "num_markers": 13, diff --git a/data/camera_study/Scene11/k3_cfg/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_cfg/aruco_positions_optimized.json index 56c3e41..1f37957 100644 --- a/data/camera_study/Scene11/k3_cfg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_cfg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:29Z", + "created_utc": "2026-06-02T22:40:36Z", "summary": { "num_cameras": 3, "num_markers": 13, diff --git a/data/camera_study/Scene11/k3_cfg/render_c_aruco_detection.json b/data/camera_study/Scene11/k3_cfg/render_c_aruco_detection.json index 0360ac7..bb17fad 100644 --- a/data/camera_study/Scene11/k3_cfg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k3_cfg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:27Z", + "created_utc": "2026-06-02T22:40:33Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "af10b8e5-0059-4964-a09f-5deb9d831169", + "observation_id": "c42bbef7-9333-410b-8438-c8deac8eb29d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "8f79e56d-38e9-4654-a7b3-f8e6b1bde1f4", + "observation_id": "3eb83528-a567-47f9-8b15-2556951b9810", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "4d496474-1235-4989-b3f8-1d7c9cd05866", + "observation_id": "219f6c3f-10dc-4a18-83e0-432a0fc78d6e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "e63ec36e-d23e-4357-859c-227d846952bc", + "observation_id": "465a2f59-ecef-4265-8235-e8271c4a28b6", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "17caff2b-72f6-46ad-beca-42558eed856b", + "observation_id": "cbcea2bb-1952-42af-85dd-86e0f09d72db", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "e65b4dec-6d81-4b5b-9669-cdcef5cddd5b", + "observation_id": "7629fe56-cba2-497f-9c86-b3450f944b9f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "a7b43853-ed1b-41e1-b011-1f74fbda1349", + "observation_id": "a03d5890-af21-4599-aa06-099a1514dbf4", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "1204ac4d-462a-4921-8d14-7cfeb6a53f81", + "observation_id": "c834c23d-cce3-4a28-9870-29aa411f1828", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "dadc5899-35ad-4422-bf32-7c6c17c75873", + "observation_id": "69d18fd7-df10-4d32-9a85-cb64272bc045", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "1d415d11-37e8-4421-a406-206855d058f1", + "observation_id": "547deb2f-1f42-4f25-b42e-51456130ed60", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_cfg/render_c_camera_pose.json b/data/camera_study/Scene11/k3_cfg/render_c_camera_pose.json index d59d941..c9e85a5 100644 --- a/data/camera_study/Scene11/k3_cfg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k3_cfg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:28Z", + "created_utc": "2026-06-02T22:40:34Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_cfg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_cfg/render_f_aruco_detection.json b/data/camera_study/Scene11/k3_cfg/render_f_aruco_detection.json index 0d7158f..6414f0f 100644 --- a/data/camera_study/Scene11/k3_cfg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k3_cfg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:27Z", + "created_utc": "2026-06-02T22:40:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b718a688-b45c-4d15-ad8a-268195c15eab", + "observation_id": "18e4cf46-2dec-46ec-b8f6-66486b9c389a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "ee52537a-e850-44cb-86e0-af2dc9cd64eb", + "observation_id": "ceb2f44a-77c1-4913-aa6e-1c442039ad2c", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "a6f766bc-b59b-4422-a723-87d1f0e6f3e6", + "observation_id": "946018d6-7ab2-4152-a4ca-813c8b1dff8f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "6c86e53d-fcf1-4609-bee1-b04f6b0a0a71", + "observation_id": "670a930f-e1cd-43ee-8889-6ba31857b6ee", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "b023d6f6-cbb4-4e43-ac07-fbd423cf384d", + "observation_id": "92e1a7c2-b393-453c-9be1-f08bff47141f", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "8171e3f1-b5b4-4d7b-972c-ea2f86873247", + "observation_id": "1d6bdeae-8083-480c-8e01-a0cfeedbf447", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "ea7219d0-02ef-4615-af72-c0f84ee8a194", + "observation_id": "d7cc001c-75b6-4400-a27f-a9792d188785", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "edbfb765-eecb-49b3-a637-05a0cd64fde5", + "observation_id": "bd00b736-2e56-4709-8da2-9981af5cbb1e", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "9d4cdf2b-fe1a-4193-9d09-ed794691ea0d", + "observation_id": "32ade247-6d16-41f4-9988-6f4b516d4e4f", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "66c54fc6-2620-4fc9-bd83-c36dfab44668", + "observation_id": "7358e9c3-124b-4e4a-8c1b-44e88f691e62", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "80a4baea-ec51-4ec2-af2f-e37cdffab6ad", + "observation_id": "e0381deb-63c9-4c36-a60a-765e683464c7", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "58b20dff-47e6-4f4b-9353-10b752098254", + "observation_id": "55e88b66-cd93-45cf-b957-d02bd11126ae", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "1f1f141c-cda7-48c5-97f1-37f41cf454c4", + "observation_id": "2a45fa45-fa46-4d79-a12c-4f626b5b3c94", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "e9cec162-00a5-46ae-ac46-3223be4ddc9a", + "observation_id": "6231d92a-3c61-4197-9b61-e2b82e0c2e25", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "1884eb3b-f178-46d0-93b7-3d3cc056da2b", + "observation_id": "043ea10f-737a-4df4-8bb9-1a7aeea9b718", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "9e310867-b9e7-494a-9ee2-6820478115e9", + "observation_id": "6211a107-98b5-4821-8e68-b4b25757d7dd", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_cfg/render_f_camera_pose.json b/data/camera_study/Scene11/k3_cfg/render_f_camera_pose.json index 4349277..d066245 100644 --- a/data/camera_study/Scene11/k3_cfg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k3_cfg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:28Z", + "created_utc": "2026-06-02T22:40:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_cfg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_cfg/render_g_aruco_detection.json b/data/camera_study/Scene11/k3_cfg/render_g_aruco_detection.json index 9010d64..40a01ea 100644 --- a/data/camera_study/Scene11/k3_cfg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k3_cfg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:28Z", + "created_utc": "2026-06-02T22:40:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8a80f275-cce6-4e60-ad7e-9254236a003b", + "observation_id": "7cef3489-4341-4eac-a6e8-52ed45b7b262", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "f756f684-ab93-4207-bfbd-ad262d996564", + "observation_id": "571ce757-e835-4267-8637-e94c41c403cd", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "f33bb21a-9564-4cb2-9063-ba2eac674880", + "observation_id": "b10b5071-ac72-47e4-ad7e-09450dc4ab3f", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "01ace79a-5e71-4747-939f-5106be5b8972", + "observation_id": "b2a2e845-105a-49f8-99e1-5ff8bfc5cd97", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "23be480d-9473-464d-9eea-2eed83ade4b3", + "observation_id": "37184b8a-57e2-4a9e-ac20-40584a993bfe", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "c38c312d-7865-470f-a114-7b8b6b406adc", + "observation_id": "96858fba-8d95-4701-aa38-eea177f5c83f", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "eb5a46a3-36e9-4c5a-baa4-729ba55ee672", + "observation_id": "560a5d3a-2d33-4a03-8038-97224e2ae374", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "51b65a8f-32db-4106-a283-ecd0436eeba4", + "observation_id": "2d8df116-8020-4b0d-befc-d28771f038d1", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "30c719b2-5e1c-45cc-b806-a98c04a7700b", + "observation_id": "2464bee0-33b2-4dc6-b6d2-fa20eb4c3ae9", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - 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"observation_id": "a8638fff-6e1c-4b65-b633-eeaa9b032f5b", + "observation_id": "3a0094fa-9524-410b-a5c7-068c15c3b2a1", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "b5eb5a15-d38a-4e58-8311-3505c4cd3c73", + "observation_id": "803006f3-486b-4693-be74-f6f3ed4ce610", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "373469bc-16cd-421e-b94b-9576bf42d9d9", + "observation_id": "836cd76f-addc-4968-b34c-74cfcf00c7ba", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "5e7b0463-032a-4949-ae9c-d86d9bb85a28", + "observation_id": "ac0b38b4-aa7f-4db9-b98f-8eacc859c7e5", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "f42ee0a7-1ea4-4487-8d30-7e21749b41ac", + "observation_id": "20710161-e700-4ee0-b941-5d82bcc907f9", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "ba1ba5fb-2a62-4182-abb5-3ed809b0e570", + "observation_id": "b9d14de4-081b-452b-9e6f-61c60a5550a1", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "5081ce52-d677-456b-8394-29b0a56cdd75", + "observation_id": "91a6e029-d936-4554-8047-558018a70072", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "ee0686b2-3c0e-4565-a4c3-15f37ff738ae", + "observation_id": "358f6872-783a-4208-b118-5ead851a201c", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "b365b0a5-5941-472d-9c4c-25e5e8c7195b", + "observation_id": "892bed16-69e0-47fb-98cf-a7e2f1f3a403", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "fd4ccd68-62db-4f2e-8d48-f1793a29747f", + "observation_id": "faec51a3-571b-4001-a332-aa65795db650", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "18b9e2a3-0863-4460-bd75-b6de24c05c74", + "observation_id": "8295c337-24b8-4a42-aa4d-56433fde4121", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_cfg/render_g_camera_pose.json b/data/camera_study/Scene11/k3_cfg/render_g_camera_pose.json index 4767058..5e2b7e6 100644 --- a/data/camera_study/Scene11/k3_cfg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k3_cfg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:28Z", + "created_utc": "2026-06-02T22:40:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_cfg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_cfg/robot_state.eval.json b/data/camera_study/Scene11/k3_cfg/robot_state.eval.json index 8ec5e35..2385268 100644 --- a/data/camera_study/Scene11/k3_cfg/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_cfg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.619611525481929, "mean_abs_mm": 2.1644930481355615, "max_abs_mm": 2.1644930481355615, - "finger_error_mm": 29.088194334194533 + "n_unobservable": 4, + "wrist_error_mm": 7.384933588435822, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_cfg/robot_state.json b/data/camera_study/Scene11/k3_cfg/robot_state.json index 1540ecb..9a3376f 100644 --- a/data/camera_study/Scene11/k3_cfg/robot_state.json +++ b/data/camera_study/Scene11/k3_cfg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:30Z", + "created_utc": "2026-06-02T22:40:37Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k3_efg/aruco_marker_poses.json b/data/camera_study/Scene11/k3_efg/aruco_marker_poses.json index 747ef1e..34d2c01 100644 --- a/data/camera_study/Scene11/k3_efg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k3_efg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:15Z", + "created_utc": "2026-06-02T22:40:21Z", "summary": { "num_cameras": 3, "num_markers": 16 diff --git a/data/camera_study/Scene11/k3_efg/aruco_positions_initial.json b/data/camera_study/Scene11/k3_efg/aruco_positions_initial.json index 3e98315..37b89c2 100644 --- a/data/camera_study/Scene11/k3_efg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k3_efg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:14Z", + "created_utc": "2026-06-02T22:40:20Z", "summary": { "num_cameras": 3, "num_markers": 16, diff --git a/data/camera_study/Scene11/k3_efg/aruco_positions_optimized.json b/data/camera_study/Scene11/k3_efg/aruco_positions_optimized.json index 9669e87..10b5952 100644 --- a/data/camera_study/Scene11/k3_efg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k3_efg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:15Z", + "created_utc": "2026-06-02T22:40:21Z", "summary": { "num_cameras": 3, "num_markers": 16, diff --git a/data/camera_study/Scene11/k3_efg/render_e_aruco_detection.json b/data/camera_study/Scene11/k3_efg/render_e_aruco_detection.json index 36a9bdc..43e7b9a 100644 --- a/data/camera_study/Scene11/k3_efg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k3_efg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:12Z", + "created_utc": "2026-06-02T22:40:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "72c2677d-2913-4187-af94-38b3f776f105", + "observation_id": "4170f03c-0d4f-4c78-8eb1-046827085268", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "f0437449-2163-458c-aeda-dfd7927df51c", + "observation_id": "c657a0d4-4967-4777-8a43-4d06c3004b51", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "8f10534e-6e92-4ac3-8911-bab090924bdc", + "observation_id": "6b9ea71a-124c-497b-83a6-0f13ce1edc34", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "55780198-c59b-4639-abaf-d0f0da725557", + "observation_id": "76640883-3498-4841-993b-3262cba4f97d", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "0f49e2d7-03ad-4f47-93e7-51380bc91f8e", + "observation_id": "b5c30764-7b04-437b-a2b5-df5e6fdd0284", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "ab814f02-2305-4f7e-a794-2b6940b364aa", + "observation_id": "5d5cad00-eee4-40d4-b7e1-8ddd1a84077a", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "22e5a455-0167-43d9-885e-b21c83af80d0", + "observation_id": "20cce7d9-ae35-49bc-b319-cc6fdc6ffb51", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "075bda20-0cac-4f44-ab70-5a8d17ea0f17", + "observation_id": "03eb5489-9fe4-4fb9-846c-5b98edf5b0a0", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "a8ccc161-1c8f-4436-8f62-f0e4f6099f72", + "observation_id": "36251097-97b5-4446-ab8d-361e874c75f8", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "a79910ae-bbd5-4cfc-aa4b-ccec9c38a826", + "observation_id": "106cce61-d2fd-4c9f-a64d-9715f6459d4e", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "7ef86952-8311-4413-8027-f3452dcaf6b6", + "observation_id": "d9a2b9e2-43f2-4f20-858e-8ba91eb9161d", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "ee0538fe-f9d7-4de5-a367-94de82dba092", + "observation_id": "a252c7cd-5235-43b8-addf-3a05ad42c8a0", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "f262d506-e4dd-4546-a0fd-6368651f5eda", + "observation_id": "802e0c24-a42a-4068-8087-1c16707f2f7c", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "5425a28d-a2c2-4429-b151-de02df75a682", + "observation_id": "24b6568a-1bee-4176-a2a6-41ed4571237f", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "424c413d-9029-4bb6-abf9-0a487c800a62", + "observation_id": "1cd02c70-2056-43fe-b1b0-ec6408bb0bd8", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "66a90259-58bd-4cf9-82f0-5e003bf70417", + "observation_id": "3a99bf2c-c30b-4c34-8e6d-db7ca796c236", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "40e6dd06-efda-4f93-83ad-d5971f16a648", + "observation_id": "580e4c90-09a6-4774-9c45-68ec874cbd25", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "ce9063ee-57a5-46eb-bbab-d995f0942ab3", + "observation_id": "595a084b-ebe7-4f15-bf1f-7af6832239c5", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "394eb998-7f0c-43a0-baf6-42ec5184344d", + "observation_id": "89031dc4-5b6f-40ac-975c-3c5516c79c96", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "41e0f9f4-5ed6-45cc-88f0-44670bc4c692", + "observation_id": "d8af3bcb-31b3-4283-8018-c022a0f04227", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "f610752a-5489-4f69-baac-27d6060ac41e", + "observation_id": "d8621dec-2f1b-464c-a514-29cf076763f7", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "4eeb08c8-03fd-487d-8cb7-41ce27a4c172", + "observation_id": "86265ab1-3d42-4485-82c2-98183bcca464", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_efg/render_e_camera_pose.json b/data/camera_study/Scene11/k3_efg/render_e_camera_pose.json index c860ca1..0679309 100644 --- a/data/camera_study/Scene11/k3_efg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k3_efg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:13Z", + "created_utc": "2026-06-02T22:40:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_efg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_efg/render_f_aruco_detection.json b/data/camera_study/Scene11/k3_efg/render_f_aruco_detection.json index 6e0d6a4..3e7fc39 100644 --- a/data/camera_study/Scene11/k3_efg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k3_efg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:12Z", + "created_utc": "2026-06-02T22:40:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "cc630a46-2025-42ae-aa1a-eceb998834de", + "observation_id": "98e6b306-5cbe-45b1-b1f1-8221db12717e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "57869914-e4a6-4d83-bc0d-6f7a20a0dc10", + "observation_id": "43215222-8038-4d57-bf51-ba053790d29b", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "ca668173-32c9-47a9-aa6e-c0e35728434c", + "observation_id": "a8a4b5e1-ea2e-4115-a8e6-a17fd29a4573", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "35cc9d06-a61b-492c-a439-4e656ee77128", + "observation_id": "a70cee5f-abfa-477d-a92f-902f6626465b", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "2bc85ac7-3ec5-4fd7-b52d-43557e9123c1", + "observation_id": "69243125-d79e-4f73-944e-772fcb4d6bf2", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "a419ebff-c8a8-4a57-97c8-7c4b1c613f44", + "observation_id": "63c87e9d-af0e-4d66-a802-31c1cd96fcb3", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "aec10998-9043-4beb-b67b-4095ec7dcb8d", + "observation_id": "a88ff1c9-0f5f-4bf0-82b6-5c9b4d2f42d1", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "965fe9cd-fe7a-4a72-a0ba-6209160bc218", + "observation_id": "da01c2cc-ed67-4ead-a892-f7649835d6d9", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "ccf10217-7e1e-49c9-9ca1-419bcc796a23", + "observation_id": "615b8e7c-049b-4bda-a4cb-d5b8ab2b99fe", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "648968b2-259d-4ace-b2cf-a482bac446c3", + "observation_id": "1b693517-062c-4d22-afa7-c994061ef884", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "86c753f1-130e-4c44-98ed-229e6e2b2cd8", + "observation_id": "16a81606-6f77-4298-b11f-36a1bb8d4487", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "d4a434b9-3b16-4275-804f-f08aa1fc915b", + "observation_id": "117a6fc9-ddab-4c0f-bf6a-048ae1525599", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "d98c4cbf-7170-48ff-addf-bf61cf0c30e3", + "observation_id": "4e692d41-33c7-4267-a4ca-c7930d9d6774", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "2b684d11-578b-4543-8a3f-52af06e26673", + "observation_id": "745ebdfa-e164-448d-a285-0b30c819d20c", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "0935e3eb-e023-43fb-95dd-254d50646e30", + "observation_id": "169ff48a-df2b-4353-b508-61e8a1db8dd9", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "8efe3b64-e7b7-45ec-9ae9-3b0aaa67c7b1", + "observation_id": "f13fa677-4672-467e-bd2a-35700c28f495", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_efg/render_f_camera_pose.json b/data/camera_study/Scene11/k3_efg/render_f_camera_pose.json index 1da3414..5c24e07 100644 --- a/data/camera_study/Scene11/k3_efg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k3_efg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:14Z", + "created_utc": "2026-06-02T22:40:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_efg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_efg/render_g_aruco_detection.json b/data/camera_study/Scene11/k3_efg/render_g_aruco_detection.json index 17ace8c..c999e1a 100644 --- a/data/camera_study/Scene11/k3_efg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k3_efg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:13Z", + "created_utc": "2026-06-02T22:40:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e817a036-2940-4184-a134-24595bfc0582", + "observation_id": "a6b975a9-87a3-4006-81d1-b794e89c8c09", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "d24d0360-eca0-4fa2-a9ba-d8a7c9852bf1", + "observation_id": "4f778f4f-9b4e-413b-a2bb-c92a91c5d6b4", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "adf3ccbb-036e-41ef-813e-01952f0f1cef", + "observation_id": "117f9243-4996-4794-b6c0-990e23e4006d", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "20347821-d129-4a4a-8fab-3940fdd83ffa", + "observation_id": "9360fbe9-a5f0-4550-93e2-baf3ca7f1e87", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "e6dc5de8-33cb-4615-9045-e33dcd734f7c", + "observation_id": "261bf9a4-a177-467c-bb6d-a1fbfa20c5f5", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "af3c5dd5-c13e-408e-a3f3-fc2c9ff9cf5f", + "observation_id": "74c81f36-54f9-4463-b2ca-319d6b525453", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "91f8dc6c-94da-411c-b1e4-4cc4d5352df5", + "observation_id": "298fdd77-97ff-4d63-a628-91d0732ad22e", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "7d348d15-4ae2-4afe-a459-7216b282ceef", + "observation_id": "7db4a286-d115-4e2b-a2f9-15b66aa876af", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "f58a3c4c-6852-41f5-b363-85e51b169fc7", + "observation_id": "98cf8c4e-2dc4-48c1-a7e3-b24a1ac629aa", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "b91d9e38-86e9-489d-855d-c3d89392f263", + "observation_id": "8968c342-1253-4ed7-b06c-bf3ccd78c899", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "b0025b94-b533-445c-b871-be733a96810a", + "observation_id": "3fb9254d-a009-4e8d-b737-23df9009290b", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "0f4862e6-bde7-4c23-b602-972a00206022", + "observation_id": "63e948a0-8340-43a2-9eec-9df6728672df", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "455e6a75-1271-4137-9edc-664259ef9080", + "observation_id": "f0a61a71-cd99-4e76-aa58-496eb66f34a4", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "030323f8-9cba-4e82-99ea-fb866a6cd85c", + "observation_id": "358cd27a-77ae-4d2b-a070-19bb599cb48f", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "39f68d23-cfee-4521-ba49-f5d387ae1f57", + "observation_id": "71679c8e-3aa2-465c-b53f-d23f53d815c3", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "8466165c-d0f4-41c4-98ed-2086ac2db03c", + "observation_id": "45033a27-b434-45d8-9005-266fbcceca42", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "7e909894-8d0c-4b89-b582-ec2e6c9c0f59", + "observation_id": "7f9cc4cc-891b-4e6f-acc3-70093c188852", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "96f304fe-32c6-48c3-9dcd-0789d9ad614d", + "observation_id": "dc28bc26-a9f2-4c99-92d3-4b72122167e8", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "d92127b9-7a6f-4677-92e8-6a3409878399", + "observation_id": "8ec778ba-ccb4-4121-96fd-bf478152d319", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "be08df84-8c90-42c5-962c-6bdd4078ae3e", + "observation_id": "e3f6445a-c93e-4f89-afa9-063c6fb45452", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "ed54f4b9-ef22-4d14-9f24-a786d6599c64", + "observation_id": "d35f5f43-8cdc-43ca-bf40-fe4f418f52fa", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "7db4e8c3-2e58-4a2a-b9e9-cb51a0271e5e", + "observation_id": "59e5f437-cb88-4c8c-8396-c65a83a3b579", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "c39c93fd-48e4-4a05-8135-e70f206a52f4", + "observation_id": "316a1817-81c3-446c-9a91-576b9f400fc1", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "6fe18819-92aa-4eb1-a8ee-17ac7990d6dd", + "observation_id": "d0b13be2-0649-4c03-b45a-468e7a32dddb", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "1f2cb279-0a54-4e9d-8847-b9b6c9a323ab", + "observation_id": "19ba46a8-e05d-4079-b95d-96cd7a0001b9", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "167e8725-faf1-402e-a962-a038cec84722", + "observation_id": "f98dad02-3852-48ab-9a46-d98fec479ea7", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "0ac84f64-98e4-4e95-84cb-7ab4e95a13aa", + "observation_id": "404428db-a3a3-44c9-a154-fba0c9941c38", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "ac54bd34-d3d5-4a9c-9a94-1f5d1f5aebe4", + "observation_id": "390a5cf6-61bf-4e92-a80e-bee4c83f6a12", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "128e19d7-f7e1-4d7b-8320-76ae923d4ab0", + "observation_id": "7ee7b01a-d11c-4520-b2d9-f02fa58dc2cf", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "0f6fd535-2a1a-4136-993b-7b0afbab664d", + "observation_id": "f497402f-f009-4883-8642-e82c380c1fa6", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k3_efg/render_g_camera_pose.json b/data/camera_study/Scene11/k3_efg/render_g_camera_pose.json index b2f4b2d..06504eb 100644 --- a/data/camera_study/Scene11/k3_efg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k3_efg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:14Z", + "created_utc": "2026-06-02T22:40:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k3_efg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k3_efg/robot_state.eval.json b/data/camera_study/Scene11/k3_efg/robot_state.eval.json index 412e42f..cfc7a04 100644 --- a/data/camera_study/Scene11/k3_efg/robot_state.eval.json +++ b/data/camera_study/Scene11/k3_efg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 4.493999177523023, "mean_abs_mm": 2.021409435748076, "max_abs_mm": 2.021409435748076, - "finger_error_mm": 23.499324991524688 + "n_unobservable": 4, + "wrist_error_mm": 19.685688798202346, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k3_efg/robot_state.json b/data/camera_study/Scene11/k3_efg/robot_state.json index 05c130d..542b6b5 100644 --- a/data/camera_study/Scene11/k3_efg/robot_state.json +++ b/data/camera_study/Scene11/k3_efg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:16Z", + "created_utc": "2026-06-02T22:40:22Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_abcf/aruco_marker_poses.json b/data/camera_study/Scene11/k4_abcf/aruco_marker_poses.json index 9bb333a..65a4060 100644 --- a/data/camera_study/Scene11/k4_abcf/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_abcf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:50Z", + "created_utc": "2026-06-02T22:40:59Z", "summary": { "num_cameras": 4, "num_markers": 16 diff --git a/data/camera_study/Scene11/k4_abcf/aruco_positions_initial.json b/data/camera_study/Scene11/k4_abcf/aruco_positions_initial.json index 8ec565c..f80f789 100644 --- a/data/camera_study/Scene11/k4_abcf/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_abcf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:49Z", + "created_utc": "2026-06-02T22:40:58Z", "summary": { "num_cameras": 4, "num_markers": 16, diff --git a/data/camera_study/Scene11/k4_abcf/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_abcf/aruco_positions_optimized.json index c8715c8..e2e42b3 100644 --- a/data/camera_study/Scene11/k4_abcf/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_abcf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:50Z", + "created_utc": "2026-06-02T22:40:58Z", "summary": { "num_cameras": 4, "num_markers": 16, diff --git a/data/camera_study/Scene11/k4_abcf/render_a_aruco_detection.json b/data/camera_study/Scene11/k4_abcf/render_a_aruco_detection.json index 7c52ff3..5f27305 100644 --- a/data/camera_study/Scene11/k4_abcf/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abcf/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:47Z", + "created_utc": "2026-06-02T22:40:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "518471b2-49c7-4127-a35f-a39cd871b638", + "observation_id": "a786bbf6-9b78-4a20-826a-23b2e10a8235", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "9c784006-4a84-4617-ab39-f2727794560d", + "observation_id": "aa5fe2c6-fe60-4c81-b62e-94348445a8f7", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "d26efa9c-b53b-43b4-83be-81e8e457d35b", + "observation_id": "711cb63b-4eef-4e36-a775-2f61855af943", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "03cfdf5c-21b5-4792-8d21-d9d2a7a80c5b", + "observation_id": "153fa9ee-ee07-49ad-8f47-16c660abc04d", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "a2d97fa5-5799-4e94-836f-f40630ebe481", + "observation_id": "8f5d8042-c1f7-48bb-a4b1-3360cdd1c6f9", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "cad80d79-9082-46ab-988a-57f54eca51af", + "observation_id": "bf52baec-75ba-45de-84bc-ba9a7e6546e9", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "b893c276-ec44-4f30-9911-d42ab7c53fb5", + "observation_id": "7531e501-bb86-456d-86f1-cac8e083c690", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "4337e08a-98e0-4a05-a9ea-58b494c44936", + "observation_id": "d1fa735d-6c0d-4111-9131-acb61bb18ea5", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "2ce07422-49f5-43ac-88cd-fc6817f1aca3", + "observation_id": "721d3aae-92d5-458e-a8d7-e632dd577575", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "0543b25a-9853-4abe-a04d-d8cf4590e689", + "observation_id": "924a7425-8382-4410-bdd3-46c8a25d54d3", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "46665ce8-ba07-45f2-8f25-e34694c755b2", + "observation_id": "687a8ff4-07dc-46a5-9378-8e5cbf9e3ecc", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "e536c812-2c07-4243-94ab-e27b260233c3", + "observation_id": "fd2242c7-0414-444e-8fa3-2680c83303b6", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "950643f4-f5e7-4eef-8385-020f2f855b89", + "observation_id": "b8992268-d1ce-449d-bc1c-6ea3b21aab5b", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "76941cfd-af7f-4854-a626-b98445ec6788", + "observation_id": "8f5466e9-cd6c-49ef-8269-f0ce573eb06f", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "627720a9-adac-470d-a496-afea32f6ab06", + "observation_id": "cb1d4dd7-328e-4e8b-9cf7-ca21fbca13ff", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "1a6ad55a-2311-41b2-8625-7f65d1337977", + "observation_id": "16175266-848e-4888-8f12-900a4bb73a04", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abcf/render_a_camera_pose.json b/data/camera_study/Scene11/k4_abcf/render_a_camera_pose.json index 2392272..6e4c40f 100644 --- a/data/camera_study/Scene11/k4_abcf/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k4_abcf/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:48Z", + "created_utc": "2026-06-02T22:40:56Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abcf\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abcf/render_b_aruco_detection.json b/data/camera_study/Scene11/k4_abcf/render_b_aruco_detection.json index df092db..4494fd0 100644 --- a/data/camera_study/Scene11/k4_abcf/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abcf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:47Z", + "created_utc": "2026-06-02T22:40:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "41adaa5c-73e6-4dfe-b8a3-9af28eaa4575", + "observation_id": "08fc7e88-0013-4a9f-add7-6412e6e6cb13", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "8f13f1fa-1fd5-4d62-8249-54f446558e02", + "observation_id": "099e6529-59f7-4e91-bebd-28c3afac4976", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "cb11a53f-18a5-4c94-a62f-e95718889bd6", + "observation_id": "450ccd94-c0b0-43b1-abec-99a5f718d01d", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "de9bf357-f47d-4899-97d5-5613be60e38b", + "observation_id": "69779ae1-c65e-4703-9d96-3ec99070755e", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "b857b8bb-1fdc-410f-929a-ee1351f54cc3", + "observation_id": "533f3412-7f1b-444d-a84f-4e4531be8cce", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "d4b728a0-8bde-4dc9-9d12-6e373f7de108", + "observation_id": "570d49d0-0203-46b0-a370-83ebaf79c34b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "a8d48d91-ecef-4aa3-b0dd-021ef0c787b9", + "observation_id": "2fc085bb-d6cd-4e8d-bda1-12529ba73876", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "0edaaa02-2703-4022-a4d1-7547e8485487", + "observation_id": "fb1fc19b-634c-4060-93e4-9c66f3b42418", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "e053c87c-2816-47db-9699-4e9f22099eec", + "observation_id": "66de903f-e5ae-4db7-a516-5355bff7f499", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "945beffc-b113-45a3-ade9-3fca012c250e", + "observation_id": "fe227de5-4e3d-461e-b878-2265fbf85212", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "5028dda8-ba3c-431c-864a-05fa56be6709", + "observation_id": "3ba08c7c-3457-48a7-950d-69eac4d1a056", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "655c6766-9871-4e8b-8678-8faa351ec965", + "observation_id": "37dad2ad-e579-439e-a8d5-127f7febb0e0", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "7acb5d78-4b45-43cf-837c-bfdcac274d57", + "observation_id": "757946fb-5547-4a33-bf5d-22ce2b91855a", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "98f9f8c0-ddbe-4804-af98-d490e1336dfe", + "observation_id": "5a17bc4c-b7ad-43e1-89d4-954cef525184", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "2f10c048-7a1b-46b5-b23b-729746b17e41", + "observation_id": "2d99e477-5fc2-4931-8b01-b9956b152188", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "c35890a1-8448-4697-81b3-f46f31889fde", + "observation_id": "68adbbcb-0df4-41c7-98a1-48d777ac2ce4", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "d778b5d4-9569-485e-bf25-b02892d6f9cd", + "observation_id": "38108d0e-f7dc-4b74-beb6-520eafd51083", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "7f12dce4-dc11-4c11-b8a7-1f7fcee816cb", + "observation_id": "980d4bcf-dbe4-466c-ba30-082d0d0b148f", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "1d216c43-0f24-4f01-a6ec-7bd57ff62041", + "observation_id": "32d7fddf-449a-41cf-a444-3dfbea5cf80f", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "4f2df861-31e6-413a-9107-f18e4808e519", + "observation_id": "8ec56566-a2e7-4e95-b2ea-5cca8dd0ca6b", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "e5822d6b-f00a-46f9-bbc6-e9495bf31204", + "observation_id": "10ad4ef6-1fdc-4ecf-8c6e-b97600c44597", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abcf/render_b_camera_pose.json b/data/camera_study/Scene11/k4_abcf/render_b_camera_pose.json index 80f265b..bd218fe 100644 --- a/data/camera_study/Scene11/k4_abcf/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k4_abcf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:49Z", + "created_utc": "2026-06-02T22:40:57Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abcf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abcf/render_c_aruco_detection.json b/data/camera_study/Scene11/k4_abcf/render_c_aruco_detection.json index 35b2a5d..631ddc7 100644 --- a/data/camera_study/Scene11/k4_abcf/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abcf/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:48Z", + "created_utc": "2026-06-02T22:40:56Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "54e24be6-28be-4d6f-9f7f-7a35a7bd02b0", + "observation_id": "409ab716-9fbb-49ac-8722-13aa4f82f909", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "9b7743b9-73b4-41a4-b3b7-6122572b09a8", + "observation_id": "9ef31209-c3d7-43e1-8e40-01362d68e125", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "725cd287-eb59-45a3-bdce-02388c1db1f0", + "observation_id": "4ed318ab-4019-49b5-a3fb-bdcc5bd0ee16", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "64bb4543-5475-4a1b-aa4e-8dba75a7d7a7", + "observation_id": "21b62b90-ab08-4b43-a2f8-35502c2e31fa", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "2357b529-4e56-4692-9e17-5ae148a431ac", + "observation_id": "dceb3155-fcf8-4f8f-9815-42dff8cf2a00", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "6da53d60-a29b-42c1-ae31-77e0531d1034", + "observation_id": "e392a2fe-7c6c-4d46-b8b5-de4713bdbb8f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "7a6bf88f-595f-4f7e-8d83-7b5e01d91334", + "observation_id": "145b6bd4-8f4a-43ca-97ec-5f8d75cc35ce", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "3aa1cdb1-7dd0-46e2-beec-838edb19dda7", + "observation_id": "3e91a8f9-f76c-42f8-86bc-007ab9bca73a", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "a6f2b4a7-73cc-4262-b4aa-6f4da05db7a2", + "observation_id": "40a01ba0-6f42-4478-ad9d-0e0c33d1fb50", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "647b7ced-aa6a-4b28-9050-2d0d12adaaa3", + "observation_id": "8ca9edbd-bf7e-4910-8804-c8bd4415f280", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abcf/render_c_camera_pose.json b/data/camera_study/Scene11/k4_abcf/render_c_camera_pose.json index a5444d5..e0dc603 100644 --- a/data/camera_study/Scene11/k4_abcf/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k4_abcf/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:49Z", + "created_utc": "2026-06-02T22:40:57Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abcf\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abcf/render_f_aruco_detection.json b/data/camera_study/Scene11/k4_abcf/render_f_aruco_detection.json index 936bf10..da383b7 100644 --- a/data/camera_study/Scene11/k4_abcf/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abcf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:48Z", + "created_utc": "2026-06-02T22:40:56Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0cc7aaae-f8f3-40fb-aaa8-0be233ec8efa", + "observation_id": "5d7c4d80-6578-4d3f-9b8b-2e4f357e8714", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "f5f075b7-ff73-4474-b426-8d1c2ddd1ba0", + "observation_id": "c75b2342-a190-439f-9f94-593edcab8d4a", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "7c3fef89-4fb9-4362-9665-dfd2608bc4d3", + "observation_id": "b79ca150-5a72-42d3-b250-c3f81e89f735", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "b5f82a3c-349f-4608-aafd-9970f0d122c6", + "observation_id": "126951c7-fec2-4e02-9a38-1ede88e92b54", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "3919c87d-8c86-4455-bdf6-508f92e27a82", + "observation_id": "9ed4b48f-643c-4add-a347-6641484ae29b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "2f6c06bc-a9d2-42fc-82cd-d9f6f129e91b", + "observation_id": "4e1c4308-efdb-4031-bfea-96922b2e9568", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "53631a1b-90ce-42e0-bc2d-d7365bf08768", + "observation_id": "fa9d33e7-ab33-4b6c-85c1-b98b52dd9bac", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "adf62f81-eb66-4d0e-98f2-8167d18d4dae", + "observation_id": "95e58581-cf2e-403f-b34b-34287a961b0a", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "11929691-1334-4dc9-bd33-f60ac4d8bc12", + "observation_id": "f3e76f0a-99d4-4c4c-9719-9c1eb2aadfee", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "07713c74-3dff-4080-a91f-2c173dc25c09", + "observation_id": "bd1ea82e-19ab-4887-b778-09d7afc32785", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "b086d657-da00-403e-90a2-2374d4ac27be", + "observation_id": "8aa172c3-1093-4942-8b51-9f1d09c03204", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "333a727a-aa69-4091-b214-8d14e9b7c88d", + "observation_id": "13399d24-99e2-4c82-88db-be62ce0c1121", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "13d62fe4-aa56-46b4-9ccc-cb575c44c9a1", + "observation_id": "71306211-fa00-4f02-97dd-663b5197cec3", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "c8fc947e-60a4-4f35-8d0e-198b5aa9fadc", + "observation_id": "cc137235-4c42-4afe-bc53-dbd0978bcf1c", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "07617959-03de-4b5d-8ad8-c716d25e98cb", + "observation_id": "2b81bd67-e376-4595-bd6c-a1efe03fdfe5", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "5d091d16-505f-4c0d-9a4b-8efb63aa5d9b", + "observation_id": "ee3b5cdd-3c6e-408c-a74a-2549417dc47b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abcf/render_f_camera_pose.json b/data/camera_study/Scene11/k4_abcf/render_f_camera_pose.json index 1ee8b78..d084e3d 100644 --- a/data/camera_study/Scene11/k4_abcf/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k4_abcf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:49Z", + "created_utc": "2026-06-02T22:40:57Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abcf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abcf/robot_state.eval.json b/data/camera_study/Scene11/k4_abcf/robot_state.eval.json index fe28371..788fb57 100644 --- a/data/camera_study/Scene11/k4_abcf/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_abcf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.2586455702993646, "mean_abs_mm": 0.9111902224158626, "max_abs_mm": 1.255720885314382, - "finger_error_mm": 1.587423053467241 + "n_unobservable": 1, + "wrist_error_mm": 1.3025543798983115, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_abcf/robot_state.json b/data/camera_study/Scene11/k4_abcf/robot_state.json index 0d1764e..0e96cd3 100644 --- a/data/camera_study/Scene11/k4_abcf/robot_state.json +++ b/data/camera_study/Scene11/k4_abcf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:52Z", + "created_utc": "2026-06-02T22:41:00Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_abef/aruco_marker_poses.json b/data/camera_study/Scene11/k4_abef/aruco_marker_poses.json index 7c8b48d..c86b65f 100644 --- a/data/camera_study/Scene11/k4_abef/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_abef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:25:03Z", + "created_utc": "2026-06-02T22:41:11Z", "summary": { "num_cameras": 4, "num_markers": 20 diff --git a/data/camera_study/Scene11/k4_abef/aruco_positions_initial.json b/data/camera_study/Scene11/k4_abef/aruco_positions_initial.json index a97d408..3453752 100644 --- a/data/camera_study/Scene11/k4_abef/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_abef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:25:02Z", + "created_utc": "2026-06-02T22:41:10Z", "summary": { "num_cameras": 4, "num_markers": 20, diff --git a/data/camera_study/Scene11/k4_abef/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_abef/aruco_positions_optimized.json index dd873a3..229b862 100644 --- a/data/camera_study/Scene11/k4_abef/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_abef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:25:02Z", + "created_utc": "2026-06-02T22:41:10Z", "summary": { "num_cameras": 4, "num_markers": 20, diff --git a/data/camera_study/Scene11/k4_abef/render_a_aruco_detection.json b/data/camera_study/Scene11/k4_abef/render_a_aruco_detection.json index 3f9cfd7..878ae83 100644 --- a/data/camera_study/Scene11/k4_abef/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:59Z", + "created_utc": "2026-06-02T22:41:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "200113c6-348b-406b-9789-1a30e05691e3", + "observation_id": "c7acdc63-5dbf-4d17-8448-299e05de9478", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "0c68d7c3-d4f5-4831-b099-c51e0835ca96", + "observation_id": "3a177936-618d-4a7c-bf00-5aa5dab9b0cd", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "229b51f8-195c-457d-9caf-cfb6889e8952", + "observation_id": "a3d66632-78af-42ec-92b8-596cff23e1d6", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "c9ffb51b-53f0-45a3-875a-a64dc8c32d6a", + "observation_id": "0101e85f-0067-43d7-b26a-5729cddc1018", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "42bca115-a78d-4489-a592-17f54955da6e", + "observation_id": "7cc54b7d-fc69-4e51-b1a8-2b9fc679c2cb", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "16e481f4-87a9-4d6f-8550-3f312ff038f4", + "observation_id": "da133f62-e3c4-4b7a-886f-a9b222fcbe99", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "75155a9f-dce1-4bad-951f-1f66758b595f", + "observation_id": "d3486e6c-eaba-4390-920e-b982cb48ccfb", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "260b1907-d90d-4f98-a201-8d85575eec56", + "observation_id": "6a97ecb0-1549-4602-9bec-d8d23f5cf4d7", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "783d8508-8b7a-43b9-ac31-7f54ad86637f", + "observation_id": "5a082ac7-7bfe-426f-827c-8db6acecf514", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "b380ee17-b2e6-4a94-af87-fa88002888c4", + "observation_id": "9bb24739-3079-412f-9068-acfbbd6c77b4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "caa58207-075d-416c-a13e-f41c24b87695", + "observation_id": "496ff894-b6d2-44df-8b2e-88a03db0c96d", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "1b042e83-f434-4052-a99a-eecd6466e778", + "observation_id": "b91a7acc-ac95-4c18-af6c-1372f8ec8a95", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "9b219849-c8d9-4f7a-b4b7-9882f9057f3f", + "observation_id": "4af5429d-0ebe-498e-a50d-5b3c261701a9", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "53c0343c-22f5-468b-93c5-b8f96dc4105e", + "observation_id": "35a246f6-9de1-4d58-8c5b-a10e5dcd74fa", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "cf308e2e-0a0d-4e82-b82c-8911d49d4c05", + "observation_id": "f61d34ca-be69-4c60-b51c-a6e0d53db851", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "ba9c2b5c-6beb-448b-98e2-c8cb9d7b5031", + "observation_id": "1ebfa8ca-952f-4fc9-863c-b0fd4a19e2d3", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abef/render_a_camera_pose.json b/data/camera_study/Scene11/k4_abef/render_a_camera_pose.json index 3e2804b..daa443d 100644 --- a/data/camera_study/Scene11/k4_abef/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k4_abef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:00Z", + "created_utc": "2026-06-02T22:41:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abef/render_b_aruco_detection.json b/data/camera_study/Scene11/k4_abef/render_b_aruco_detection.json index 79b1005..d9bfcbc 100644 --- a/data/camera_study/Scene11/k4_abef/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:59Z", + "created_utc": "2026-06-02T22:41:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b6ff19b5-be6b-45fb-ab56-40106df3dc61", + "observation_id": "321a4006-b2f5-45d2-ba63-de23ff67e304", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "86c90124-0673-4c2a-a60c-263aad4b8631", + "observation_id": "a140cf22-b8ba-4917-862d-d1f1543a7123", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "e98f1ff6-b733-45e2-b5ec-1b2275eb7541", + "observation_id": "a8de3e09-6081-453e-9da7-d94cec071535", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "238eb2dd-e588-4a16-8254-6eeb1f51fe71", + "observation_id": "06f97623-ecd7-4849-93fb-b3802511e718", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "eeb35e05-87ed-4250-89b3-0adec9fe3fba", + "observation_id": "4f72ff9a-2088-49bc-8db9-abc5760a6541", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "a24b7c50-6d2c-449d-9989-a0a5170d6dc9", + "observation_id": "f63c7352-3e6c-4119-8e93-66503a69250c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "0758e991-1c1d-404f-87fa-72c501044c32", + "observation_id": "6e35928a-781d-4ea6-bc79-c3dc85748688", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "067c5eef-0487-4d39-a5b5-6f8e212e3243", + "observation_id": "a2c59fe0-9edb-4dcc-ac50-4cecdb1c85ef", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "b227eddb-3144-4b42-a962-d562040565bc", + "observation_id": "bc92b959-3d96-40b2-b670-26585e9a791f", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "e1dc5c52-0e05-4650-87e1-a2c9ab1fe592", + "observation_id": "e196f4b1-8161-47f3-bb2a-7a250128d6df", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "ee29e006-aa4d-45f6-bef7-d81f3539c510", + "observation_id": "c84777e6-c0f7-4fd1-a866-3d019140b2b5", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "05c4d653-1d7e-4dff-83fe-11a1e5650c3e", + "observation_id": "b44ee1e6-05b7-4662-aa73-7f95b228a6be", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "f432d712-45e9-45ca-924e-28785e88aa7a", + "observation_id": "e53ff962-1eae-42a0-a68d-b7e26a6e5cef", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "91b3dc13-36b8-4bb8-8103-e961ad892ce1", + "observation_id": "4c1d01d2-ab87-41b1-b2c7-f76f2d663358", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "47bee66e-4ccf-469d-9899-5e5ce521e09b", + "observation_id": "efbba3f3-c606-48db-8aa9-7e288a067049", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "8af75e77-8540-45db-bdc5-10d280a93f01", + "observation_id": "ec1a4f44-78e2-4cbc-8f07-744f91fc282a", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "b3757cb9-d68d-4011-80e9-65d206940234", + "observation_id": "81315a5b-9b2a-4969-8e67-cdca18718ea0", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "d98e4c27-a490-47c7-9672-9b35fcc90925", + "observation_id": "391d5cb7-a066-48a3-bced-4ae9d5cfec64", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "2d81db57-7ad2-410e-b26f-fa7ac7969452", + "observation_id": "ff52d35d-f803-48fb-838d-500d18214282", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "cc8b2c73-03e5-4220-9a92-36ecba1b4067", + "observation_id": "8388f73f-a5db-4190-a76e-b42217df68bc", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "dfa9cb11-c362-46d8-be1f-b0e0e9d195f4", + "observation_id": "1120d80c-1c93-4318-b91f-367639471ef4", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abef/render_b_camera_pose.json b/data/camera_study/Scene11/k4_abef/render_b_camera_pose.json index 7acfbdb..855008c 100644 --- a/data/camera_study/Scene11/k4_abef/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k4_abef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:01Z", + "created_utc": "2026-06-02T22:41:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abef/render_e_aruco_detection.json b/data/camera_study/Scene11/k4_abef/render_e_aruco_detection.json index cb1c045..8d73524 100644 --- a/data/camera_study/Scene11/k4_abef/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:00Z", + "created_utc": "2026-06-02T22:41:08Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "fa8cd299-bd7b-4f96-97b7-634c9ba3b164", + "observation_id": "8fbc0675-f13b-4f07-bf6b-0e0a1ae7864c", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "38c77ca9-c1aa-4ed0-b02c-b4a1a8a5fc5f", + "observation_id": "4b5949b6-6995-4477-a07c-b11c0b784031", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "25f44453-d246-4309-b213-39469f9f3c01", + "observation_id": "144b0ac8-965e-4404-acdf-5628dda38433", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "326f02dc-67ab-4a46-acd8-44e476e6995b", + "observation_id": "272637c5-6b01-4e96-9686-eef9bad5949c", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "a522554a-9534-4594-aec3-265ded0b86b4", + "observation_id": "7bd0dc1f-455a-4eae-8ebf-f56763ec6694", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "9e7a4911-a15e-49c2-a9be-9da9ce48f2e6", + "observation_id": "c5a7a320-aabe-48bb-968b-f75dd3cde94e", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "bf678faa-1a64-41f5-8a34-b2d15db95eaf", + "observation_id": "491be9e1-60a1-43f2-aabe-fbe5fa801105", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "d4a8b85d-d17d-4fc9-a3e5-e026069dd3fe", + "observation_id": "f0c60b65-e733-477e-b931-3e7e43e25f39", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "c0cfac7c-0fd6-43f5-a5ea-9e8a43930ca6", + "observation_id": "8dd67793-d34d-4905-ba5f-d2a972f69678", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "3ed927b3-e085-42fe-998f-df0b111da50d", + "observation_id": "00e9156e-8f3d-4852-ad3c-33cc74d39c56", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "7c736ee5-f603-40e7-93d6-afd51d8037a6", + "observation_id": "929c86c3-31e6-41a1-909f-efaf48f2d768", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "ef176cb1-692a-40cd-b29b-f94bc39b3ad3", + "observation_id": "e8c350ae-ba98-4058-92ae-686cdbd0216b", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "ac7773bf-d347-40f1-a4b1-a0b2bfcc3668", + "observation_id": "1134db9e-3eab-4f82-8ba9-c34e98a190cc", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "ea544ccd-96b3-42e2-b05c-a2455e4a3418", + "observation_id": "cb93149e-9415-4be4-8f5c-94fee8538d77", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "d4b1519f-2d1b-4279-b760-2351e1858b3b", + "observation_id": "d227df90-72f1-4ec0-8f8a-4997aa09127a", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "97591a52-7ecc-4a00-9442-9a3bb08b2c03", + "observation_id": "5e369c6e-3eb8-4a1d-993b-b252e6bfed07", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "228d088a-6e28-421f-91ac-1a571f1eea8a", + "observation_id": "7ece8522-f9b0-4ca1-969a-c47e8c26fd88", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "cf253947-52bd-4b9e-aced-9657520b923b", + "observation_id": "c3e7eb52-5828-422a-b8dd-339cb04c2864", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "7a76f74f-95a5-45ea-a191-2b82ed3023e5", + "observation_id": "02897526-9836-4fad-bae4-d90899b9d384", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "f3b415ac-33c2-4438-973e-391a5b0b94fd", + "observation_id": "a5b9b6c7-a067-424f-8fa1-72023b902fef", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "33eeb94e-bba2-4749-9d8c-ba39127b33a1", + "observation_id": "12fe40fd-6342-4d1d-b83a-7746f3bfd1ec", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "d1b40d70-c642-49c7-aeca-47b09ef9e460", + "observation_id": "ac64dd3d-5bbd-4a17-9c8a-f3efdc0d5473", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abef/render_e_camera_pose.json b/data/camera_study/Scene11/k4_abef/render_e_camera_pose.json index dfc3371..f1e19b6 100644 --- a/data/camera_study/Scene11/k4_abef/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k4_abef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:01Z", + "created_utc": "2026-06-02T22:41:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abef/render_f_aruco_detection.json b/data/camera_study/Scene11/k4_abef/render_f_aruco_detection.json index c14b94c..516a562 100644 --- a/data/camera_study/Scene11/k4_abef/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:00Z", + "created_utc": "2026-06-02T22:41:08Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d226345f-f2d3-4631-ae1b-243c2da106ad", + "observation_id": "d13eeb63-1e79-454f-8645-389125235239", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "8d08890e-0093-4176-b370-d03084ad4c65", + "observation_id": "26f0e8eb-7e38-47ee-8325-49dbf58fcecb", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "5f29ded5-7ed1-4357-99ed-11d38c10d89a", + "observation_id": "92cb62de-5d93-4124-b197-2b50d80312e2", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "680e568b-a470-4e12-9024-051fd1fa0a4a", + "observation_id": "ae9fa7a0-32d7-4222-be09-a89cc9f35b44", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "0a797e92-6f3a-4dcb-bb2e-3bccc607aebe", + "observation_id": "4cb94b35-f679-40b2-86aa-37fdb217e65f", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "02c756ac-a079-4ce7-b87f-1cfcd0c6d02a", + "observation_id": "672ce37b-bcbe-4d1f-85f9-0bae880bba76", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "f94fe30a-1076-44d5-b7af-8bb5417cdf68", + "observation_id": "a4fada64-3e13-4ca5-b24b-431ed235c4a9", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "9bf455fc-7a0a-48cb-b7c3-8583804233f8", + "observation_id": "45133edd-6809-49c0-9256-9c263aa1562d", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "a5da0804-c2f2-49af-8673-b34725633cb0", + "observation_id": "2fcbac41-d7a0-4688-871a-19e354568520", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "a0881980-cdb6-4882-97ec-c9f94979e47f", + "observation_id": "b080022a-3bc9-432d-bcb0-720a778396f4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "75ed5945-2602-4ae5-9c05-7d1b02f8ebca", + "observation_id": "1cb71d05-fbc3-406a-aeb0-19f7a890b70d", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "63c8287d-94f7-4e8d-9146-592222f98340", + "observation_id": "45b22ee2-0979-4413-acce-656393719546", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "b4719b65-5cc3-426b-bee5-fa3c3e3bcc67", + "observation_id": "1887521c-cc9f-42d5-9284-207e4a81357a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "563bc903-95de-47f6-8202-e9b4418831a0", + "observation_id": "1713b913-dbdc-415f-bb9f-3f9639cf4df6", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "5a2b12de-8195-49da-be8a-adb5523e6759", + "observation_id": "96bc46f3-ca08-40f2-a992-8a9c46b7653b", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "7e103567-9064-4209-996a-15e5417ae297", + "observation_id": "46e6ec16-dead-46f0-a277-d55627dbce74", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abef/render_f_camera_pose.json b/data/camera_study/Scene11/k4_abef/render_f_camera_pose.json index 2ddeea0..3b37337 100644 --- a/data/camera_study/Scene11/k4_abef/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k4_abef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:01Z", + "created_utc": "2026-06-02T22:41:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abef/robot_state.eval.json b/data/camera_study/Scene11/k4_abef/robot_state.eval.json index 41eb1ac..08a196a 100644 --- a/data/camera_study/Scene11/k4_abef/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_abef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.776440959382029, "mean_abs_mm": 0.2725051169697754, "max_abs_mm": 0.43208272529362546, - "finger_error_mm": 1.0815631525325338 + "n_unobservable": 1, + "wrist_error_mm": 0.8205221017798602, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_abef/robot_state.json b/data/camera_study/Scene11/k4_abef/robot_state.json index 63b70a4..bd0fcf2 100644 --- a/data/camera_study/Scene11/k4_abef/robot_state.json +++ b/data/camera_study/Scene11/k4_abef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:04Z", + "created_utc": "2026-06-02T22:41:12Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_abfg/aruco_marker_poses.json b/data/camera_study/Scene11/k4_abfg/aruco_marker_poses.json index 82ed858..fa7d4f6 100644 --- a/data/camera_study/Scene11/k4_abfg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_abfg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:25:30Z", + "created_utc": "2026-06-02T22:41:38Z", "summary": { "num_cameras": 4, "num_markers": 26 diff --git a/data/camera_study/Scene11/k4_abfg/aruco_positions_initial.json b/data/camera_study/Scene11/k4_abfg/aruco_positions_initial.json index 28e0868..61200a1 100644 --- a/data/camera_study/Scene11/k4_abfg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_abfg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:25:28Z", + "created_utc": "2026-06-02T22:41:36Z", "summary": { "num_cameras": 4, "num_markers": 26, diff --git a/data/camera_study/Scene11/k4_abfg/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_abfg/aruco_positions_optimized.json index a32ed7c..7eca47e 100644 --- a/data/camera_study/Scene11/k4_abfg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_abfg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:25:29Z", + "created_utc": "2026-06-02T22:41:37Z", "summary": { "num_cameras": 4, "num_markers": 26, diff --git a/data/camera_study/Scene11/k4_abfg/render_a_aruco_detection.json b/data/camera_study/Scene11/k4_abfg/render_a_aruco_detection.json index 6fd1e08..dc758eb 100644 --- a/data/camera_study/Scene11/k4_abfg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abfg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:25Z", + "created_utc": "2026-06-02T22:41:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d1f192cb-5ba5-46be-ad66-c5676a06d22a", + "observation_id": "7ec29753-25b7-4a1f-bcd4-ddb2e3aa7b9f", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "1f5f5c1b-b48b-47fa-abbe-02b06b5e6d58", + "observation_id": "363547cd-ee18-42a0-9af7-50da50e9b182", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "e3994550-7d84-4683-a1dc-423c7f358668", + "observation_id": "1204234a-7c7a-47c5-a132-7bcc3cd851f5", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "08f7458d-1fbb-4272-8d9d-fcdfe96c99f1", + "observation_id": "1dd8afff-6dde-472f-b6f5-b6e7ae8f9450", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "e57590bd-5684-47ec-9492-34b76c561866", + "observation_id": "e3a74760-4b66-416f-99b9-c3b7bb636210", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "5e5fdc11-3f3c-469c-be1e-bac24b57ee6f", + "observation_id": "e681c29e-0387-49e3-9a3e-e04f851f3d30", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "e8b18998-2c81-437b-b957-d22e908f42a5", + "observation_id": "7d0c876e-e9f4-4ef7-9412-97263a35a797", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "915b4d10-b62d-4b9f-8aaf-1acde0037cd4", + "observation_id": "b15d0aa6-b44e-4f65-ada3-3439ef6e2966", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "5a18413e-aaef-442c-b318-1c8398c788a5", + "observation_id": "fc2c491d-a2d5-40c5-94f4-8a5ad38651fa", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "9a4ca731-6479-43e8-b0fe-e0cbb1a813c0", + "observation_id": "79d6be81-d696-477a-bc2d-0c3316b7454b", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "69461652-0f9a-4339-a0de-b3640f785a7b", + "observation_id": "e2924623-aca0-42bc-9b66-ae875ed61bc7", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "748376b5-f75f-491d-9b9c-f3de576705b1", + "observation_id": "30eb463b-cabe-43f2-b7d0-87f6e25949f5", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "adc3e2f4-808b-4343-b498-c6f52efab340", + "observation_id": "ef40cb9f-c5c7-4c58-b9d8-6642a838389f", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "86b9cfa5-80d2-40eb-a8c4-bd5a68b0c390", + "observation_id": "7a36798e-ebc7-4c5d-ba52-cd75c099b2c8", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "4874a4f5-a5db-41dc-a966-cf6ce8be8457", + "observation_id": "3ec08699-d927-4bc2-8d94-58697f992314", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "c87f3f8a-bbe8-478a-8ba3-4ff30a7185f2", + "observation_id": "b9ca57ec-4cf7-4a39-8cd7-0956a5117306", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abfg/render_a_camera_pose.json b/data/camera_study/Scene11/k4_abfg/render_a_camera_pose.json index c818457..4f74536 100644 --- a/data/camera_study/Scene11/k4_abfg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k4_abfg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:27Z", + "created_utc": "2026-06-02T22:41:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abfg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abfg/render_b_aruco_detection.json b/data/camera_study/Scene11/k4_abfg/render_b_aruco_detection.json index 08d4f5d..37b6cfa 100644 --- a/data/camera_study/Scene11/k4_abfg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abfg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:26Z", + "created_utc": "2026-06-02T22:41:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2ae60828-778d-4c2f-8acc-eedc70ee8740", + "observation_id": "14a6f4a6-cd9f-40b0-a706-4951dd4a9244", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "998328ee-430a-4940-bbd4-086439cac124", + "observation_id": "db446626-c94a-48fd-bbf2-fbde9cb7dd4e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "30dc54d9-2745-4867-b469-eda84277b956", + "observation_id": "5831fc3f-b95e-4fb2-80c0-4a84a02adb86", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "23467b63-e293-4ca4-8355-6fb960f91852", + "observation_id": "2e9aa43f-ad40-4ad0-9a57-6186065dbd4d", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "3f4f98f8-0958-4518-8490-40437b30e30c", + "observation_id": "0d43b743-440f-442b-9f83-7f6544533053", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "384800bf-1e95-4989-80c3-fb6df08a0934", + "observation_id": "4fea6fea-8c09-484d-9ca0-5d0b158668f6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "deb7f1ba-9276-43bf-a6fd-2c9418756bcc", + "observation_id": "f9392f54-5d41-4818-b7e8-d08c2dc897b5", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "81b3b81e-6d97-4a96-a319-3a302ff2d4a4", + "observation_id": "da11f9af-14d5-4625-9f13-1bc777f6faeb", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "9adac602-d50d-44c1-88b3-31bfae2a1ae6", + "observation_id": "fd12783f-3a15-45f3-a54a-762fbfe9bdd1", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "9169a19c-759b-454d-a062-a78c9e7434d5", + "observation_id": "aa967498-bdcb-439a-a666-49b00a738e8a", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "a9cbf3af-cb03-4766-88b0-0894295e7a62", + "observation_id": "05f34258-b63c-4d07-b4b2-3212b1c73e6b", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "12e65484-c801-465c-a3c8-f3576149886e", + "observation_id": "b699ad7c-a2ba-4a3b-b5c0-adea9f31453c", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "4eb79217-af25-447e-911b-bd672fce216f", + "observation_id": "effe8eea-ddf6-42e0-a63e-4722d9fa0aef", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "1257cbbc-29d2-493c-90dc-973e0d44c995", + "observation_id": "c4ddd916-931a-4aad-a384-37adc7c97fff", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "33e815be-b3bd-4aa9-8f35-0d3e8d1a1356", + "observation_id": "b918e6bb-2c5a-4927-a765-cce2161fb8ee", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "0050e51c-704f-4d11-84cf-2f961cd8283e", + "observation_id": "0f79bb19-e1c2-416e-8d76-27b3f7121239", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "3128b14d-6173-4f5d-bd3a-4cce27834ef5", + "observation_id": "585ed32e-a4eb-468f-a156-fe137f23d41f", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "53febf9a-41a1-41a6-bf6c-d88421f383dc", + "observation_id": "fd923281-3716-4cd9-9bdc-bc2ce86e7559", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "9570b03c-4bad-491b-a3fe-7b198f2b5af3", + "observation_id": "4836e694-27c8-4c76-ab06-d05b80182f5e", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "72bbf721-a278-4458-a435-c6f5c9c8298b", + "observation_id": "f35fc347-78a6-4c52-99f1-a6f3b1bf5fc2", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "7f10b08c-ba76-45eb-8b8d-72de75500d31", + "observation_id": "8ece3033-7d0c-43c5-9193-bc9089d6ea08", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abfg/render_b_camera_pose.json b/data/camera_study/Scene11/k4_abfg/render_b_camera_pose.json index bd0263f..4cddfe9 100644 --- a/data/camera_study/Scene11/k4_abfg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k4_abfg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:27Z", + "created_utc": "2026-06-02T22:41:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abfg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abfg/render_f_aruco_detection.json b/data/camera_study/Scene11/k4_abfg/render_f_aruco_detection.json index 7a9f7c6..d40cbf7 100644 --- a/data/camera_study/Scene11/k4_abfg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abfg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:26Z", + "created_utc": "2026-06-02T22:41:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b5b80e45-258a-49db-9609-a3a4102ea1a5", + "observation_id": "06bc7d27-7c46-4ae0-be8c-b5f6efeda385", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "ed4e5618-bedf-425f-a4c2-7d9d05dd02bd", + "observation_id": "155a09a5-9ae0-4b02-9ce0-65f0e89a6d1c", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "2bedc307-051e-44de-9cae-54ee6ef8b74a", + "observation_id": "e9016ff3-c822-4389-822c-4b5aa5ac07b7", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "d53f15a9-0fc1-41ef-becb-a61e7850ce06", + "observation_id": "4047cf37-cb9f-466e-aa00-09cb269164a2", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "8d4bcd9e-e14e-42e4-9e7a-1bfcd46421be", + "observation_id": "3409cfa4-ec38-40a7-800c-c17495ad1787", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "c7123bc6-bfab-4466-99d3-c62d18712abb", + "observation_id": "3bda631b-b061-47cd-b75c-52649e351d26", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "689210d3-0e08-4ce1-97e3-9e31aedab2a4", + "observation_id": "79bbd11b-14d7-489d-9cdf-6d9ff3021da1", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "6faa5d3c-7fce-437b-86f6-7c9f253ce8b7", + "observation_id": "366e3740-bd3e-4add-9d8d-77539befbfbf", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "a9ddd8b8-3780-4772-b567-7d3360570890", + "observation_id": "16ea3aeb-7937-4863-80ab-0519bf23af39", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "3c3d6e8c-251f-4662-a20f-68ca60b4a619", + "observation_id": "d8aa8eb4-1ecd-4770-b3bd-113b17ba02ff", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "3ae9f71f-8f8b-465a-bef3-b1f1ec11a2af", + "observation_id": "3c421598-6fc3-4a3d-8c9b-4d99a102e4d7", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "b2c99aae-4806-4cd5-a8e5-db62082008f3", + "observation_id": "075e3bf0-bea3-4e74-b7af-26ac39c62777", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "3aa8557e-89f0-4800-bedd-7c6734e34f73", + "observation_id": "33028dfd-8eae-4552-befa-0122bf691f74", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "63302183-6913-4da5-84f3-91285123495c", + "observation_id": "fc375e0f-d8a0-4cef-a0e3-79bb8ef9f841", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "27614598-9156-4800-9acf-ab6f30dd58ba", + "observation_id": "4d85efc4-7fa8-4556-a0b8-30180b7231c6", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "0802e919-9f2d-4c62-84dc-f272479a5eb1", + "observation_id": "cb7febc8-a057-498a-acf7-45e8dd1966a5", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abfg/render_f_camera_pose.json b/data/camera_study/Scene11/k4_abfg/render_f_camera_pose.json index 5c7db51..e44f4ea 100644 --- a/data/camera_study/Scene11/k4_abfg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k4_abfg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:28Z", + "created_utc": "2026-06-02T22:41:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abfg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abfg/render_g_aruco_detection.json b/data/camera_study/Scene11/k4_abfg/render_g_aruco_detection.json index 3f16959..fc7b923 100644 --- a/data/camera_study/Scene11/k4_abfg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k4_abfg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:27Z", + "created_utc": "2026-06-02T22:41:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "40f9c061-ca49-41ba-8bf1-07bcda682e5a", + "observation_id": "b9f2fe80-ee43-4c08-b97c-f72cc637c613", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "6dcae586-d29c-48c6-a5fe-ad63ed99e553", + "observation_id": "519cdb3d-53f9-403c-8a77-8f39c8303ff6", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "4612f5dc-75e5-47ae-a8ea-16fa95fb14a2", + "observation_id": "be8b1109-5510-4ee7-a346-538f28298633", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "a810994f-1176-43cd-aaf9-4bf59874892d", + "observation_id": "8ae31dfe-61e2-4940-b595-350d387cdce4", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "870333a4-1e87-4b90-a200-dda2e795855a", + "observation_id": "9c6510db-dc4b-4312-87c9-a538961ca0d6", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "d286e58d-05fe-4c85-8b1b-3cd56948b980", + "observation_id": "bb9ca7e5-710c-4174-a2fa-0d922aab7bd9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "1e1149b7-3fdd-4980-a774-abdd0f6589af", + "observation_id": "fadaaab1-a5b9-4741-9daa-0756abee21e1", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "f66f3121-3867-4e08-8a57-4321f9a827d9", + "observation_id": "9f415aaa-2c58-488a-a8ee-a2c975877751", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "19094d0f-14ec-4d5c-9b16-bb9e094ccf55", + "observation_id": "676321a6-fcce-447a-8532-a0feed8992ef", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "7dba67ac-1e83-412e-a025-fc7b37463f44", + "observation_id": "02d924e2-fcfa-4562-a8fd-8c4f663e72df", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "c57818f4-d608-49bb-b21e-1799bea51279", + "observation_id": "1df37d38-4f0f-48c7-a20a-a07589d15098", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "72d02a65-f2e4-40ce-a061-6a8476a96475", + "observation_id": "112c1184-85bf-40c6-ae9c-73bc1b35c5a8", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "5d701156-0777-4ac1-add8-17cdebee7857", + "observation_id": "042f86fd-76f4-40d7-bed6-5d3b5ea6a25a", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "5d2c2ebf-21ba-48ff-9d07-a3ad1e250938", + "observation_id": "e24db9d2-4acf-46f1-81b0-4c0162254f1c", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "29ade81c-df85-4e08-9017-03c3d388827a", + "observation_id": "523d1197-59f7-4e13-b6fd-b984d3401045", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "01ef1491-f5f6-4354-b3e7-cf59b203971f", + "observation_id": "a41d21c4-bafc-4127-82e9-c4ec4c2e40a0", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "30e75a06-9790-4313-8b70-a03c4e8324b6", + "observation_id": "0c53b8c9-e961-4b76-994d-8230e89c2bee", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "98dfe7df-ae43-4e4f-a620-763f557e628b", + "observation_id": "5d8a4354-576e-4c99-a23c-e24312707539", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "c6ad6415-c93b-48a7-8bc5-572945b30d6d", + "observation_id": "e9b2b40d-6d42-46fb-8879-1f8ab25eae74", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "2001d5d7-e850-4706-808e-80cf43161b6c", + "observation_id": "c2636551-f034-41fe-b27c-75d815c21676", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "ab655855-2f1a-4140-8bc4-520fffe36b1d", + "observation_id": "518bf579-e500-4ac9-9134-e9aea65afc5c", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "d1158d96-dd15-44cb-85c3-12e93267f8b8", + "observation_id": "789f2be4-02b4-4d6f-b5f1-d06ae89a2117", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "e8019029-a694-469c-8905-321318b4b117", + "observation_id": "c38e6201-e5dc-479c-b18f-d92ff3637584", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "88912108-7048-4b5e-9652-728f0b3067ec", + "observation_id": "b5c74cc0-5f0f-4b74-9c51-38cd5cfe0ff3", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "abf90fb1-f23d-4711-aef2-5ffd884eca43", + "observation_id": "f1212bfc-4352-45e2-9050-f6e0c0ff4474", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "ea96f0f2-ce74-4c94-a360-5c0aacccaaac", + "observation_id": "4b46606d-a8d2-42d9-a753-7f17eb507c55", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "27a92885-ee92-4e3b-b52d-f9b4e30a0094", + "observation_id": "b6d2c7f7-caad-45bd-9476-61539d009036", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "bde1da5c-f132-4bf4-af28-4d9158aa3e05", + "observation_id": "04a927b3-abd6-43bd-bf4e-9d62b36d7258", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "5ba37b06-25d7-4281-8518-4e23339cfc5a", + "observation_id": "e97e524d-e7cd-433d-9150-659e591146ed", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "87d40c6e-c4e4-4b80-924a-219e08dde7b0", + "observation_id": "3d84526c-7f2c-406b-9295-4d5534a04b70", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_abfg/render_g_camera_pose.json b/data/camera_study/Scene11/k4_abfg/render_g_camera_pose.json index f5f345b..2700aa0 100644 --- a/data/camera_study/Scene11/k4_abfg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k4_abfg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:28Z", + "created_utc": "2026-06-02T22:41:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_abfg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_abfg/robot_state.eval.json b/data/camera_study/Scene11/k4_abfg/robot_state.eval.json index 353c6fb..7154bf7 100644 --- a/data/camera_study/Scene11/k4_abfg/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_abfg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.7919491532916538, "mean_abs_mm": 0.4976606586608594, "max_abs_mm": 0.581702842062179, - "finger_error_mm": 3.459320819044456 + "n_unobservable": 0, + "wrist_error_mm": 3.5305748850464225, + "finger_error_mm": 3.1700813961020575 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_abfg/robot_state.json b/data/camera_study/Scene11/k4_abfg/robot_state.json index 18d3b93..e87ae17 100644 --- a/data/camera_study/Scene11/k4_abfg/robot_state.json +++ b/data/camera_study/Scene11/k4_abfg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:31Z", + "created_utc": "2026-06-02T22:41:39Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_adeg/aruco_marker_poses.json b/data/camera_study/Scene11/k4_adeg/aruco_marker_poses.json index 071fc9d..a0638b4 100644 --- a/data/camera_study/Scene11/k4_adeg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_adeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:25:23Z", + "created_utc": "2026-06-02T22:41:31Z", "summary": { "num_cameras": 4, "num_markers": 27 diff --git a/data/camera_study/Scene11/k4_adeg/aruco_positions_initial.json b/data/camera_study/Scene11/k4_adeg/aruco_positions_initial.json index 689a18e..d11e7f7 100644 --- a/data/camera_study/Scene11/k4_adeg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_adeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:25:20Z", + "created_utc": "2026-06-02T22:41:28Z", "summary": { "num_cameras": 4, "num_markers": 27, diff --git a/data/camera_study/Scene11/k4_adeg/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_adeg/aruco_positions_optimized.json index a72f873..87715dd 100644 --- a/data/camera_study/Scene11/k4_adeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_adeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:25:23Z", + "created_utc": "2026-06-02T22:41:31Z", "summary": { "num_cameras": 4, "num_markers": 27, diff --git a/data/camera_study/Scene11/k4_adeg/render_a_aruco_detection.json b/data/camera_study/Scene11/k4_adeg/render_a_aruco_detection.json index 956f7a9..5cb5f68 100644 --- a/data/camera_study/Scene11/k4_adeg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k4_adeg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:18Z", + "created_utc": "2026-06-02T22:41:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3310d356-6ddc-4526-bd83-1fc897fd31ed", + "observation_id": "57099c6a-c456-466f-9d8c-921f1be5ff99", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "c12e2879-9cfb-4c7b-9d6e-5ac72c26c899", + "observation_id": "af9a1e2e-ac99-4ab5-867b-a67858e5da00", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "e687d926-3398-4a28-8d4d-7c6c5032a451", + "observation_id": "2fd947ae-5834-4772-9fd3-e3ab88d039bf", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "9c2a560c-1182-4561-91e9-bc87b53819ec", + "observation_id": "6d32a08b-b23a-47d9-999c-4bde310e22dc", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "38300914-04f2-4207-ac66-20bf9adebc8e", + "observation_id": "6850e4fe-f80c-41d1-abad-67bc3f886f2a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "5f5ec286-059c-4c1b-99e7-70f3ada02640", + "observation_id": "c36c4b9a-491e-4c23-a6ff-8e6aae98dad0", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "effb94d7-1c65-4677-97e7-9033eed3beb0", + "observation_id": "63291215-1d4c-4119-b2fe-711a12be52f7", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "9a1487cd-98f1-4f4e-871a-8eb90bcfcb6f", + "observation_id": "ebf1db4c-28b6-47d2-883d-29ff0868d68d", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "dfd054a5-18e5-43be-b110-ee497e464e66", + "observation_id": "2d5879bd-bf47-4ba2-975f-b7401440b2a5", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "11bd25c3-40f8-4954-8ee7-a4d2636401f1", + "observation_id": "9b839a42-8c8f-4d18-a03d-125903495c92", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "9a72ca63-21ca-4c5a-ac43-c829233ffbca", + "observation_id": "be6aa847-40b2-4d20-b103-802e5aac009a", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "7c3b30e5-b98e-4ca1-ae88-d240eecd319e", + "observation_id": "5f6d7feb-8d94-4519-802b-319ed2e9709a", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "ebfd23d4-26d5-4227-bcbb-2de6893483cb", + "observation_id": "565c1c79-1b43-475e-a8a0-6ea0ade92960", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "7b12dc6c-3c4c-4e62-a0b9-2d522e81e158", + "observation_id": "88048239-f488-4334-bd30-8821449a9844", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "b4935ede-da1f-4927-b395-90c97e9f0d21", + "observation_id": "7822de2b-0816-452a-b9bd-a8505bb20140", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "4e996a90-b344-4eb6-8557-97e5e073a5d9", + "observation_id": "443cb428-e263-43ab-a889-200709e4a455", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_adeg/render_a_camera_pose.json b/data/camera_study/Scene11/k4_adeg/render_a_camera_pose.json index 98aa020..2ced730 100644 --- a/data/camera_study/Scene11/k4_adeg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k4_adeg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:19Z", + "created_utc": "2026-06-02T22:41:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_adeg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_adeg/render_d_aruco_detection.json b/data/camera_study/Scene11/k4_adeg/render_d_aruco_detection.json index ad3916b..39ba2fc 100644 --- a/data/camera_study/Scene11/k4_adeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k4_adeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:18Z", + "created_utc": "2026-06-02T22:41:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f22713fe-911c-4c6e-970f-e0c2831498d6", + "observation_id": "ff09befe-08bd-48b2-8c32-3517e520cc8d", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "603466d3-97c6-4d39-bdf3-aa7d7d27a29c", + "observation_id": "ca08acca-5ef7-4ffc-9147-484fe4410d62", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "a666f4fc-1788-481f-a5a5-12f25a6fa456", + "observation_id": "b4ce154d-2529-41c0-b4c6-25126e1711e4", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "8c68773f-4679-4062-9c80-880a78e132d0", + "observation_id": "402bbfc2-2deb-42e3-b25c-f99f2b787a86", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "6ae36ca3-1145-4b62-a659-441cfbf70671", + "observation_id": "2bde2fa3-3741-4f05-aebe-464a4328a300", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "70b2574a-b499-40d9-9625-adc37e1af107", + "observation_id": "e1b9f9bb-adda-4d1b-a6b0-2c17912bee4b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "07083f8e-3cab-4ac2-a46d-67734acc1ed5", + "observation_id": "4dcb7891-e775-44d1-a874-daabc80743b6", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "1e9f0b3b-9fcf-48bf-ba1b-c3a9a720719d", + "observation_id": "8070971a-fe21-4bfd-bb62-8b9c0334160c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "52495303-d6f3-418a-881c-cf6abe01a7f5", + "observation_id": "78580049-6b29-4cab-b1be-33adb3ce741b", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "20faf25e-cf4c-4b5c-8e45-1f0d0b4696d1", + "observation_id": "2c8741c3-aebc-4f85-a98a-91ffa836d052", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "100f14a3-afac-4114-ba39-aa79436c0831", + "observation_id": "5b65e55b-70d3-4aec-91b1-c887d6cd0990", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "de35df74-d7f6-41d9-95cd-1289e18dc7e7", + "observation_id": "1e4e56e8-2fd9-4a76-b44e-8d382d3f6a97", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "2301bca9-e9f5-485a-afa1-3cd71c4ead4e", + "observation_id": "5d7c51dc-0040-4b72-82e2-686f59187692", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "9f0fa5f2-f9f7-4a3c-9389-b5f9c56aa3dc", + "observation_id": "0a23a038-052a-47d6-8968-ccdf99391efa", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "1a615639-1f27-44d9-8274-c34ce4269748", + "observation_id": "b5fb9a7e-aee5-4162-a783-d56f1e44efa2", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "4000bf0f-2b4f-43c0-a760-d8f50b4c7e53", + "observation_id": "153828b7-ee05-4d5e-a17e-c19a6a190a47", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_adeg/render_d_camera_pose.json b/data/camera_study/Scene11/k4_adeg/render_d_camera_pose.json index 1a0cdc6..4894053 100644 --- a/data/camera_study/Scene11/k4_adeg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k4_adeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:20Z", + "created_utc": "2026-06-02T22:41:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_adeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_adeg/render_e_aruco_detection.json b/data/camera_study/Scene11/k4_adeg/render_e_aruco_detection.json index 8ee4ada..77e5f07 100644 --- a/data/camera_study/Scene11/k4_adeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k4_adeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:18Z", + "created_utc": "2026-06-02T22:41:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a5e453b1-713a-4334-904f-31e345573dec", + "observation_id": "4ec9c57d-ecc4-4d5b-844b-f47e89af4bfe", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "4cc5540c-58f7-4bc0-9aa1-cab238eac3a7", + "observation_id": "2220ad93-1123-4e5f-89d3-ab0c2f89f04d", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "33a4a274-4ec3-41b3-b8d1-b66044149021", + "observation_id": "d4edecd7-5405-44d5-93a7-c3107d6386e6", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "66514784-f1ec-45f1-9c0c-2232e326c4df", + "observation_id": "377e847a-6c53-4a5c-b55c-b8b007b53af7", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "865e471e-2eb9-4e78-aa7a-111ab85607d9", + "observation_id": "7c99fb00-d211-447c-b6a1-103190d48b0b", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "f2652d25-f041-4bc0-9c20-fbb30a4d6361", + "observation_id": "ab018c8f-065f-4946-ba0b-cc27ddbcfd04", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "64e0248a-c175-4611-b708-3c2b100c2003", + "observation_id": "ca7ae046-d66d-4987-b3c7-f50482690fb8", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "65734d23-0b4c-4076-bc11-c2f452724bab", + "observation_id": "21dfd6b2-674b-45db-bb9c-06b5deb3e3fe", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "cb059f7b-a0ff-448a-ab45-f5437993bee5", + "observation_id": "6fff0511-a72f-4b87-ade3-dea4ddf6ebf5", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "e064d730-c26a-4441-ad6a-fccff7c10109", + "observation_id": "ff87f70b-fc2e-4f1c-ac7f-28d1d1b04f32", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "3fa738e5-936d-4f88-ba93-88bea14e868a", + "observation_id": "12173da3-f932-4870-af84-9d80fedbe357", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "c4125ccf-8f6c-449b-a0d6-0c47750c0141", + "observation_id": "42718f6d-7c74-4286-aef0-d512765217e3", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "82f3e6af-9629-407a-8bac-3b9ec8badf54", + "observation_id": "539ce520-40ac-432a-808a-17c22bb483c2", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "dd011f2e-50d8-4d85-8911-6aad524ba507", + "observation_id": "e2627b17-1440-4c53-bd4c-e20dc0dd0c29", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "57903a70-bb36-4f7e-a2b5-f0cd4f670d7d", + "observation_id": "8bdbbbee-a05e-4d22-8863-1aa3bb3f93d5", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "c445eeee-96e4-4076-9a12-e1631d1236f4", + "observation_id": "906062b0-993c-458a-b2a2-9aede81a0c0b", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "b4ed80bf-4d18-4423-8aff-25dfa27bba72", + "observation_id": "f3618c8d-9299-429c-a457-2b2a977af59d", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "42ce4b66-7500-43da-9317-05cf1347ac5c", + "observation_id": "97d66fc4-9750-4cdc-9e3b-c77ab8aefa30", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "62aab2ce-df29-41ca-857e-f429eacc275b", + "observation_id": "6e813ffc-2cc5-41c8-b2a9-f6c97d30ed8b", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "b176c406-20a4-42c1-b136-b43641e3a24f", + "observation_id": "c2c992d2-2ae0-4209-8967-3ce0b5ae34ef", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "0fbcffa2-2056-4f03-937d-137d4cffa6a7", + "observation_id": "5e0edc81-56c3-48ca-a174-f05084dd1b44", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "d73417a4-5a2b-4207-b68f-fbb29f2e6ad0", + "observation_id": "baa258ad-d83a-49b4-9cb1-a5c4e0f60695", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_adeg/render_e_camera_pose.json b/data/camera_study/Scene11/k4_adeg/render_e_camera_pose.json index fadee44..1e91a81 100644 --- a/data/camera_study/Scene11/k4_adeg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k4_adeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:20Z", + "created_utc": "2026-06-02T22:41:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_adeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_adeg/render_g_aruco_detection.json b/data/camera_study/Scene11/k4_adeg/render_g_aruco_detection.json index 8d5d3a1..833e34e 100644 --- a/data/camera_study/Scene11/k4_adeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k4_adeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:19Z", + "created_utc": "2026-06-02T22:41:27Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ead98dc6-d7d2-42ff-afd8-cc54973f9b00", + "observation_id": "b37dcb96-57d2-456f-80c9-289e4bf88f55", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "f18edaea-6766-4885-8105-08e67752606c", + "observation_id": "ec401c28-a696-4e06-b0a0-9ae6dc870da1", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "790eda16-e339-4383-b031-bb609c73739d", + "observation_id": "64f337b4-e82e-4d32-9bba-d05b90436a05", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "6b955b94-fe41-464c-bc95-c5f47e35e6fc", + "observation_id": "1f63944b-a1b8-4294-a4e2-8ba258e44681", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "bc464bb5-4187-47cd-9787-92ac5426896b", + "observation_id": "65ea0b4d-7e94-45b2-9728-82f318687645", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "e72ff8f5-1a2a-4c24-aaf9-8e7e3e9b98ff", + "observation_id": "30133526-0081-4e6a-8982-46e3d3bb838a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "8972a80d-b920-4c51-a308-124635619410", + "observation_id": "545e6b93-e53b-4648-8d2a-a589a67903f0", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "98cd233b-2b4e-4715-a1d7-f88f26836cd8", + "observation_id": "4997d1ed-225a-4820-b91b-75f79cb3a738", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "e94a43c5-eb98-4000-8449-4f1b1de91e25", + "observation_id": "54154ebd-32ec-4916-a16e-9ff4c98dcb24", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "87fa3ed7-d112-4440-b5c5-18d67562827d", + "observation_id": "fa70d2e1-5b0f-4e23-847f-16196834f052", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "76090122-5644-49de-8488-e67ad1414d4a", + "observation_id": "da3aaf0a-085f-4648-ab36-52f3aa182041", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "400fdc77-21fa-45f8-838d-64274cc211c7", + "observation_id": "ae8143c2-df34-49c3-bb61-bbef062b7d2e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "0265fc8a-ee96-471b-9a03-6e5f78793594", + "observation_id": "1f90227c-5b3a-4d8c-82d1-5be699d46ce0", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "c2b5ae61-93d6-4b1e-a208-57728f3a1a47", + "observation_id": "2ead6a26-3b87-4380-82a2-6f54170a2918", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "58b62d43-9845-4570-8f3e-5ca67bb0dfe1", + "observation_id": "56122b04-a68b-4294-b1c9-376983d6e3ab", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "5a42e9ce-d6d1-4d16-a34f-f227f726d013", + "observation_id": "36403f0a-e0f4-4b2e-9f2c-140996d1559a", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "8e05d2de-d321-4d5b-a3c0-3c49311682e6", + "observation_id": "59a69d29-b647-4aa2-bdff-e9ce6bb71af7", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "d1cfecd0-0968-4861-8e46-b5e9d611529b", + "observation_id": "763ecebd-c4c1-4f8c-8bdd-d6a0008597f8", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "ac8ba4db-8c06-4171-b30d-fc2abe3a510b", + "observation_id": "49d1bdbd-b5e6-4edd-836f-ca2897d37319", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "d622d1ce-7d3a-4bc9-b8ee-d3e0bab0ffd2", + "observation_id": "d4162ae7-15ff-4a34-889b-28191cf360ec", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "c7559bb3-b81d-45e1-be27-9dcd1aa558c5", + "observation_id": "22c9b870-2d26-4531-8508-ea33fbad21ee", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "0a13cb43-e1ef-47ce-8528-c3398652c8db", + "observation_id": "c0e7c4b3-171a-4c82-86ef-fa5c46c78823", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "1d6ce8f7-4634-4e29-abc1-07454b1f7561", + "observation_id": "bcd31b0f-de9f-4a0f-9748-f0b4c8872f16", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "f8f9b685-f9f5-4dc5-94e8-6d1bbb653e52", + "observation_id": "379b3f9c-4ab9-4bcf-a533-5e4f298ea0f3", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "19b96965-589f-4207-8126-c108c36c76d7", + "observation_id": "133adf1a-c0d0-490f-974e-801caf7c025d", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "8cc03730-99aa-4086-9e95-8fc794c717c0", + "observation_id": "53dd93e4-9d31-45d5-90c2-91c32e0cb2fc", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "66d17248-1e87-463e-ad7c-a37790813f19", + "observation_id": "922dcee8-7186-4b44-abb7-fde395586c02", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "d28bd02c-64ac-4204-b4db-cfb7d477c084", + "observation_id": "dbf268d2-0185-4e37-9048-597e1b05ab2b", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "f250d53c-910c-446e-957d-a22010e92af0", + "observation_id": "01f78669-282c-4fc6-b550-35a6b0e1f99c", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "74c77eaa-c6ae-489e-b51d-09de53371475", + "observation_id": "ce5531bf-d51c-4203-9d28-7107351e8eea", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_adeg/render_g_camera_pose.json b/data/camera_study/Scene11/k4_adeg/render_g_camera_pose.json index 0be0b6a..0da9006 100644 --- a/data/camera_study/Scene11/k4_adeg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k4_adeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:20Z", + "created_utc": "2026-06-02T22:41:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_adeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_adeg/robot_state.eval.json b/data/camera_study/Scene11/k4_adeg/robot_state.eval.json index e4007b3..33e8299 100644 --- a/data/camera_study/Scene11/k4_adeg/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_adeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 2.7305950860350094, "mean_abs_mm": 1.6783979447768784, "max_abs_mm": 3.002732965630811, - "finger_error_mm": 2.91474472469845 + "n_unobservable": 0, + "wrist_error_mm": 0.9373986166003799, + "finger_error_mm": 3.3523457147691187 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_adeg/robot_state.json b/data/camera_study/Scene11/k4_adeg/robot_state.json index 9eaa3ed..fa5edb6 100644 --- a/data/camera_study/Scene11/k4_adeg/robot_state.json +++ b/data/camera_study/Scene11/k4_adeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:25Z", + "created_utc": "2026-06-02T22:41:33Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_aefg/aruco_marker_poses.json b/data/camera_study/Scene11/k4_aefg/aruco_marker_poses.json index 2f52b95..5b67680 100644 --- a/data/camera_study/Scene11/k4_aefg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_aefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:25:49Z", + "created_utc": "2026-06-02T22:41:58Z", "summary": { "num_cameras": 4, "num_markers": 24 diff --git a/data/camera_study/Scene11/k4_aefg/aruco_positions_initial.json b/data/camera_study/Scene11/k4_aefg/aruco_positions_initial.json index dc18f32..e5abb28 100644 --- a/data/camera_study/Scene11/k4_aefg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_aefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:25:47Z", + "created_utc": "2026-06-02T22:41:56Z", "summary": { "num_cameras": 4, "num_markers": 24, diff --git a/data/camera_study/Scene11/k4_aefg/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_aefg/aruco_positions_optimized.json index b48fda3..57fce41 100644 --- a/data/camera_study/Scene11/k4_aefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_aefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:25:48Z", + "created_utc": "2026-06-02T22:41:57Z", "summary": { "num_cameras": 4, "num_markers": 24, diff --git a/data/camera_study/Scene11/k4_aefg/render_a_aruco_detection.json b/data/camera_study/Scene11/k4_aefg/render_a_aruco_detection.json index dad5a6c..a31df0e 100644 --- a/data/camera_study/Scene11/k4_aefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k4_aefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:45Z", + "created_utc": "2026-06-02T22:41:54Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3ba57d57-7809-4f7c-9597-0968223a4259", + "observation_id": "d845856e-206a-41b2-a711-cc7ad2994db1", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "1bb3045a-eda8-4d0b-a143-46c2de2411ba", + "observation_id": "2fac72f7-7471-4b2c-8c71-22987fb5c889", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "acd1e125-b98d-432a-b395-7032e21e89d8", + "observation_id": "f12f0900-f1b1-4f7e-9b74-6b338ad2e1f8", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "8a968788-fbd0-4d15-923c-273a34ee898a", + "observation_id": "1bdacf8d-9ba2-43f6-b611-146814924105", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "c01bfb35-dca4-42f5-a687-0b1dd7d7f452", + "observation_id": "9d1101a6-ca40-4bde-89d2-cf44e4c88165", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "ad26ae96-819c-4a65-b52b-fe1b2d27914e", + "observation_id": "b1ae2188-d54f-43cb-b101-3de847731c92", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "2a649f3f-a5b5-45bc-86e8-c2634fb4aa7c", + "observation_id": "ab242170-6bd6-4f07-b317-ad71a8f99da1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "7ecac1cd-3d28-4c22-99c1-f3a887678a2d", + "observation_id": "2f383601-d790-49eb-9ebd-dc50911e0ffd", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "843df7ab-0cdc-4c23-9afc-637d55b098f3", + "observation_id": "e484318a-ef08-4dc6-bba1-99e898ee36fa", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "f0332155-7679-4592-a5ce-6537dedaa282", + "observation_id": "52044c88-8813-4c58-8d7d-82ff3a57444c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "0bfe32d5-990b-4878-bc56-dd336847a219", + "observation_id": "6a939326-7933-4c3d-8a90-4edcd4d5cc14", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "e65142a0-2c91-4513-8f60-43285a648a0c", + "observation_id": "be199bf4-a3be-4679-83ca-de60d5dcc2d2", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "5147f5e3-925d-418c-90c4-91a5854264a0", + "observation_id": "735a6977-3688-4b92-88f1-a567855ba28c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "4bc69b01-85aa-46c6-a321-e0bc3da9e0dc", + "observation_id": "f618f6fe-a84a-4381-bef4-f48a3c63ed04", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "53cb9b47-fa7d-4190-8738-af09eb6bceab", + "observation_id": "22e0bf5d-2394-4360-a333-bd6f75d27c48", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "68bcb5d9-801e-4a95-8f96-304a075205f6", + "observation_id": "60b8342b-365c-44f9-9f8f-a79f82bdff02", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_aefg/render_a_camera_pose.json b/data/camera_study/Scene11/k4_aefg/render_a_camera_pose.json index bdb4e13..27adaf6 100644 --- a/data/camera_study/Scene11/k4_aefg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k4_aefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:46Z", + "created_utc": "2026-06-02T22:41:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_aefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_aefg/render_e_aruco_detection.json b/data/camera_study/Scene11/k4_aefg/render_e_aruco_detection.json index 85e3ab7..a481a9a 100644 --- a/data/camera_study/Scene11/k4_aefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k4_aefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:45Z", + "created_utc": "2026-06-02T22:41:54Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "865ebc50-81c8-4d37-b9ac-c1b11e1eae2c", + "observation_id": "0e716625-9ce0-4eda-8d79-b9fb79b2452a", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "8b9d3bb0-aa21-47ec-8d19-b8ce68818fe7", + "observation_id": "b54530a4-3226-49e7-af9c-66ccf4c5f346", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "def5d031-08cc-473c-8d76-aae626e603fd", + "observation_id": "4d5c5304-e4bb-4f90-b8c3-75cfa9e3edd4", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "cca5fd44-07e2-4a40-b9be-8a9f5f02392c", + "observation_id": "0cb3311c-97da-4925-a66f-96fdd34c3e0b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "2d696411-6945-4128-bcbd-4cf5cff245a7", + "observation_id": "188d0878-de04-4afa-9aa6-56d6e10241b6", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "227404d8-a481-4483-ba70-30bca658aa62", + "observation_id": "08f6148b-d789-42db-a556-3e76a9221fba", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "59bbb480-3a33-4ed7-8ecd-0b8b3c2e07f9", + "observation_id": "2520509e-1e5c-416a-a095-3c9e31f9494c", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "57f08a75-4c19-49ac-a8f4-0a482dbb485d", + "observation_id": "7c9e4b53-c06c-467f-bbca-63294047e014", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "92c6670c-9841-4953-90f7-ad656728473f", + "observation_id": "e3a01601-04dc-4f58-a8e2-1daf5eed83bb", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "27661b2f-fa5a-4949-9b66-61c093b0b30e", + "observation_id": "b316609d-7167-40a3-bb1c-a57d9c81ec10", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "a95e138f-6d74-4b68-889e-e497b77294cf", + "observation_id": "b6ec0453-0c65-4b46-88a8-8f91468bd69d", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "9b90a66a-5755-49c5-856d-840293de55f9", + "observation_id": "b737719f-91d4-40d2-b4fc-dfcc24341df3", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "b2d4dd12-733f-4e41-b50f-74f021c09376", + "observation_id": "aa59c420-140c-4e90-ab10-f140a1062b9c", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "dddeaf47-c603-4f7c-8529-959630b9b464", + "observation_id": "ae3c4a60-9f0e-4661-87d7-0097c97f5daa", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "801b4eed-df54-4e9c-ae71-b5d952f45aaa", + "observation_id": "242edca7-0096-4235-801e-5718eb6f544e", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "46271c7a-a76b-42f4-a703-bae10d3c1de3", + "observation_id": "5cd3b2f3-f2c9-405a-9b58-f02d2784cf1c", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "7da2d322-33ff-400e-8ca6-f5d1331b496f", + "observation_id": "e5e749ef-eec5-4051-8315-1ebb168d3c65", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "93419109-9ecc-4d30-ad8a-19951fc96517", + "observation_id": "5d8016b6-4259-4a03-b676-d71b50936272", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "d5ff59ad-3a02-4241-b86c-2148abb5a154", + "observation_id": "b2124183-6c53-4290-a8f9-219213e12d60", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "6ad31a28-7da6-489c-928e-7d2cd5c07eb0", + "observation_id": "e2b7b510-4eb1-4841-bfd5-30082e439039", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "d063c7e6-ccdc-4f72-96bd-cf6009d85cc4", + "observation_id": "1f2edea5-f961-492b-8b7c-22844e81f3bf", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "7b0cb29d-e3fb-4951-a4ba-4be583d10841", + "observation_id": "e6d7383b-c531-46da-89a6-fdf750aa24f5", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_aefg/render_e_camera_pose.json b/data/camera_study/Scene11/k4_aefg/render_e_camera_pose.json index 2ab5ea2..80dbf07 100644 --- a/data/camera_study/Scene11/k4_aefg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k4_aefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:47Z", + "created_utc": "2026-06-02T22:41:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_aefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_aefg/render_f_aruco_detection.json b/data/camera_study/Scene11/k4_aefg/render_f_aruco_detection.json index ccdda86..d517105 100644 --- a/data/camera_study/Scene11/k4_aefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k4_aefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:45Z", + "created_utc": "2026-06-02T22:41:54Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c05ab156-eb24-4ec1-b2a5-697a9b6ade33", + "observation_id": "835bca8b-04c4-465f-bd94-0c3248a0ce45", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "18841148-cad9-458c-ad49-8851a845b6af", + "observation_id": "393c390f-ff26-40e5-87c5-a39968c4ac9d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "01b05f8f-dbd3-4f8a-8586-d7cd600cb71a", + "observation_id": "c85cd90e-1316-4c06-b890-3cc9e50bc7a7", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "ad9e4e1d-2a0e-4e5c-81c8-d643fa021d01", + "observation_id": "d6b20a7c-0dfe-457f-8d95-a4692af111c9", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "bdb2f9e8-cb78-427b-b5ce-284b65c1f2a4", + "observation_id": "43b6382f-ec67-4ace-a15e-b1c8169bff2b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "dad5653e-4611-448c-8744-d5b974d9cc9b", + "observation_id": "e99c14e6-fefc-4b4d-b2de-49da0da922d2", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "6952aa64-e800-4c13-bc3c-c94e860e6071", + "observation_id": "e086d884-4567-4e7c-b504-b13eec4ab947", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "5ca05745-74b5-40fc-99c1-4fe9e8afbe21", + "observation_id": "2541f99d-4553-4caf-8a53-f28a7d147bce", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "10414f98-d77d-4d5a-98bf-54d556a013a4", + "observation_id": "420234c1-5b90-47e1-888b-50adcdf0bebd", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "a6729bf9-2aca-482a-83c3-93b1438e3083", + "observation_id": "e62c10c5-a625-4afc-b3b1-d1997fb52454", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "0f481769-ba3d-41c1-8c16-a4dc64c87e8a", + "observation_id": "382e8b0d-586c-4d1e-a95a-1be66024a31c", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "d0c794e7-d786-447d-bcb4-57755e8580f6", + "observation_id": "53d94222-5887-4105-8744-df54a9b071e4", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "8bf56819-73a0-4a88-a18b-6fdbf6c33646", + "observation_id": "db724f24-c1f8-41a4-bf06-bfc114dbcae1", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "baf05ba4-ce83-4ac2-b191-756b13dd6956", + "observation_id": "ea72a717-ff17-4d11-a542-5eef957f7389", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "a7553062-e95a-4e4f-8feb-9764d7227ec8", + "observation_id": "bd08eecb-b84b-401b-a5b2-fc8c8bd87735", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "37206c61-f65d-4773-ad06-0447042457db", + "observation_id": "f8b3af1e-b161-4ffa-b5b8-7d2479b74ca1", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_aefg/render_f_camera_pose.json b/data/camera_study/Scene11/k4_aefg/render_f_camera_pose.json index cec3d9b..782806a 100644 --- a/data/camera_study/Scene11/k4_aefg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k4_aefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:47Z", + "created_utc": "2026-06-02T22:41:56Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_aefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_aefg/render_g_aruco_detection.json b/data/camera_study/Scene11/k4_aefg/render_g_aruco_detection.json index 85cf148..27309d3 100644 --- a/data/camera_study/Scene11/k4_aefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k4_aefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:46Z", + "created_utc": "2026-06-02T22:41:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "72d4b965-f8d2-4bc4-bb6a-0aa7fed9ff6a", + "observation_id": "e2f4c2e1-229f-4f4d-a135-0486c45cb4f0", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "1314da89-dcb5-4ec5-bb2a-36843fef5c94", + "observation_id": "fefcc7d7-04f1-4527-ba2f-c48f9d1744b4", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "84eb6ac3-1eaa-40f8-ae30-1a21c1f8a323", + "observation_id": "12812113-ccc4-4bcd-afe8-f690383d6077", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "da808cf3-6fde-480e-8651-c81dcbd29114", + "observation_id": "cf5804b5-9d69-48a1-b18a-b24a08d7e53e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "a9c0ef78-82a3-4879-84cc-928812643ea8", + "observation_id": "406e0639-2319-467c-9a63-feb23bc9af2b", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "c3d8435e-c1f1-4e3a-9748-78c3254340d4", + "observation_id": "ca901971-a9e7-4d2c-acb3-61ce99cdb1db", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "91a06ce5-7b0b-4d7f-9c64-f62306741b65", + "observation_id": "daed3050-2604-4830-b9b0-24887662cabd", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "e929d17f-9e2b-4fb5-91d7-cf30a5810308", + "observation_id": "6999abe9-d003-40fa-b6af-548a060b7ea3", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "4a4057f8-143d-4f42-a240-bcaee35e1649", + "observation_id": "54b7489e-a632-4200-a985-faca62348489", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "8fc63e14-296b-4109-ad9c-fd43c1eec29a", + "observation_id": "c8cb103e-3069-4ad4-bacb-3db66360977a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "a04feb18-d960-4336-9596-d97d56ec984f", + "observation_id": "45774f60-ce19-444c-b0d2-fc2b81c93874", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "2f525170-23cd-450e-ac04-b695a1699ab6", + "observation_id": "7eb3b6d3-24b9-4842-b81e-bf58298c661f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "8c6a4ac6-579a-4fc9-8f05-0500d7814c8e", + "observation_id": "a2a23be0-5cc1-409b-9bea-c3d66a90d7ce", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "110e7c72-ec17-41ca-88c9-85fface23159", + "observation_id": "afbd1534-135d-4897-97ac-113e875c0c64", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "418714a8-60bd-47a4-b641-e3af8288da66", + "observation_id": "4b7663c7-a7af-4170-95a5-0333b5b2b8f7", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "a7db08cd-409e-4805-99dc-90b766218197", + "observation_id": "e208b23e-d2e8-49ab-ac2c-045c490e141b", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "170228c7-d727-4b35-807f-dd18e6c31949", + "observation_id": "287cd477-a858-47bc-b21b-559ad2c6c6ae", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "4e5b18cd-c9e1-4cb5-bcfb-8c9f67c495f3", + "observation_id": "389e5490-4e04-43f8-b249-70952d6f8933", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "c9205bcb-6e8f-4c9d-9439-08285eb01dd8", + "observation_id": "337ca6c2-17a4-4b31-81bc-607856ec0fee", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "d4c9df47-057e-496f-835b-41428fdf2159", + "observation_id": "50c1697d-158e-4100-8399-f67ac31a2a13", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "ee2e8fbd-59df-441a-9eb5-5124a1a1acd7", + "observation_id": "0ccc42c7-2a57-4632-b4b8-24e660b29e21", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "bb8fcdaf-2b0d-4d6b-a743-d7f5a44aead0", + "observation_id": "60dfb573-e25d-4954-834f-8878207829db", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "5a72e749-609f-47a2-9685-ada0e3fd7840", + "observation_id": "63ce5153-39fb-4d6d-807c-49a270a49cc1", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "6162275b-7913-4169-a923-8d67f72c8453", + "observation_id": "2b6b7dad-af25-448b-8c4a-3d9b5d87c2bd", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "4c2a7d4c-c5b9-4eba-942f-0df16ee5436b", + "observation_id": "2ae705c1-d959-421b-951e-f5e46e61285a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "7bca9fdd-30e9-4b20-b5bc-1991e4ba6e4d", + "observation_id": "e63df15e-be6b-42a7-a446-9aa705408e7f", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "d685eecf-7fd7-4b3d-9b39-25f7bd1d99da", + "observation_id": "de03bf2c-4b93-43f2-a93c-654d7bd500b7", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "94d31a59-5227-4c53-ad8f-a30bb48545ad", + "observation_id": "d1890298-10dc-49f2-a063-e84759a65030", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "54c78191-a87c-45f7-b20a-2989de2143b0", + "observation_id": "51344ed8-78f6-44bf-9326-5e4e314cefb6", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "14246c2e-49db-4dcb-ab15-13f6fb076392", + "observation_id": "0cf3e8f2-ab8b-4d80-a424-e198e17dc064", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_aefg/render_g_camera_pose.json b/data/camera_study/Scene11/k4_aefg/render_g_camera_pose.json index 223b99c..24f155a 100644 --- a/data/camera_study/Scene11/k4_aefg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k4_aefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:47Z", + "created_utc": "2026-06-02T22:41:56Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_aefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_aefg/robot_state.eval.json b/data/camera_study/Scene11/k4_aefg/robot_state.eval.json index 85650e8..ca9d02b 100644 --- a/data/camera_study/Scene11/k4_aefg/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_aefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.0032773442729024, "mean_abs_mm": 3.241626079772848, "max_abs_mm": 5.1240833371966055, - "finger_error_mm": 3.7718610994442847 + "n_unobservable": 0, + "wrist_error_mm": 1.5790358691032487, + "finger_error_mm": 5.204969991635789 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_aefg/robot_state.json b/data/camera_study/Scene11/k4_aefg/robot_state.json index 1ef162d..5017d49 100644 --- a/data/camera_study/Scene11/k4_aefg/robot_state.json +++ b/data/camera_study/Scene11/k4_aefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:50Z", + "created_utc": "2026-06-02T22:41:59Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_bcde/aruco_marker_poses.json b/data/camera_study/Scene11/k4_bcde/aruco_marker_poses.json index 61fccab..60805ef 100644 --- a/data/camera_study/Scene11/k4_bcde/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_bcde/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:25:42Z", + "created_utc": "2026-06-02T22:41:51Z", "summary": { "num_cameras": 4, "num_markers": 17 diff --git a/data/camera_study/Scene11/k4_bcde/aruco_positions_initial.json b/data/camera_study/Scene11/k4_bcde/aruco_positions_initial.json index e428824..7211037 100644 --- a/data/camera_study/Scene11/k4_bcde/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_bcde/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:25:41Z", + "created_utc": "2026-06-02T22:41:50Z", "summary": { "num_cameras": 4, "num_markers": 17, diff --git a/data/camera_study/Scene11/k4_bcde/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_bcde/aruco_positions_optimized.json index 7f3d656..e6b9533 100644 --- a/data/camera_study/Scene11/k4_bcde/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_bcde/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:25:42Z", + "created_utc": "2026-06-02T22:41:51Z", "summary": { "num_cameras": 4, "num_markers": 17, diff --git a/data/camera_study/Scene11/k4_bcde/render_b_aruco_detection.json b/data/camera_study/Scene11/k4_bcde/render_b_aruco_detection.json index cb055fa..f8099a8 100644 --- a/data/camera_study/Scene11/k4_bcde/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bcde/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:39Z", + "created_utc": "2026-06-02T22:41:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a2d23a47-b0e4-49fb-845c-54139c4bce29", + "observation_id": "fb58926c-c0b8-4313-8979-a0ea5487f882", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "c0385c31-7ecc-4812-b487-d0334d163b5f", + "observation_id": "b0d00c44-3724-4f66-9de6-62f6c39d11d6", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "0507e9c4-d25e-4007-8179-e63fbc318dba", + "observation_id": "ac5c803f-8d2b-44fb-8e9c-e86cad2b7b93", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "a2807103-2d46-4637-a7de-813cb7098336", + "observation_id": "80501f59-0d8c-4e6e-af9e-6ad369d765f8", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "82ecb2f2-0d39-460a-9370-0a7c773bfc2e", + "observation_id": "0c748633-5ed3-43f7-9d89-f17c5fd3f8f5", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "f32d0dbc-b3d2-4fc6-bbf9-0a744f61b4dd", + "observation_id": "cb2bf695-7746-460d-b15d-14f06ab1f7d2", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "25733f0c-a3ce-4803-bac2-3a76982f9cc9", + "observation_id": "6c934ed5-520c-46d6-868f-233c26623b12", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "204ae9ca-035d-444a-9eec-cc28c7a6ee63", + "observation_id": "b58c0304-1a3c-4642-9dc7-e5a9226e6581", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "f52e54f1-16cc-42c3-be29-e6ae0dea2239", + "observation_id": "e1d9ba73-d32f-4d3a-86e0-42d1ccb7f285", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "20737259-531e-4d30-a1ed-a5e006424694", + "observation_id": "7ef5107d-b47b-494f-9fa6-9fb65eeda5f9", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "c6242622-e69e-4e65-9bc6-e701ed6f68d2", + "observation_id": "d378720c-e115-4d82-9449-84931a3e1a1d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "ab21dc0b-2c76-4c9f-9ac1-783458baa3f2", + "observation_id": "5b69a57b-e1d6-4c9c-a8bf-5be91e518033", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "84323b5d-ded0-4c7d-851e-40236fd76765", + "observation_id": "0510695a-c00a-4c74-a917-bb5f68f23328", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "12cef6d7-6a47-46a0-abbf-3739373ea16e", + "observation_id": "ffd5e659-9de3-40e9-888f-942a2b53686c", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "19c94b42-5bbf-43e7-a225-27f624df97b9", + "observation_id": "74500569-ab06-4273-806b-8928bed24e04", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "1ad98054-3ccf-4609-b01e-292c0d98c543", + "observation_id": "5d274535-3141-49af-b587-8aed4398a9e6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "8cdeadbd-4319-478f-94fc-92f1535d04a9", + "observation_id": "4e3442b3-12b5-4576-87b2-29f41fb3960f", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "aca0db4a-a119-43e2-b803-33cea263c2d9", + "observation_id": "3d987206-aec2-471c-a622-eff3b5b8a117", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "7b3cd4d2-7640-4ecb-9df6-61a6b2a9e94d", + "observation_id": "4c7b8f1a-85fc-4512-997d-318520a9a379", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "8fb39615-1da6-4fcc-b6ec-ec7eb8faf095", + "observation_id": "dbdba76c-542a-440f-9993-04bd6a3c0aef", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "3a63417b-f4e6-4235-b4c0-35ec85936eea", + "observation_id": "434d9042-f6af-4cca-a120-de59e210ce48", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bcde/render_b_camera_pose.json b/data/camera_study/Scene11/k4_bcde/render_b_camera_pose.json index 83edfd4..6576d7b 100644 --- a/data/camera_study/Scene11/k4_bcde/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k4_bcde/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:40Z", + "created_utc": "2026-06-02T22:41:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bcde\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bcde/render_c_aruco_detection.json b/data/camera_study/Scene11/k4_bcde/render_c_aruco_detection.json index dd9e983..bf3933c 100644 --- a/data/camera_study/Scene11/k4_bcde/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bcde/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:39Z", + "created_utc": "2026-06-02T22:41:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9eed7fb2-d44b-45ef-ac6b-da66a6938c65", + "observation_id": "d6202df2-c348-42cc-9497-c1bc56fdc674", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "9148b836-f82b-4b96-b04f-70d9baa409e6", + "observation_id": "25626fba-a9f0-425f-80ef-2cf236475cf9", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "f7f69133-6562-4647-bac4-a34031d76f37", + "observation_id": "bc9df55c-8314-41f1-8cfa-747583b49d3f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "f11f5a94-4def-439b-aa41-c4455e6689d5", + "observation_id": "8305ebea-5784-482b-a0f5-ccffa4365fd4", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "af340394-cad4-4e5e-84cc-99136c600a26", + "observation_id": "e48d839e-29fb-4530-8bf0-b9367f96b876", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "cdc046df-ddef-4fbf-8bb7-7cff63982c3a", + "observation_id": "6c08c329-eb37-429c-98ea-3ba09b277af8", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "6f85f373-9514-47ad-81cd-9750e3f5fff8", + "observation_id": "0c29d66e-b873-443a-9a60-e0f4dc779882", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "c3c53cc8-42ba-41e1-a55c-83853c2838b0", + "observation_id": "ae548687-3db8-4e75-a718-fa22971e8443", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "7f876e82-658a-439c-88c2-7d93b186324e", + "observation_id": "fd2197c2-63a0-45bd-85db-a7ded948eca1", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "422ea8c0-9217-4123-b336-99c085ca8d2f", + "observation_id": "edb955da-1db4-4834-ab45-db7937162801", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bcde/render_c_camera_pose.json b/data/camera_study/Scene11/k4_bcde/render_c_camera_pose.json index 5705502..5ccb1d8 100644 --- a/data/camera_study/Scene11/k4_bcde/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k4_bcde/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:40Z", + "created_utc": "2026-06-02T22:41:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bcde\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bcde/render_d_aruco_detection.json b/data/camera_study/Scene11/k4_bcde/render_d_aruco_detection.json index b5e7e40..8bbc6fb 100644 --- a/data/camera_study/Scene11/k4_bcde/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bcde/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:39Z", + "created_utc": "2026-06-02T22:41:48Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c7953c8d-6570-450d-82b7-0509c1dd590e", + "observation_id": "545466ad-8318-4385-837d-174fb60f4aba", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "e8f114c7-88ac-41b4-a590-6f806b185b31", + "observation_id": "c84b7906-3fd3-4e1a-9a80-3c5c73b2dbc2", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "2588b653-0f4f-4b03-a2b4-fd43ad79afce", + "observation_id": "21cfdee3-5f42-4c1c-abf3-a167b6319b78", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "05c6075e-121b-4dca-b4b4-90431b99ff12", + "observation_id": "71614989-c94a-4a43-8e75-2768f561015e", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "763b276b-7ae0-4190-9106-88f8d39bc165", + "observation_id": "6fa08776-e4d0-4683-be64-3a1f03fa53dd", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "89ca8575-0aad-4257-9a1c-f5d6af1bccaa", + "observation_id": "0e057059-80b6-4ea2-860c-ee6960bd3b6f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "fad9aea9-f18e-4ec1-9b9d-80f04e3c1c0f", + "observation_id": "51993719-4833-4161-a965-d3661770e3d1", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "a8acdc53-0f46-478d-bc16-a7e567171620", + "observation_id": "4cb41152-e08c-40c7-9764-1427882891f8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "39b36008-d5f8-4f2b-80cf-fd1b2b477031", + "observation_id": "4b0c2861-96f6-4a39-8151-9f0229a98b88", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "1c84de96-9ca7-44e7-8bd6-cc88f1145947", + "observation_id": "0e80fd6c-4d0a-43b8-9082-39742a21e849", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "6fc6c1ef-a85f-4b88-957b-c8bea5da3db1", + "observation_id": "5bd72ecf-9145-4a11-938f-26e2c07bec5a", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "5ff1d35a-66c9-4042-a181-985f2ff630d7", + "observation_id": "e80b419b-5b1f-4ceb-9a0a-67cde13dd1bb", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "e9701ff3-1f39-4219-9290-7b5f441a432a", + "observation_id": "92c1c81f-4df7-40fa-9e32-d158002ba04b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "ee866659-47a1-488f-91ec-1136d8e398fd", + "observation_id": "d507560d-2947-487d-b6a1-b0ed127840bd", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "df07ecbf-2691-4d16-acf5-13fe6440e401", + "observation_id": "6124c819-033a-4401-99f4-337fdda48a79", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "f758c3fc-28c2-4083-a4fd-7ce7b30f5a87", + "observation_id": "b46c9aa6-3ffc-4beb-8473-6d27bf66c69b", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bcde/render_d_camera_pose.json b/data/camera_study/Scene11/k4_bcde/render_d_camera_pose.json index c6713de..6bfb3fa 100644 --- a/data/camera_study/Scene11/k4_bcde/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k4_bcde/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:41Z", + "created_utc": "2026-06-02T22:41:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bcde\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bcde/render_e_aruco_detection.json b/data/camera_study/Scene11/k4_bcde/render_e_aruco_detection.json index 34f0528..27b5991 100644 --- a/data/camera_study/Scene11/k4_bcde/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bcde/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:40Z", + "created_utc": "2026-06-02T22:41:48Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bfd2c318-730a-4163-8bc4-81caf6686c67", + "observation_id": "0e2fc21d-eb99-48d8-83ea-6ec6f6bd9b15", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "b921801a-ebce-4332-bae8-c0f932a2c91d", + "observation_id": "fbddef5c-7bf8-46d1-b0eb-9c4a86456c71", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "ffa099b2-4aff-4817-aa0d-45e3cc513b3b", + "observation_id": "a5d3ba9c-0117-4a34-8118-23c52765f85c", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "f3b83cab-6151-455e-91ff-2d4035df3ae1", + "observation_id": "a8107e17-f8c3-495d-8b1a-c6dc8283888b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "5228d3a1-413d-427f-a1e5-d027b36502e8", + "observation_id": "6bd69e97-06ae-4474-a575-bb93c8831019", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "07e5288c-9da8-44ac-9493-42eda751dd3f", + "observation_id": "b70aff67-9062-4aaa-bf41-b4242adaef49", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "78b7baa5-e174-402a-b772-e1ba86dc7557", + "observation_id": "c026037e-c5ca-4d6f-ba96-bc7e14417409", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "23cd4fbd-b9b5-44d2-a4d6-5df7b9e85e4d", + "observation_id": "d5c47397-e0f2-4970-8bc5-78e86647f512", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "9925adc1-8aac-4331-8b80-4aa3e276397a", + "observation_id": "29e68c60-909b-4255-9d06-6be3968009d4", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "6f42540f-7b19-4414-8fb0-a701b2386083", + "observation_id": "642a0252-4e95-4dda-8040-ebe741aebc19", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "fa1177b8-0f23-4eae-8148-c97f11e12b0d", + "observation_id": "f3d7986e-91c3-4949-b784-bd958d2b9c70", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "802fb836-d6c3-4067-895f-613d051bd44c", + "observation_id": "53894ab8-3f1c-42ed-81df-e020b5d946e0", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "efa89209-a95e-4ea2-8b09-7542ad2220f9", + "observation_id": "592126e3-f53c-44ed-8057-1f215da2054e", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "12c4dc11-bd5a-4e28-8dd3-54043389889b", + "observation_id": "e5a6bc8d-892d-45a1-82eb-c88314749b9b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "8612ef7c-550e-445c-ae1f-2b5970227ea9", + "observation_id": "579233f3-516f-4283-a9e0-b0375dc6bce3", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "17f7f353-489d-4ccb-9fd0-5ce102fd4433", + "observation_id": "a09162c4-c1f0-4fbe-a125-cea547896071", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "883ff63a-a391-465f-82a8-bea8e892923c", + "observation_id": "9993e02c-786e-4df0-b437-796158db0a7a", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "111011e3-f904-4e9e-a4e4-64a0208d0c4e", + "observation_id": "0481e0c8-12a5-4f5b-a30c-72652ee1eac9", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "2dad5fd2-d04e-476c-994d-4c8592605bbb", + "observation_id": "2d622a6e-d01a-481f-9c90-b08b548930b8", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "55fd858d-560b-488f-8057-0ca77f25cf3b", + "observation_id": "66aef257-f1d4-4d6d-9a54-e8b21e395784", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "b23de17b-f8c5-45a4-a70a-7c846c9c06e3", + "observation_id": "a64e4272-1d47-49a4-b095-357f1aeb42f2", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "983d5d86-69ba-42b8-b04a-5fbf5037e6bc", + "observation_id": "33409fb0-aceb-417b-bbdc-f6cd2da62c06", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bcde/render_e_camera_pose.json b/data/camera_study/Scene11/k4_bcde/render_e_camera_pose.json index 50edc95..4c7651e 100644 --- a/data/camera_study/Scene11/k4_bcde/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k4_bcde/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:41Z", + "created_utc": "2026-06-02T22:41:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bcde\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bcde/robot_state.eval.json b/data/camera_study/Scene11/k4_bcde/robot_state.eval.json index c0507e8..fdbc58b 100644 --- a/data/camera_study/Scene11/k4_bcde/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_bcde/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.075084488152811, "mean_abs_mm": 2.5894845568111418, "max_abs_mm": 4.440938765778117, - "finger_error_mm": 3.218878214232635 + "n_unobservable": 0, + "wrist_error_mm": 1.96083442150122, + "finger_error_mm": 3.5411020828538406 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_bcde/robot_state.json b/data/camera_study/Scene11/k4_bcde/robot_state.json index f0a991a..881eb97 100644 --- a/data/camera_study/Scene11/k4_bcde/robot_state.json +++ b/data/camera_study/Scene11/k4_bcde/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:44Z", + "created_utc": "2026-06-02T22:41:53Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_bceg/aruco_marker_poses.json b/data/camera_study/Scene11/k4_bceg/aruco_marker_poses.json index ee97620..90ca3cc 100644 --- a/data/camera_study/Scene11/k4_bceg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_bceg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:25:09Z", + "created_utc": "2026-06-02T22:41:16Z", "summary": { "num_cameras": 4, "num_markers": 23 diff --git a/data/camera_study/Scene11/k4_bceg/aruco_positions_initial.json b/data/camera_study/Scene11/k4_bceg/aruco_positions_initial.json index a8cf20c..74f49df 100644 --- a/data/camera_study/Scene11/k4_bceg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_bceg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:25:08Z", + "created_utc": "2026-06-02T22:41:15Z", "summary": { "num_cameras": 4, "num_markers": 23, diff --git a/data/camera_study/Scene11/k4_bceg/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_bceg/aruco_positions_optimized.json index 4f1f782..fa37684 100644 --- a/data/camera_study/Scene11/k4_bceg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_bceg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:25:08Z", + "created_utc": "2026-06-02T22:41:16Z", "summary": { "num_cameras": 4, "num_markers": 23, diff --git a/data/camera_study/Scene11/k4_bceg/render_b_aruco_detection.json b/data/camera_study/Scene11/k4_bceg/render_b_aruco_detection.json index 92ddad8..5523c0c 100644 --- a/data/camera_study/Scene11/k4_bceg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bceg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:05Z", + "created_utc": "2026-06-02T22:41:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f80939ab-240d-43d4-8da8-f1602ddd6e34", + "observation_id": "cc27a830-475f-4778-a4fb-9d12b7077198", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "a75067af-8753-45de-9b70-1029e6c2549f", + "observation_id": "b5cad80b-4bc0-4b20-9636-45ff4fdae7b0", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "2953d6b1-54ea-405c-8d76-574aeff0f186", + "observation_id": "c8fbc6d1-fe28-4367-930a-41ac687cab70", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "96676979-66ea-4073-b325-88b09de6d202", + "observation_id": "3a67f04e-460c-4da6-ab12-5cd49e67f014", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "09f6c149-079d-4b35-bd72-dd4a55412194", + "observation_id": "4498fceb-313d-4900-9e66-97503184e4b1", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "e57e3fef-5dc2-4372-97ff-2ef6ca29def9", + "observation_id": "9e767315-9dd4-4268-a63b-35a36d0021af", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "9269d5c6-3c0f-4beb-be7d-c3cd75747f4e", + "observation_id": "1c1ecae3-9eab-4f33-84d1-c6c52ef328c5", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "5e7e6fe3-a6c7-43a6-b66f-5d00d3661961", + "observation_id": "6d94d536-79d2-43bf-9b1d-33c4e3363eb0", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "cb87ac34-ef7c-4456-b289-82ab5098443b", + "observation_id": "5fc93c58-ada3-41cc-8c39-d9dfed507557", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "cacd4c39-71e5-461a-b34f-041df1f19409", + "observation_id": "c1f7c50f-2e08-4b23-a3cc-e1b399af2289", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "9559ff30-9591-4cb6-9607-05e116d5055d", + "observation_id": "d9777db6-f77f-479b-b998-03240d042926", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "16a6b75d-49a3-42f3-aa6d-af9b49dcdb71", + "observation_id": "77436bd4-460e-4890-9a7a-45fcdd12d11e", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "4f680f57-c258-4a21-a6b0-4b8a26b57682", + "observation_id": "6816293e-ad9d-411e-875b-ea5bef62db2e", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "1f2cb0b8-2f70-4d7f-ab2a-c8f1c9b47244", + "observation_id": "ada8a5be-d3e1-4cad-8af6-547d4f0e599c", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "932eb4de-2523-4076-a03f-0e1ccfc6820e", + "observation_id": "6865146f-c7ef-4e5e-b432-df6335e76b25", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "24fd8b47-a959-4f0b-be80-17fdef39f15b", + "observation_id": "bcc8102c-b3c1-4bac-8b41-038399301eab", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "1304c97d-1e90-4637-9926-16fcc105fbf4", + "observation_id": "98618b89-918d-4319-b325-99103d860523", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "077e3dcb-10f5-4ac7-afe6-dfe3c095661c", + "observation_id": "f6067dd1-12f3-4909-9d79-ae03f7157951", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "1631e744-ab3e-4b88-af39-d051dc2cbb32", + "observation_id": "4aff3044-8647-4438-a5b7-3c1605b3a9cf", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "9084bd17-ccd4-4041-9fca-ff76666bc550", + "observation_id": "d1096561-7570-467b-bacb-3fb2185775c8", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "ee4181ad-f119-4fdd-a513-f47d358c0424", + "observation_id": "ced2a523-d3f5-4f30-8599-f6fcc81c4ede", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bceg/render_b_camera_pose.json b/data/camera_study/Scene11/k4_bceg/render_b_camera_pose.json index e7ecd97..49369ac 100644 --- a/data/camera_study/Scene11/k4_bceg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k4_bceg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:07Z", + "created_utc": "2026-06-02T22:41:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bceg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bceg/render_c_aruco_detection.json b/data/camera_study/Scene11/k4_bceg/render_c_aruco_detection.json index 10a04cc..12f424d 100644 --- a/data/camera_study/Scene11/k4_bceg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bceg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:05Z", + "created_utc": "2026-06-02T22:41:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a484911f-48b6-4d4d-8efb-58f71569c493", + "observation_id": "c5d18902-bd58-4722-912e-dad094674b8b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "2f782164-0343-4ad2-a8ac-91caedc5c314", + "observation_id": "f4fdf7ea-5a3b-46fe-b4b1-8bb7e328a394", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "a7f7a7e8-424e-4ddf-a50f-81d7549b46d6", + "observation_id": "9c2fb9e3-a451-40c9-8b6c-47977f43b96e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "47943fd4-aa55-4dda-9184-14b021bd6543", + "observation_id": "4174d72e-3443-4178-a789-4bc9f0b18105", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "42595765-d7ae-4c21-ad34-e8ed152263ac", + "observation_id": "c323c13b-5aa5-4405-927d-e21d6d2d8245", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "9f077965-dd71-46be-933b-0d6e8193d87b", + "observation_id": "6070d7a5-2b73-44df-be24-c28c1bdb04c3", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "5087933a-3228-4789-9bb1-5ff3f4553401", + "observation_id": "e633025c-6749-4c17-b76c-88e8cf244d47", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "8e787009-18b5-46f1-a62e-7218d1a5973b", + "observation_id": "ed79c0ad-0b38-4131-8bc1-35151ac5c6e2", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "1a391686-307f-45c1-8410-b024450a8a4d", + "observation_id": "26afc7cc-50d3-4c45-ba47-7574535ccc15", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "3300f704-0908-4de5-94ca-45b06fa338ac", + "observation_id": "c9ae9e6f-2d67-4e4b-a647-ed6dc858dbf0", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bceg/render_c_camera_pose.json b/data/camera_study/Scene11/k4_bceg/render_c_camera_pose.json index db56d48..417a268 100644 --- a/data/camera_study/Scene11/k4_bceg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k4_bceg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:07Z", + "created_utc": "2026-06-02T22:41:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bceg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bceg/render_e_aruco_detection.json b/data/camera_study/Scene11/k4_bceg/render_e_aruco_detection.json index 34c4062..ac2b6f0 100644 --- a/data/camera_study/Scene11/k4_bceg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bceg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:06Z", + "created_utc": "2026-06-02T22:41:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "1f43f21b-284e-49a9-940f-5b7ba52d15ea", + "observation_id": "e7e40391-4639-4fa9-b81b-8d6f0d1d1e65", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "67d7fd74-61bf-41d4-b13d-4b6735469e7b", + "observation_id": "7985c958-320f-458e-82c8-cc1b104693be", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "2f85fc4b-90cb-40f8-ac78-aeab62fd4072", + "observation_id": "dacec8b4-a864-4f6e-86f6-bae50032282d", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "e011a08b-8296-4a4c-bc84-c539801c4a84", + "observation_id": "72732fa8-7456-41b4-9538-f1da43e9a341", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "2ee4c695-86d7-4354-a9b2-70bb1d59aa12", + "observation_id": "c1c15f03-f000-4a35-a33a-83b97545cc5a", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "aa6fbf20-b49b-4103-ad43-1fc5f4e93f62", + "observation_id": "35f56fb4-a731-486a-b41d-2bf14c96d9f7", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "74ddc2d5-cda4-4119-a2ff-6f8335e0fd26", + "observation_id": "06dbba5b-554a-44a1-b59c-b19a91457d98", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "c3396a09-1e9a-4099-8e3f-c3b54a84d733", + "observation_id": "21b90d9a-e62c-4cab-b275-f5df50d82003", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "71b00625-5734-44fa-b184-f61926969739", + "observation_id": "980c4f1a-82ee-4097-8f53-78af9d8c2571", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "eb2baebb-144d-47c7-b4e5-29ebda716dc3", + "observation_id": "13c1498f-2cba-4a22-bfbe-33bfbd57a71e", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "9c25c046-1762-49ad-aef2-c077c4e27968", + "observation_id": "e15a2dfd-9d35-4eb1-9c0c-a760577d19cd", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "3866ce05-929d-4e99-bcc2-dfefdbe2c61f", + "observation_id": "49b7d4a0-6b1d-4d21-9e9b-0c6aacfeedf2", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "c71080b3-685b-4356-b9d8-f84a31cb7d35", + "observation_id": "75b3c275-b7d6-4978-9d13-459e7c02e1e3", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "2cdb5ed6-5d25-4e0e-8380-bd62258dcc3c", + "observation_id": "dedf5cd1-db5a-4ca3-8d7e-1a4bc07e4a4d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "d9dd67be-1c19-472c-a714-caafac7270af", + "observation_id": "bc223fe0-dc40-4576-84c0-21055c5266a0", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "d8e525ff-e31b-419c-885c-ed4d58341b36", + "observation_id": "48b8e676-00c6-4e6d-800a-a3aa4b6ec1a5", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "3bc3d5bd-8b18-406c-a2c5-bc033bb852b3", + "observation_id": "a25f9e3b-7cec-4317-bb03-4baa3d53a83e", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "eb3971dd-3da7-431f-9881-e29c2915f9ef", + "observation_id": "c7c98de1-550d-4b15-b9f0-b7e6da68ce5c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "3fc403aa-e30f-4366-a302-47f33c3cc74e", + "observation_id": "c78d99e2-753b-43c6-8186-98bc49c42497", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "7e0c11d7-49b8-4dd7-b617-1938fb994b1d", + "observation_id": "974ddb25-4df8-4e0d-9cb2-af7c035e6428", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "63ae351b-c423-421a-870c-cc93ff12f5fc", + "observation_id": "479625ed-1049-4ba8-9e11-a1af424de4b1", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "e1e4456a-d647-444d-9426-746c217d0776", + "observation_id": "eaeccf88-359d-43a7-b8ee-520e4345696a", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bceg/render_e_camera_pose.json b/data/camera_study/Scene11/k4_bceg/render_e_camera_pose.json index 668d7f2..a829ee3 100644 --- a/data/camera_study/Scene11/k4_bceg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k4_bceg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:07Z", + "created_utc": "2026-06-02T22:41:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bceg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bceg/render_g_aruco_detection.json b/data/camera_study/Scene11/k4_bceg/render_g_aruco_detection.json index 3747af8..4ffe75b 100644 --- a/data/camera_study/Scene11/k4_bceg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bceg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:06Z", + "created_utc": "2026-06-02T22:41:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "aa81a8b3-db44-46f0-8fa5-8b124962a675", + "observation_id": "a84ec687-c5f1-4a69-9f9f-8f4cac849df0", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "5f4684e7-077c-4e84-84fc-e0ffc257dea4", + "observation_id": "cb75bab2-bc37-4287-8c07-2b465ae06efc", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "ff8a8196-ac52-46d0-a662-a1d7f6714aed", + "observation_id": "4c1f594d-6fdd-42b5-b8b9-75eaf9131cb0", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "91fe38b0-46d3-4278-a9ad-4622434088ab", + "observation_id": "c9154f5e-863b-477a-a65c-b80b8d35a61b", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "18bbb709-9621-4ab3-b809-043e2a4834f1", + "observation_id": "c492c6e8-28e6-458f-8013-fa8aeb14c1f8", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "b8119aae-db84-4825-bd29-9ac9d8949da5", + "observation_id": "645a3be0-7d38-4214-b258-09796b633a18", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "ee03d8d7-8dc6-4fab-bca3-75f8ff8ea3d7", + "observation_id": "8c804522-b0cf-41fd-9e60-20606c2afbf7", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "6e9b9c06-973f-4cff-afe2-68edb1424b42", + "observation_id": "235c85d8-23ca-497d-a731-547d917dc4f9", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "200089a5-6b81-424d-baad-b593dc752aca", + "observation_id": "166c5a9b-623c-4e7e-8339-5df625909d55", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "c902e315-5c8c-4c71-8300-b07cfea7a6fa", + "observation_id": "48ff44de-8eed-469d-a58f-0fc1db587da1", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "a31e5457-2751-42a0-a213-4f5babd63900", + "observation_id": "20740e3f-52b3-46af-97e0-fb9f828cf51f", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "bbea8c29-c55f-4d52-90b8-0484334f6097", + "observation_id": "7f22da58-e7c5-4ff4-981c-1b6282f131f1", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "d2bb4f9a-3423-4de5-afc9-07e8668765e4", + "observation_id": "b062d101-c931-433d-b834-2416e85e09d6", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "7c88debb-5794-49e0-b6b9-4abbfc0762f6", + "observation_id": "84b32962-83fa-43b1-8b1e-77364d87119f", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "b1e88271-ea7f-4a7f-bc9e-457b4e9c1357", + "observation_id": "b9f1377a-b55d-4d71-b863-0fe6fc7468ab", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "5ce08f8c-4b84-490a-9429-730eb2a551b3", + "observation_id": "f7265ef9-99ac-491a-a19a-3a7c7ba6d102", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "589de26b-94e8-4473-83bb-accb5034916d", + "observation_id": "0ce26354-77c2-4bb7-934b-87a651869e1c", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "ba7065c3-4b34-4509-be18-356b9526ae86", + "observation_id": "6c45a410-a8a1-4d58-959e-ff7c44503c38", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "186e3f44-fd89-40dd-ac2e-689e6535dcc0", + "observation_id": "b4b9d120-535e-4470-8724-790203c44df1", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "aed88b8e-7910-4207-99e4-80d180059c67", + "observation_id": "93804e28-74d9-4649-98a5-98ea75ff4a51", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "21e5b4df-68a2-4577-a829-26092006e054", + "observation_id": "a9a68897-e21e-4121-90cf-dc42a16b66d3", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "00c8c650-0ba0-436a-a225-c5c6096e387a", + "observation_id": "99d92766-ceb1-48fa-9c27-3323410738b4", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "76aa9834-6a07-4f71-a336-c54864b68747", + "observation_id": "29e596ae-6d91-4db4-a44f-3ce573e61eca", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "5043cbf5-339f-473d-8a34-bc0d0566c369", + "observation_id": "95df052e-d56e-4d90-b91f-b9283b910aac", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "e23356f6-da75-4dbf-8f76-75383ecc22f1", + "observation_id": "ca3a2980-8025-4ddc-94ed-85f7a1d1349a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "0864d47b-d877-4985-84c3-772d7c52c53f", + "observation_id": "6f1ccc82-8600-4794-8014-e660052dd725", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "8a062a10-a1a4-4803-94f5-df480ba90213", + "observation_id": "1c2f6f21-e5b9-4ada-a373-caedb2e2d385", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "e67f0840-039d-4d93-8448-f93be9c7d823", + "observation_id": "3bd4449e-8ef5-4cb7-add8-7cd9f8ddf4a8", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "40f1bc4a-ec4e-4821-93b2-30eed3d5e2a7", + "observation_id": "f4b10a77-4b0f-4a3b-8ba4-b4e74588aab6", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "160dd0a1-15f8-4695-b809-d1b62f60a3a1", + "observation_id": "faa48454-dd44-4868-a294-158d6b07bc56", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bceg/render_g_camera_pose.json b/data/camera_study/Scene11/k4_bceg/render_g_camera_pose.json index af8a319..6ad144a 100644 --- a/data/camera_study/Scene11/k4_bceg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k4_bceg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:07Z", + "created_utc": "2026-06-02T22:41:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bceg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bceg/robot_state.eval.json b/data/camera_study/Scene11/k4_bceg/robot_state.eval.json index f5c7922..0edd7dc 100644 --- a/data/camera_study/Scene11/k4_bceg/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_bceg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 4.35438067922027, "mean_abs_mm": 2.8545747077641437, "max_abs_mm": 3.996239186339345, - "finger_error_mm": 2.763065073197713 + "n_unobservable": 0, + "wrist_error_mm": 1.9442118546328677, + "finger_error_mm": 4.658815627745534 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_bceg/robot_state.json b/data/camera_study/Scene11/k4_bceg/robot_state.json index a57f791..0a370e2 100644 --- a/data/camera_study/Scene11/k4_bceg/robot_state.json +++ b/data/camera_study/Scene11/k4_bceg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:10Z", + "created_utc": "2026-06-02T22:41:18Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_bdef/aruco_marker_poses.json b/data/camera_study/Scene11/k4_bdef/aruco_marker_poses.json index 179406d..ff99874 100644 --- a/data/camera_study/Scene11/k4_bdef/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_bdef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:25:36Z", + "created_utc": "2026-06-02T22:41:44Z", "summary": { "num_cameras": 4, "num_markers": 20 diff --git a/data/camera_study/Scene11/k4_bdef/aruco_positions_initial.json b/data/camera_study/Scene11/k4_bdef/aruco_positions_initial.json index 201cb83..3577279 100644 --- a/data/camera_study/Scene11/k4_bdef/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_bdef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:25:35Z", + "created_utc": "2026-06-02T22:41:43Z", "summary": { "num_cameras": 4, "num_markers": 20, diff --git a/data/camera_study/Scene11/k4_bdef/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_bdef/aruco_positions_optimized.json index 8a2f786..7f30567 100644 --- a/data/camera_study/Scene11/k4_bdef/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_bdef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:25:36Z", + "created_utc": "2026-06-02T22:41:44Z", "summary": { "num_cameras": 4, "num_markers": 20, diff --git a/data/camera_study/Scene11/k4_bdef/render_b_aruco_detection.json b/data/camera_study/Scene11/k4_bdef/render_b_aruco_detection.json index c306a5f..0aef67f 100644 --- a/data/camera_study/Scene11/k4_bdef/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bdef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:32Z", + "created_utc": "2026-06-02T22:41:40Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "1bf10a73-caad-4224-9b69-894d47b61583", + "observation_id": "398174ff-f683-4433-8b15-66c1d42232a6", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "9569e25a-5b0d-47ad-ae4e-94ef5f128530", + "observation_id": "f430277d-63dd-4b7f-9110-4cdf53a727e6", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "679bba17-5632-4ab2-b236-8107b086a3e6", + "observation_id": "46f54df3-6e58-4b6a-b150-0b005da598ef", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "79b8faa8-cd46-4259-a12a-7e15763ec280", + "observation_id": "c36bb257-99d8-487e-98ba-86328f56548e", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "95124761-13fc-4347-98a5-fed8edaf5ca1", + "observation_id": "e18766bc-429a-4a3a-b749-f8a799e85522", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "a9a60dfa-b2ed-40bf-9dbd-c4bf7b27ca12", + "observation_id": "336d85fc-81fe-402c-b97b-15f2b82488ef", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "0f3aeacd-8206-4024-a36c-97a42588ed2b", + "observation_id": "5a7db192-fae3-48cc-8b58-6aeac46aaa87", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "c5a365f1-b628-4470-ba75-098b84bac012", + "observation_id": "a8db8d4d-67c2-40f7-9f99-6c05874e1fab", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "e8541db6-4291-4a0f-bc82-4dfa1537c096", + "observation_id": "ce2be467-daaa-4e44-82f9-5a64a3af2341", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "18b7be23-b581-4369-87b8-36a267ed6add", + "observation_id": "d4714632-aeb5-4a4c-a7ed-4d2907427cde", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "62d9d6e0-3295-4686-94b2-bc81ae987c2f", + "observation_id": "b680a623-ebda-478e-a565-fb0bec67f8a1", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "11af156d-f0c8-4dff-9aed-23b357180590", + "observation_id": "04f48109-65a9-4050-8118-2644d47e79f5", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "c4f27551-0ec2-4617-a890-f3a23a8438a3", + "observation_id": "f8cc58e0-7976-45f2-bc7c-6f40708509bb", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "a20512e6-27e4-4276-97ff-b8ce8a43553c", + "observation_id": "87c813f5-9f51-470c-9176-da0df8386dca", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "97554ca3-ba79-4329-83ec-ce17152eb06e", + "observation_id": "7adb4c04-35e3-4b15-9b01-de5eaae55538", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "7d6614dc-ab30-4465-a927-a3ed4173fec3", + "observation_id": "f634e3ad-26cf-481c-982c-c86a9168f8be", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "e6ca53fe-b8dc-472c-a5a8-827e0cf07a1b", + "observation_id": "1a803a76-fa40-4b85-a1e8-65c242697e2e", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "486ff571-0c2b-4e95-b952-9fa324da82ec", + "observation_id": "36aec554-7ab5-4d1a-b0a6-41ac354aeb8f", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "f46f9b42-1f86-4277-bba7-ac989bbf8ac0", + "observation_id": "04e26c9f-15a2-44b4-b4da-fcfd64ce1ff6", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "38e84d29-df79-4e9a-bbac-284ec4e2bab3", + "observation_id": "7df6e882-5e49-4232-aa27-a08eaa6f9423", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "bb869f95-071c-4a14-99f8-1af7618feea9", + "observation_id": "5fcea556-a427-48ee-8f8d-d0aff1bbd5eb", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bdef/render_b_camera_pose.json b/data/camera_study/Scene11/k4_bdef/render_b_camera_pose.json index 5ccad87..7869567 100644 --- a/data/camera_study/Scene11/k4_bdef/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k4_bdef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:33Z", + "created_utc": "2026-06-02T22:41:42Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bdef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bdef/render_d_aruco_detection.json b/data/camera_study/Scene11/k4_bdef/render_d_aruco_detection.json index 023db1e..42d3dd3 100644 --- a/data/camera_study/Scene11/k4_bdef/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bdef/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:32Z", + "created_utc": "2026-06-02T22:41:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c763ff53-1c61-4757-89d8-8fc07d08ee26", + "observation_id": "ec6dd0b6-e07a-4774-b0b7-4a504b00040e", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "a982a365-c35f-42d0-9523-180e1c977be9", + "observation_id": "43465701-e7b6-4674-9cc4-39fcd25e35e1", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "741aa069-a50a-4f7f-8af7-106d738fe802", + "observation_id": "a6f72612-c1a1-47a1-8517-b44e4110fa1b", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "248d6522-c6c9-4e0c-8265-c1ccd1120835", + "observation_id": "2faaba8a-8410-4442-867b-b239360b8d01", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "65889dee-23aa-43dc-8ccb-01864e42bdce", + "observation_id": "09b6a785-76d8-4ecf-a4a1-46d91742b67e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "f2afbdcc-d217-4c1d-97e7-ad4f1f38d6e8", + "observation_id": "1fd01c18-97d6-47e2-8c33-519be2aff3c3", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "63d2d420-5bea-4554-b6ab-a9b8ae9870f2", + "observation_id": "2b0f3c0f-55b0-476d-8567-bc3ab6af5579", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "d65097e3-db91-4cd7-8d4b-d7e217916705", + "observation_id": "1c7236ab-fd33-4da2-affb-f700bf87fb50", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "eab9590e-4e2b-4d2a-a896-bbd7c9756993", + "observation_id": "a03e4254-5c79-4df2-b8b2-ffadf14601a2", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "d972a648-a2c2-4c91-bd59-c6dac188a9be", + "observation_id": "acb50487-90ca-4f45-8693-0c701edd182a", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "00e3692b-4b5b-4ac5-b082-35071852c027", + "observation_id": "fa60db14-8384-4840-8933-4bbefb89b3ef", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "a2f5b57b-1f83-4397-984c-132566a53909", + "observation_id": "d6968e72-85ed-4b46-9d8b-34f1ac92f8cc", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "104b381f-cf9c-484d-a034-c2e233ef3826", + "observation_id": "2a8c6038-7cfe-454b-8fd9-d67a4c1704a2", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "841c82c2-bf80-461c-b821-99ac3b91127e", + "observation_id": "44584adc-08a3-42f3-a485-4161675c1801", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "d0ebb47d-5549-4b74-8c85-177b4160dca0", + "observation_id": "1c36892b-1146-452a-bc95-bd17f1fe8ec6", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "5a81cb0a-765e-4ac8-8ce9-cf4b8fdd218a", + "observation_id": "b24a663b-d569-48fe-af7c-b5aa4e4c353e", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bdef/render_d_camera_pose.json b/data/camera_study/Scene11/k4_bdef/render_d_camera_pose.json index 199233f..3cf59b3 100644 --- a/data/camera_study/Scene11/k4_bdef/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k4_bdef/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:34Z", + "created_utc": "2026-06-02T22:41:42Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bdef\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bdef/render_e_aruco_detection.json b/data/camera_study/Scene11/k4_bdef/render_e_aruco_detection.json index 1f0a567..be980ff 100644 --- a/data/camera_study/Scene11/k4_bdef/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bdef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:33Z", + "created_utc": "2026-06-02T22:41:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c85bf185-a0b9-4b8e-a7c6-e661318fb76c", + "observation_id": "3d3f72b2-eac8-4104-ab9e-d22e387a6224", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "b7e0049d-d0e1-4ecb-bd76-382b38d2c463", + "observation_id": "5447d585-5114-4721-bf75-90847522ab58", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "67d844cd-d8cd-4c43-9407-271edecaed8c", + "observation_id": "082ad679-a38b-4d18-a183-941d29612361", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "8be64879-e116-4b78-b323-3f225cef835b", + "observation_id": "61751836-89c6-4605-b094-dd737ec401f9", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "a2154aea-3c49-4c2f-a5f9-c48c8a7b1862", + "observation_id": "95e5f9cb-93fb-43e9-914d-7f7fa18167e4", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "65c2c4e3-015f-46f3-bc60-2de9a1675095", + "observation_id": "48967268-1194-445a-b2bd-b8d107f53805", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "70fe3a7e-0626-4928-879f-a68b99c9a026", + "observation_id": "f2d648a9-e597-4384-beae-97cc1e0ab379", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "3369b235-b936-4eff-aa54-a787772b85c1", + "observation_id": "a078eecb-d42c-4660-af8c-632cb503ef09", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "41efb724-c7f0-4037-8994-9efdc1c48a79", + "observation_id": "d778eacc-af1c-4c40-b111-3c6533d90de8", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "442b4ab6-29a9-4eae-80c0-d7c0d164bb5f", + "observation_id": "06b5b029-7f0e-4eae-a080-1a43407bea52", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "85b1886e-c543-499e-8374-f236b96fdca6", + "observation_id": "96054295-07c7-4e7e-877e-33ca0d15ef84", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "0796b700-1b45-45a8-a35f-53508cd90f95", + "observation_id": "fb1482df-a2c8-4ef3-835d-472d6b33f296", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "9408bd62-1b59-4dab-8fc6-2b3fb0865405", + "observation_id": "d7a1792b-409b-4c6d-a21c-811a23318f01", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "5c0ec251-487a-459e-8ab0-8f895bec6fa5", + "observation_id": "f06d1c35-35bd-41a0-a1c5-f43490e3fe8e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "77765493-9ba1-4013-8b26-a458a397bd83", + "observation_id": "c812cf6c-38d3-4c5d-8cb9-87b04f9f133b", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "ecde9a6d-ea95-40c6-b067-b492648b5f03", + "observation_id": "1c392a93-e681-4077-9979-e110b6e2033b", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "41adb772-39fb-4d51-aba9-a6d064204958", + "observation_id": "940865b8-ecb7-44bb-959b-8ef10505d903", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "3e891bbc-2e6b-4c45-b0a4-a6e4d5c99b65", + "observation_id": "e700b4cb-923e-4a55-8f99-143c515a8d1f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "e2835fcb-4388-439c-ade1-3a8698b29765", + "observation_id": "0ef6e956-628d-4226-93e8-18d1a79d619c", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "2a9552d8-2586-474f-b86d-0e3e493227a9", + "observation_id": "e103eac9-23cf-4139-a6be-6fbae1588f05", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "dc3b015e-2348-4f89-be85-4294e5b66fff", + "observation_id": "b434b099-3111-4d27-bc1a-3d42f3538f11", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "d704d71b-4632-4dd8-a71c-24f6602883fc", + "observation_id": "27e45ad2-1b41-424a-8de0-eb227b14abdf", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bdef/render_e_camera_pose.json b/data/camera_study/Scene11/k4_bdef/render_e_camera_pose.json index cc5d7d1..db6f41a 100644 --- a/data/camera_study/Scene11/k4_bdef/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k4_bdef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:34Z", + "created_utc": "2026-06-02T22:41:42Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bdef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bdef/render_f_aruco_detection.json b/data/camera_study/Scene11/k4_bdef/render_f_aruco_detection.json index 69084cc..dab643d 100644 --- a/data/camera_study/Scene11/k4_bdef/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k4_bdef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:33Z", + "created_utc": "2026-06-02T22:41:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f7b14519-68f9-4fc1-b3ed-03a8fa6a92c9", + "observation_id": "55d5e6c1-4a77-4748-b44d-9ff88b90c8d1", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "65e71f87-1499-435a-8905-09013c1759cf", + "observation_id": "aa30f0f0-4097-436f-9b60-214834b4a61a", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "a8ed8d53-7899-45f8-a2c7-9d3659f35b37", + "observation_id": "10ea48b0-9708-47a2-b5bf-6c7311d6ec75", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "69ace08c-9d99-4bb8-bcd8-ad86d0913d6a", + "observation_id": "7907fc3e-209c-40cb-b687-4ceb70b4b803", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "0d69d747-3ce8-4b2b-96fc-94bed62713c9", + "observation_id": "9ff6ddba-ee9c-49ef-85f3-95b6aa0516f3", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "677078c3-7b21-4774-a876-f7c6e35130eb", + "observation_id": "ac967c86-9697-46a6-bd36-a9dfb10085c0", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "c91f5fcb-b302-4578-b59f-e6c79534b20c", + "observation_id": "b80684bf-a801-4992-874d-444e73a9353b", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "61083740-5034-49cb-8092-fa6c37f8eede", + "observation_id": "2d5cb505-8de3-4906-a083-4fa5e40235bd", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "ec119203-1bf5-4e77-86dd-0ba65c44d40f", + "observation_id": "0e11ec1f-b35d-4403-973e-941a3ab87589", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "fbfcd8af-19d8-4a48-96e4-65217b1ef433", + "observation_id": "4fb9517b-e9ae-4e6c-8db1-90c18594ac5f", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "605f7653-9827-4465-a978-4ed7a695b7c0", + "observation_id": "c549c004-4846-46cd-9b81-76ad5d71be52", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "efc7d50b-c910-4dea-84eb-b3b3f579ed23", + "observation_id": "04ae4b03-2ed2-458f-9e9d-2a47e56b6139", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "3b02a88d-c899-4b82-860d-2bf7a21a802f", + "observation_id": "c6f688e9-2df8-45d7-912e-2093196d4ff4", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "c5477d79-9bca-42be-8198-33005d35311f", + "observation_id": "aa14132d-9343-4385-a579-ea00fb3d98f7", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "0b1795c1-362a-4b6a-98f6-1fc67e1b3b2e", + "observation_id": "1dbb43db-db8f-46aa-aab9-60b324594b5b", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "9cb63891-d557-4145-856c-c76ed8952e9d", + "observation_id": "524b74d6-9f7c-445c-920f-09b9257a8b30", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_bdef/render_f_camera_pose.json b/data/camera_study/Scene11/k4_bdef/render_f_camera_pose.json index 0152a66..1f152cb 100644 --- a/data/camera_study/Scene11/k4_bdef/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k4_bdef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:35Z", + "created_utc": "2026-06-02T22:41:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_bdef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_bdef/robot_state.eval.json b/data/camera_study/Scene11/k4_bdef/robot_state.eval.json index 9b94408..6ad151b 100644 --- a/data/camera_study/Scene11/k4_bdef/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_bdef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 2.803517057569536, "mean_abs_mm": 1.6693953991951016, "max_abs_mm": 3.2710492666014197, - "finger_error_mm": 3.0244247655510885 + "n_unobservable": 0, + "wrist_error_mm": 0.9017011529295962, + "finger_error_mm": 4.3707423665553415 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_bdef/robot_state.json b/data/camera_study/Scene11/k4_bdef/robot_state.json index d1b6d34..5ad2064 100644 --- a/data/camera_study/Scene11/k4_bdef/robot_state.json +++ b/data/camera_study/Scene11/k4_bdef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:38Z", + "created_utc": "2026-06-02T22:41:46Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_befg/aruco_marker_poses.json b/data/camera_study/Scene11/k4_befg/aruco_marker_poses.json index a4f21e0..552757f 100644 --- a/data/camera_study/Scene11/k4_befg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_befg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:24:57Z", + "created_utc": "2026-06-02T22:41:05Z", "summary": { "num_cameras": 4, "num_markers": 26 diff --git a/data/camera_study/Scene11/k4_befg/aruco_positions_initial.json b/data/camera_study/Scene11/k4_befg/aruco_positions_initial.json index ca10768..41560f5 100644 --- a/data/camera_study/Scene11/k4_befg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_befg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:24:55Z", + "created_utc": "2026-06-02T22:41:04Z", "summary": { "num_cameras": 4, "num_markers": 26, diff --git a/data/camera_study/Scene11/k4_befg/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_befg/aruco_positions_optimized.json index 0b7abaf..6b8cde8 100644 --- a/data/camera_study/Scene11/k4_befg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_befg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:24:56Z", + "created_utc": "2026-06-02T22:41:04Z", "summary": { "num_cameras": 4, "num_markers": 26, diff --git a/data/camera_study/Scene11/k4_befg/render_b_aruco_detection.json b/data/camera_study/Scene11/k4_befg/render_b_aruco_detection.json index 0fc89f1..1ae3f94 100644 --- a/data/camera_study/Scene11/k4_befg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k4_befg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:52Z", + "created_utc": "2026-06-02T22:41:01Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "7c7e5637-b7e7-4255-bda1-5a42baabb344", + "observation_id": "cc413893-24a6-4064-b800-d4e0521eafc0", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "a26ea0f3-40ca-409a-82ef-d896911550b2", + "observation_id": "42bf3faa-b9f9-4ad8-bf48-24188f64a48b", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "f7b4b487-3334-466a-ae40-43866a50dafd", + "observation_id": "2a7f2ba7-b752-4a39-8774-c2a9bfecf8f4", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "344c2165-120b-455c-b28f-b03cd7f89284", + "observation_id": "c2b4a107-ee27-447c-815d-0bebf64e8221", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "dd9596e9-5581-4835-b691-32f751c1edf0", + "observation_id": "f8e5c1ff-fc9c-4671-ab97-50548d47e001", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "08813fc7-df8a-4186-9740-64b87dfe7932", + "observation_id": "969b58fe-8851-456b-9fac-7e88512a8c39", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "3f058548-d06a-414c-8ae4-a0e666e359bb", + "observation_id": "e1570161-4006-4f21-b806-77bc2baaf7a6", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "e731a93b-a026-4b02-b648-c662b4e8cf1c", + "observation_id": "71d31d32-0e67-4c88-9c54-41b102c3034f", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "a7775b04-7e90-4c5d-93de-f02c8587487b", + "observation_id": "e356f698-d66d-44aa-98d7-640d8959b312", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "cd62aa41-6313-4a4e-a804-1399c1dd4ed5", + "observation_id": "a6392a97-f224-4425-8c19-875fc02cdb1e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "ab016511-2f7b-4a2e-b211-2e79dac33cf1", + "observation_id": "2a10a82f-3acf-413f-b2e9-6a724e6a5d21", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "f0104917-119a-4f98-a62a-89bcb36c3fc0", + "observation_id": "843ebe93-7cad-4db9-ae1e-dc9a0f7a114b", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "213c8234-7153-4f2c-aecd-23d0a604ed8e", + "observation_id": "4dfc7825-932f-45ab-9647-ae7b2121a055", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "298d2248-8d53-4277-81e6-d534a453a111", + "observation_id": "0a1963e9-09b7-4445-9df6-4a5e03f1d5b8", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "af64d622-c5d5-49d2-808f-c28bf546e698", + "observation_id": "713f415d-8c14-4cb5-bbb9-26ecbf5c9bd3", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "33bfcdaa-d345-4f08-b5c8-e518289f232c", + "observation_id": "26373e22-9b9f-42f9-b4a6-47da8c3c1845", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "394a809c-728f-4231-9b7b-f944d6e32198", + "observation_id": "dc9e40ad-6d56-4c3e-b79f-276af52f93b4", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "23cd2d71-4207-4e0f-a57e-a60604e0fa9d", + "observation_id": "7ca60bd6-55cc-42a5-b6a8-b0fd4359e310", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "18018bb2-7610-412c-b7ef-a8f3cd4edbf7", + "observation_id": "c32214a5-a335-4c3b-9519-32f8904d5ead", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "e074a3e2-5dd4-4fc5-a441-ae9280f86154", + "observation_id": "e043f969-3b7c-443a-b30e-7a0e4a60c042", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "18e85717-7ae0-4de8-b770-9489b27f0a36", + "observation_id": "d97c6698-2bc9-432f-ad02-caa63dd565f4", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_befg/render_b_camera_pose.json b/data/camera_study/Scene11/k4_befg/render_b_camera_pose.json index 402b391..c4df0d0 100644 --- a/data/camera_study/Scene11/k4_befg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k4_befg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:54Z", + "created_utc": "2026-06-02T22:41:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_befg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_befg/render_e_aruco_detection.json b/data/camera_study/Scene11/k4_befg/render_e_aruco_detection.json index 1622417..a299408 100644 --- a/data/camera_study/Scene11/k4_befg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k4_befg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:53Z", + "created_utc": "2026-06-02T22:41:01Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a711555a-4b06-4af9-a296-6ee5e64db279", + "observation_id": "c39f439d-ea4a-4961-9a38-40f3b07f70d3", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "4849be97-45f3-46e9-b55a-a7eacdb3819b", + "observation_id": "de57adfc-6ddd-4534-b355-fbd4bdce26b0", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "613a121a-b6c0-4eac-8ece-8232c27772dc", + "observation_id": "f2d6a842-270a-44f4-a5e6-6d3c2a0bef87", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "6ed36024-4e8d-48db-81be-5e327e5a3627", + "observation_id": "31d18cd6-62f0-45a1-a0c2-8d76e2a21a3a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "fa901118-dfe8-4b0b-acfa-96014c20e7f1", + "observation_id": "0cb31cec-f719-4953-8080-0f211c0085e8", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "70d5da59-16df-4631-8cfb-ed08ae93a460", + "observation_id": "f4252106-8e3a-42fc-8a33-a5f335949cdf", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "9cd185c4-2a8b-4a03-b8cf-761faafac0d9", + "observation_id": "a9b3511b-8477-44f6-a4df-39d9ee0f964e", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "2cd27a7e-0e32-4277-87b8-2eadc401818f", + "observation_id": "d7b497e5-d577-4831-a5e6-edd21bb069e4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "5dc71596-9400-4df2-81f2-1aa8d3f7a266", + "observation_id": "e10dcd2c-2ed4-400b-91aa-026b0460c841", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "7abcc203-56c7-4111-8328-283d5714a6a3", + "observation_id": "5c0c07e9-665f-4ab3-a6f7-c7d9cfad53e7", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "82a13bf0-e721-4928-8c20-70816fdd9770", + "observation_id": "bdb9c342-331a-421b-be94-e3be9b60d05c", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "e5ac12ca-d42d-4a35-9268-5a8f407497fe", + "observation_id": "d97ed45e-30ad-483b-90f2-30dd1ba8f44d", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "49c306e1-c045-4eb0-8b60-1070990639d3", + "observation_id": "d7033eed-445d-4d3b-8c2f-4f36c86c6fe6", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "723dccb2-8f68-4b43-81c5-cacb2d10c173", + "observation_id": "c8587c8f-268c-4c78-a6f8-77bfc2d2bc7a", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "3e8befe0-3c95-421e-b093-e1b01bbb24bb", + "observation_id": "18cd7f53-f9cc-41b6-b601-81390973d128", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "a880e243-e636-4e0e-a356-dbceff1d5758", + "observation_id": "3c8197f4-28d0-407d-b32e-fbfe86b05bd9", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "72992416-fdbe-4762-985e-e36517064270", + "observation_id": "a0e5f724-f5eb-41f7-a719-fc7c64165f97", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "4f99d7ab-6175-4a10-9516-d2e191bd6ff8", + "observation_id": "ebf4660e-9449-4858-8617-e7422e4e2ec1", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "4fd0cdd8-8e35-4a06-9fa3-a7819371be34", + "observation_id": "1a800356-2656-414e-9a3f-b3eab76519e4", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "17456501-80f5-49a2-a866-136cf1d74684", + "observation_id": "31421967-0c98-423a-9395-e16c182f1e40", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "ecbef7c7-e59f-48be-b784-75be73eab6fe", + "observation_id": "de0a4c4e-5e30-4273-93b3-40b076bae589", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "2fde9aa7-43d6-4caa-aad4-60e42b4df840", + "observation_id": "f4d4ab88-a7c7-4827-bb6d-5574cf74e7f4", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_befg/render_e_camera_pose.json b/data/camera_study/Scene11/k4_befg/render_e_camera_pose.json index 95b1dd5..3a78d54 100644 --- a/data/camera_study/Scene11/k4_befg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k4_befg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:55Z", + "created_utc": "2026-06-02T22:41:03Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_befg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_befg/render_f_aruco_detection.json b/data/camera_study/Scene11/k4_befg/render_f_aruco_detection.json index c166d91..3b34d2a 100644 --- a/data/camera_study/Scene11/k4_befg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k4_befg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:53Z", + "created_utc": "2026-06-02T22:41:02Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bac61fd5-c6e2-4b34-a55a-8e7b691df59e", + "observation_id": "5b8f7e2c-ab60-43c4-852c-3e80549a25d1", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "428e75fb-0398-47b4-908f-772acb58bdcf", + "observation_id": "447838ef-42d4-4757-aac3-fd811007b0d1", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "c8377a4f-fe64-4240-a3e5-5e40a9db7e1e", + "observation_id": "35602871-f54d-45e7-87a2-86a761c30292", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "d1d06eca-e3c4-4698-a251-d63ccaf85adf", + "observation_id": "2782aa49-a485-44f9-87e6-3e8bffe98528", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "e1438f50-52d5-4308-b8be-b14a658d1902", + "observation_id": "b5aea682-cd7b-4302-91f0-52e7aeb3478e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "f8a8a6c9-8891-4d26-a5a3-dbb4027337f7", + "observation_id": "ad9c3760-737a-4dbf-9412-764d1072f211", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "57d2c77e-2a4a-415d-bf9e-78f2ea8de520", + "observation_id": "1530402c-16de-417c-b187-c076b2f2a96e", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "a11c5062-36e8-4a70-8176-80f79672f483", + "observation_id": "f958a8bb-a3d0-4a23-97aa-716a2acbfd98", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "4631eaef-3e2a-4104-9b6a-70c2bf808875", + "observation_id": "a9542ec5-6176-4ffb-98c8-29564615874e", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "0510849e-7604-4dca-af41-69197f192956", + "observation_id": "cf6edb7f-cc84-4858-8484-74b730009404", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "c73393d8-94bf-4c9b-86e6-80390b57a1f5", + "observation_id": "42560104-fbe0-4fcd-bd70-dc83dd66a11b", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "0cf9a70f-e6cc-4b9a-8215-7524a69ddde4", + "observation_id": "91b27adf-26b0-4e92-b5bd-c81f058f22ac", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "b21d8bf8-b596-4e55-ae8c-4dedf3d89a02", + "observation_id": "0376dcfc-93a4-4823-8276-baea01936b7f", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "a4402cc9-4eb7-4340-bba9-af91a04daa5b", + "observation_id": "c083889b-0145-43a2-9bae-3affc8dc8744", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "00806b5f-7d03-4eb5-b72e-b0be43ac4fcb", + "observation_id": "b9c68d21-6598-410b-a665-1d1aa8985438", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "9cfea44c-0ab8-42ac-8199-acb945df2975", + "observation_id": "ce4ef238-455f-4391-81f9-ec5c1c7390c5", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_befg/render_f_camera_pose.json b/data/camera_study/Scene11/k4_befg/render_f_camera_pose.json index af0c34f..0600990 100644 --- a/data/camera_study/Scene11/k4_befg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k4_befg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:55Z", + "created_utc": "2026-06-02T22:41:03Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_befg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_befg/render_g_aruco_detection.json b/data/camera_study/Scene11/k4_befg/render_g_aruco_detection.json index dc6579c..725ec34 100644 --- a/data/camera_study/Scene11/k4_befg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k4_befg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:54Z", + "created_utc": "2026-06-02T22:41:02Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3aec75f7-5955-4d5f-ba4f-608466ee4ff7", + "observation_id": "f35a416f-8cc1-4951-8fb8-f87157322430", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "80044fa7-3633-4149-9080-f9450ab64571", + "observation_id": "ee6593c6-0c0c-43ae-b028-ca5f9fc5098c", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "bf0df268-53ec-4491-b6a9-884ea0ae8799", + "observation_id": "6ee17672-417f-4ed2-9f13-f39c489cc872", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "87313cd3-884d-485c-81c6-d276df32ee91", + "observation_id": "71398258-c9a2-46ff-9d98-44a2deaf3ad1", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "abceada9-d776-4666-8dd8-e716af10350a", + "observation_id": "c09f5700-5917-4a55-a6d8-809dbaa87017", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "2ae55c78-4b3b-4384-9f4b-85e83f0a1457", + "observation_id": "5dd9b016-991f-4fb8-a6be-e3ee929f6e19", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "774d1957-88ec-4b04-a43a-d84c9ef39c73", + "observation_id": "36480b66-5e01-4187-b5bd-c6032fc677db", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "2c457dad-e8f4-4691-ac64-488dee6d53ab", + "observation_id": "ecb75d18-a1df-444e-adb8-4526d802d1aa", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "bf9e0cec-cfcf-47c2-b3c9-3998104ecd3e", + "observation_id": "7dddc2db-e228-43d4-8481-4f03ced967f0", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "65c53cf1-4162-432b-9c67-c925d9d68498", + "observation_id": "ff0a822f-948a-4ecc-8658-82aa2115beb1", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "48e7a42b-74f3-4d90-8c82-c86aedf825bb", + "observation_id": "a885095a-62be-406c-9a21-2b48bfce486a", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "4797a58d-215c-44ed-a384-3d11d55a5982", + "observation_id": "171a6ca4-9c70-48ae-bf94-c3615654bcb3", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "e20dbe0c-4095-4b54-aa47-60b09fee6c6e", + "observation_id": "6ac24a98-5409-4f65-a88b-bb7e5888a229", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "78d30e88-6da6-4c6a-9658-8b8a463c33c3", + "observation_id": "b06a4552-12f2-4a5e-9b9f-044004cbc17d", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "560ea408-9f48-4c79-b42c-c288d808541e", + "observation_id": "29a832ef-6f88-4859-bf8b-2ce5367b2daa", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "65cededf-94f6-4137-8adb-3ec1a7648148", + "observation_id": "98a80ba2-7ee9-4409-b921-e9076f1cdefb", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "96be6e6f-c37b-4060-b2ea-f8e8aec514a9", + "observation_id": "58ab731e-eaf7-4392-b211-faf262efc540", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "aa4ec7f2-5051-4d89-bb3c-b465a44e086b", + "observation_id": "a1493992-8066-42ec-a5bb-0ae758c8a053", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "23b0b7b7-b9cd-429f-a8ba-817fabe8248c", + "observation_id": "6f0f443b-e9e5-4dde-b674-277bf82155df", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "0c11b0bc-0151-42bf-878f-c36ea8263559", + "observation_id": "21fec41b-b37b-4c17-affc-217df1bc6877", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "155fccc6-d083-4dab-aa21-130dea799119", + "observation_id": "4c07ae59-b965-4de2-8199-325328c85550", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "02fbde3f-8f3d-4d39-ba8e-b9a822aea39f", + "observation_id": "d1be325e-0bc7-4131-9dad-4e24d73281ef", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "8fe30295-6587-464a-9927-e678dd37f0bf", + "observation_id": "87a4d0a6-6033-4625-adea-4b7ff99906c5", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "8fbd1aea-8f72-4e08-a434-6d81a9130c64", + "observation_id": "3fe2f0b4-7c31-4ee1-b9c2-e7d1c61a0a6f", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "b4371c04-b413-4f2a-8c9f-7aea183f1387", + "observation_id": "e06ad7f5-eb9f-4936-8d85-7e63f8108ca7", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "eff536c3-c868-4338-8bd2-cfff94acd518", + "observation_id": "c67dab78-2547-49cd-901e-9a950ff06421", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "795f02ab-7cfb-4a96-a31d-4b0a25976cf6", + "observation_id": "9419c541-9a50-4122-8f47-626b87d0d627", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "221ddc53-4709-47f6-98e3-e33b07698517", + "observation_id": "c8a996ff-faff-4cf4-ac01-7c13400852c0", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "cf486369-2489-4ff3-a4aa-a563a92c8abf", + "observation_id": "65c4b8d1-1575-4f90-a789-4e1a6ddc9888", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "2d25371a-6f5c-4953-b742-da40ffa1008a", + "observation_id": "7139bdf4-568e-4a51-a05a-c7d4570a6bf9", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_befg/render_g_camera_pose.json b/data/camera_study/Scene11/k4_befg/render_g_camera_pose.json index f0955bb..3d845a3 100644 --- a/data/camera_study/Scene11/k4_befg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k4_befg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:55Z", + "created_utc": "2026-06-02T22:41:03Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_befg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_befg/robot_state.eval.json b/data/camera_study/Scene11/k4_befg/robot_state.eval.json index 47c1de1..44d8107 100644 --- a/data/camera_study/Scene11/k4_befg/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_befg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 4.234443030478985, "mean_abs_mm": 1.6918484412671595, "max_abs_mm": 2.592596714154058, - "finger_error_mm": 3.4498438864748278 + "n_unobservable": 0, + "wrist_error_mm": 0.9805195580532416, + "finger_error_mm": 6.388273247961927 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_befg/robot_state.json b/data/camera_study/Scene11/k4_befg/robot_state.json index 3a6b6af..e85005b 100644 --- a/data/camera_study/Scene11/k4_befg/robot_state.json +++ b/data/camera_study/Scene11/k4_befg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:24:58Z", + "created_utc": "2026-06-02T22:41:06Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k4_defg/aruco_marker_poses.json b/data/camera_study/Scene11/k4_defg/aruco_marker_poses.json index 97dae80..0a6f22e 100644 --- a/data/camera_study/Scene11/k4_defg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k4_defg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:25:15Z", + "created_utc": "2026-06-02T22:41:23Z", "summary": { "num_cameras": 4, "num_markers": 25 diff --git a/data/camera_study/Scene11/k4_defg/aruco_positions_initial.json b/data/camera_study/Scene11/k4_defg/aruco_positions_initial.json index 3c497f5..1d25a50 100644 --- a/data/camera_study/Scene11/k4_defg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k4_defg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:25:14Z", + "created_utc": "2026-06-02T22:41:21Z", "summary": { "num_cameras": 4, "num_markers": 25, diff --git a/data/camera_study/Scene11/k4_defg/aruco_positions_optimized.json b/data/camera_study/Scene11/k4_defg/aruco_positions_optimized.json index 94959e6..3ee227c 100644 --- a/data/camera_study/Scene11/k4_defg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k4_defg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:25:15Z", + "created_utc": "2026-06-02T22:41:23Z", "summary": { "num_cameras": 4, "num_markers": 25, diff --git a/data/camera_study/Scene11/k4_defg/render_d_aruco_detection.json b/data/camera_study/Scene11/k4_defg/render_d_aruco_detection.json index eb9d30b..9d9b252 100644 --- a/data/camera_study/Scene11/k4_defg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k4_defg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:11Z", + "created_utc": "2026-06-02T22:41:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f1c69983-7bd6-428f-bff8-2c2c8a509d85", + "observation_id": "f2c2410d-a1f6-45aa-af6b-d23afb2c0c44", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "7f69334e-bbd3-4dc5-9f79-ff3bf916d678", + "observation_id": "d2c9da31-c362-4106-979c-b11b416b4ff5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "407c0553-05fa-4b1c-964b-24fb5ee5c729", + "observation_id": "be8875a0-5e16-43da-bad1-6bfb2cc48761", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "b9b3deaf-2579-4291-8a9c-c5062db7bfbf", + "observation_id": "3c3ed764-9831-4029-994e-251ac07c9660", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "522e5b9a-0f18-424b-9cb4-297e8a33ab20", + "observation_id": "afc0d4aa-9fba-4de5-bbba-40df26671c3f", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "99b9b9c3-29a0-4637-ab3d-962bfca06819", + "observation_id": "d4e8ace8-2b8e-41fd-94c3-f556136f5b62", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "284f84e9-7ae4-4eae-88d3-07563f035a6e", + "observation_id": "e9069ac0-00c5-40cc-9ee6-56cf636fa80e", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "8fca1791-5897-433a-a6db-01ecc60daa9f", + "observation_id": "a03cd928-6826-4cd3-90fa-7ffb09781f8b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "d0c782e2-8659-4c29-bed4-8824e2ebed5a", + "observation_id": "a28a1a03-1533-48fe-aeda-83e2f5baa20b", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "72a27360-4a66-48db-9502-ca850d12fa44", + "observation_id": "9e6bbe7d-4e50-4d83-a664-52748bac6149", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "10e65280-59e1-486a-8419-71013d92bec2", + "observation_id": "86fa5480-0355-43a4-a69e-945ed7b4578b", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "43b6e269-a5a1-4f64-904b-d45b33cb6881", + "observation_id": "4d2fe2a5-fa0a-4235-aec4-ecc6ea952ecb", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "fb88e7bd-27a7-45f0-81b3-bfdf80110d9e", + "observation_id": "276db631-b0c1-4443-97b7-11edf8b25060", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "0d85ad1f-34fe-48ca-9160-da9e213ccde0", + "observation_id": "315ae852-4bb9-4194-bc1c-ac8c67f17477", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "c015f4a5-a406-4699-a169-9ea6bd7b3ab9", + "observation_id": "73a76442-e405-49d8-ae8c-97027bfe7c8f", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "9edc0415-c611-433c-b299-1df91a42c75a", + "observation_id": "c5d76518-b744-4ba9-9f14-0c35f2365a6f", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_defg/render_d_camera_pose.json b/data/camera_study/Scene11/k4_defg/render_d_camera_pose.json index 841df62..007ea71 100644 --- a/data/camera_study/Scene11/k4_defg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k4_defg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:12Z", + "created_utc": "2026-06-02T22:41:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_defg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_defg/render_e_aruco_detection.json b/data/camera_study/Scene11/k4_defg/render_e_aruco_detection.json index 57f7bfc..c882602 100644 --- a/data/camera_study/Scene11/k4_defg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k4_defg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:11Z", + "created_utc": "2026-06-02T22:41:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "27dc1e3a-7d02-4675-a502-b6d37d3d7525", + "observation_id": "291f27d4-bc73-4622-b5e6-ac39915d4c33", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "33eb879a-d178-4295-8a3f-1da705629c3a", + "observation_id": "7152aef8-c477-4770-98a3-49f050b0257c", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "61103495-391f-4251-8795-c41af0327295", + "observation_id": "2b6c787e-ec44-4ace-ab9a-655535a940a0", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "a54106d3-a33e-4b29-ac42-16356f9939f9", + "observation_id": "96685c3f-fb60-4aed-911e-d39eaaf85e99", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "7979e5b5-2c3f-49ee-9e0a-49dbd93cfea8", + "observation_id": "69e7b999-0392-4b62-a582-2ae1372fc38d", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "52e8acb7-a121-49f3-896f-f240c6cce266", + "observation_id": "c1e2657b-7430-47a7-a9c1-abdaf75eb95b", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "bc950898-4e7b-4e94-9cfb-14d9d2ed2c27", + "observation_id": "8877cf67-6a7e-49f2-beb6-e7748f68b0c6", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "21dae28c-0ef3-4735-8a2f-3e44001e544e", + "observation_id": "56a11ed6-d933-4ee1-b896-d565f934d254", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "9a86f6df-a484-4cb7-aba9-93116d4cb9c8", + "observation_id": "5704033a-b1a9-45d5-b761-5df472771a2c", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "d1ef0c37-2eb8-41b0-99a2-bbe565f195cb", + "observation_id": "58b74119-1dbd-4309-8a48-3b3471a7c91c", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "36560803-fc61-4b4a-a8cf-c07940e60aad", + "observation_id": "275fdd35-e9c8-427c-81f4-52001f2ea853", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "5b2e0f5f-a0a9-4559-9570-a225f133606d", + "observation_id": "8ef60115-44d4-4a0a-a936-b21c9631811c", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "536e6bc3-3661-4513-ae36-c82600bf8fd1", + "observation_id": "6a8f7a8d-1241-4dcb-9388-dd75fc6eaba5", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "77d9144f-4a1c-4055-b1da-45107a9d239f", + "observation_id": "2c432994-e13b-4446-b307-90a38481646a", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "b4a7162e-8456-4dca-84ce-caa8d16c75db", + "observation_id": "6f56fa59-e9a2-4fc9-9c0b-cc98480001ff", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "c76cdbcf-1154-44ee-9dfb-33435121d933", + "observation_id": "628e7b88-a53f-470d-b649-f7372bb17e26", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "22bef321-3720-49e7-95f7-9d827ab43ce6", + "observation_id": "e8fbb763-f989-412d-9e2f-ba34d380cd92", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "3760e655-24ba-4402-99a9-ab885aab6215", + "observation_id": "af2f70d9-8ea4-48de-9383-f4069b388f0c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "22e73524-ffb6-40bb-a9b6-62d42341b569", + "observation_id": "9c96b284-960b-4335-bcdd-bb96a6dbc01b", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "bbdb78b2-b2fb-4f32-9fe2-ddca8cc1081f", + "observation_id": "583e92b7-356e-4faf-8d30-b0df58bd76c3", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "7567b130-3b41-431e-88bf-2f789334b116", + "observation_id": "32854680-f31a-48e9-90b6-4dda71faead1", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "085d4b75-37b0-4f68-95b7-6eae9c9cd0a7", + "observation_id": "3cfff705-da13-42c3-8461-b236b2f11c91", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_defg/render_e_camera_pose.json b/data/camera_study/Scene11/k4_defg/render_e_camera_pose.json index adc40e0..d2308ca 100644 --- a/data/camera_study/Scene11/k4_defg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k4_defg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:13Z", + "created_utc": "2026-06-02T22:41:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_defg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_defg/render_f_aruco_detection.json b/data/camera_study/Scene11/k4_defg/render_f_aruco_detection.json index 93d59eb..9983f07 100644 --- a/data/camera_study/Scene11/k4_defg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k4_defg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:12Z", + "created_utc": "2026-06-02T22:41:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a24a861a-c8a1-43f3-ab5c-ce485e728dad", + "observation_id": "93370c40-bf52-42ae-bf73-8b09aff75fa0", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "b51d9fec-9689-41c6-a6b8-b236b0865f1a", + "observation_id": "0e7ce792-f619-49b4-a8a0-9b0688535e61", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "92845693-ded2-4498-8927-5571d507feb0", + "observation_id": "3ed634e8-da5e-48e6-901a-180c3dd88ed8", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "a6a80f72-daf8-491b-9b0c-b2f6e9fdd7d4", + "observation_id": "5a87317e-7769-4e77-9e4a-e69776d897f3", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "8000b10b-9c53-4279-98fd-32362ff9d57d", + "observation_id": "f17a50d7-d7f8-4333-86b6-3ab908459629", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "02a0993e-9aa7-4cc2-ba56-474191e7ccd3", + "observation_id": "05dd0c62-0623-4fe6-9d0a-cd4f3199d6dd", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "7022ad2c-584f-4624-aa84-02ce06d09fe4", + "observation_id": "5a103c2d-43ed-4c84-96a0-81cf75cdacc4", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "bf2e4922-59ec-40fb-8617-6792d0c02ca1", + "observation_id": "8c5bd2c4-4e9a-4420-bbbf-685d351891ba", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "3c8ef88b-51ad-4ba6-8ae2-bf4235885cf9", + "observation_id": "9165455f-3809-418f-b005-0e4493760e69", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "1ca16198-95ab-4611-93cd-ba6dfda68244", + "observation_id": "d600d7ae-ed2e-4465-b9ac-1feb68a358ae", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "79e4ab1d-e813-4494-9239-79df94d14dad", + "observation_id": "fb62a278-2265-46f1-9a3e-324f7dc87960", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "54cffaf3-07cc-4e41-881a-9b4e87bb7557", + "observation_id": "2062e374-a8d5-4644-ab53-a0b882b232cf", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "a9cb6c74-0b95-4481-92eb-b96295eb50ba", + "observation_id": "ca969fae-ca2e-4963-aa33-a3b0d274b1ec", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "b8ececbd-3041-4807-91b4-f57bbe43e09c", + "observation_id": "d0814bbe-2a30-46bb-bcd5-7292797dae61", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "7ceb1cc6-7719-45fc-ba1d-73a68c07d4f9", + "observation_id": "b4fe696f-5d22-4559-b42a-138fc1ac5697", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "1eec7cc2-a06b-476a-85f9-cb741ea105e8", + "observation_id": "a32bed6f-6c84-480f-a188-a08f999ca764", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_defg/render_f_camera_pose.json b/data/camera_study/Scene11/k4_defg/render_f_camera_pose.json index 4b83ddc..f335b29 100644 --- a/data/camera_study/Scene11/k4_defg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k4_defg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:13Z", + "created_utc": "2026-06-02T22:41:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_defg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_defg/render_g_aruco_detection.json b/data/camera_study/Scene11/k4_defg/render_g_aruco_detection.json index 446266a..8e4c430 100644 --- a/data/camera_study/Scene11/k4_defg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k4_defg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:12Z", + "created_utc": "2026-06-02T22:41:20Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "149e95fc-674e-4750-9edb-dfd241b63418", + "observation_id": "68ff6674-5c69-456e-876d-8034f3c52da2", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "baa76cf2-4e46-42ea-905c-f02c8f8e6ef1", + "observation_id": "a5239a66-85b4-4bda-be09-f52663a4f17f", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "fbcdec76-f0c7-44ed-b7fa-9c16bae78e41", + "observation_id": "d8fe978c-35e6-47e1-8d51-e4e38fa10d73", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "c27f9bc6-28e9-4df9-b6e1-d5be26656fee", + "observation_id": "5922266e-2d82-4ad3-b87b-34b4ef9b8f04", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "78950bb4-4349-4c6a-abb2-d854b8811c11", + "observation_id": "8c09667f-845d-48e3-a8ee-41b4b2ffe8a4", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "e66e28b7-1a62-48de-879f-594fb1ce580a", + "observation_id": "68374ad0-6d89-4f7c-a6dd-72ede1456889", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "99e75e63-09f7-4424-b2e7-6a33b70942dc", + "observation_id": "7129b611-1657-482a-9ac2-eefbd36739ad", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "7a818f78-bf18-42e4-868b-04e5401917e7", + "observation_id": "e02742e8-4e07-4f87-84f9-9aae74e67c7d", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "6c18646a-342d-424f-ab3b-4d823c746d93", + "observation_id": "adb6e6de-2454-49c8-a404-273c5981c9a4", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "65bb5b35-499b-42f6-8103-b20a3c93a564", + "observation_id": "b9e1fb7c-c582-4d53-9d95-2f33901f8caa", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "9f9b7b8f-dc37-4385-8d72-6bed636276a0", + "observation_id": "af8084eb-6e56-47ed-b2c7-a3e0c85e9b92", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "dfc3411c-79c0-4c69-aa48-8c68f75d3ad8", + "observation_id": "2d71fff7-eb34-4662-a08e-16a9aa726d37", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "efd40fb1-b649-4232-b540-15f11c5733fc", + "observation_id": "b205773e-e152-479f-91f7-79ea300ba622", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "0597b152-1d52-437d-8ca7-e75f87343b8d", + "observation_id": "a000d8ae-dcfd-416c-abb6-a3d918fc7af1", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "cb4f38cd-242f-40f5-bc2f-6a1dbf12c58b", + "observation_id": "dbdabe22-b9db-4b2b-a3af-ca37894a41e8", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "658e49ba-0a62-4d5e-81b7-b1b6957babbc", + "observation_id": "fe69d3eb-5d55-4a9b-90de-70c3ec443bb8", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "d1905149-00f7-44f1-a322-438e3a9360ee", + "observation_id": "50b3f4f4-b87b-45ad-ba5a-07ada209be69", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "e1145d1f-1540-498a-b37b-1aa4d9b7a998", + "observation_id": "ec051434-b4fd-48ab-bc1c-0505f2dddf2a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "5abd6564-0867-4927-bdbf-b0f5cef10f99", + "observation_id": "23c5e902-848a-41cd-ad5a-5c99d888ce2a", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "35b09df3-1baa-4434-8785-00b8ff18f1d0", + "observation_id": "1f05c78c-b308-4c85-be8b-1bad7695a052", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "2656c069-bf9d-4880-98fa-98c346fe6a17", + "observation_id": "a4c489dc-1fda-4d34-b265-4ab26f99d108", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "80672c5a-9635-4911-b69f-96338dd50fe7", + "observation_id": "2c1e911d-c696-4f66-8b4c-afb43a5ba76b", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "b9068d60-d135-405f-88b7-23d1dfc797d2", + "observation_id": "88058816-ad47-4259-aa2e-9c41e248d417", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "1dc4bd9e-e171-4022-b860-8d8018983f1c", + "observation_id": "d163a9b4-ccf1-4134-a346-824cf8d04933", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "d4fe81ce-e285-4293-9db7-0565a77166b9", + "observation_id": "cd9b9490-5b54-4444-bb84-eaec638cb8d7", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "2d9b41fe-68d8-46b3-a8d2-58a101b1b60e", + "observation_id": "ee0b4101-bbb5-4a54-a819-04bc6149d661", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "9643eb46-d3f9-4295-ba37-6aeba1843d5c", + "observation_id": "299c6846-00fb-4f40-bd3f-6aa3ac09202a", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "b0fad5a2-af61-46f2-b49c-4925a2733e48", + "observation_id": "b46e6c61-5460-475d-b7f6-f2e970e1b0ea", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "72e3a705-8e41-41f2-9423-3cb5375df581", + "observation_id": "aec52778-7300-4726-997e-17f1e9dfe8d4", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "e6dbf9d1-e244-4c17-a388-a60c7b833363", + "observation_id": "b338913e-16c5-4f11-9971-96c878da5929", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k4_defg/render_g_camera_pose.json b/data/camera_study/Scene11/k4_defg/render_g_camera_pose.json index 9a536aa..57ce7e5 100644 --- a/data/camera_study/Scene11/k4_defg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k4_defg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:13Z", + "created_utc": "2026-06-02T22:41:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k4_defg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k4_defg/robot_state.eval.json b/data/camera_study/Scene11/k4_defg/robot_state.eval.json index 276e4e4..86078fd 100644 --- a/data/camera_study/Scene11/k4_defg/robot_state.eval.json +++ b/data/camera_study/Scene11/k4_defg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 9.076264661996134, "mean_abs_mm": 2.9944406887594637, "max_abs_mm": 5.513684756144576, - "finger_error_mm": 5.452046701260376 + "n_unobservable": 0, + "wrist_error_mm": 1.176700795399257, + "finger_error_mm": 11.207245277479311 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k4_defg/robot_state.json b/data/camera_study/Scene11/k4_defg/robot_state.json index 0117edf..4e08ae9 100644 --- a/data/camera_study/Scene11/k4_defg/robot_state.json +++ b/data/camera_study/Scene11/k4_defg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:17Z", + "created_utc": "2026-06-02T22:41:25Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_abcdf/aruco_marker_poses.json b/data/camera_study/Scene11/k5_abcdf/aruco_marker_poses.json index bfe33f1..ceead19 100644 --- a/data/camera_study/Scene11/k5_abcdf/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_abcdf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:26:26Z", + "created_utc": "2026-06-02T22:42:38Z", "summary": { "num_cameras": 5, "num_markers": 19 diff --git a/data/camera_study/Scene11/k5_abcdf/aruco_positions_initial.json b/data/camera_study/Scene11/k5_abcdf/aruco_positions_initial.json index d687a55..b09d731 100644 --- a/data/camera_study/Scene11/k5_abcdf/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_abcdf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:26:25Z", + "created_utc": "2026-06-02T22:42:37Z", "summary": { "num_cameras": 5, "num_markers": 19, diff --git a/data/camera_study/Scene11/k5_abcdf/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_abcdf/aruco_positions_optimized.json index 210808f..884e27e 100644 --- a/data/camera_study/Scene11/k5_abcdf/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_abcdf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:26:25Z", + "created_utc": "2026-06-02T22:42:38Z", "summary": { "num_cameras": 5, "num_markers": 19, diff --git a/data/camera_study/Scene11/k5_abcdf/render_a_aruco_detection.json b/data/camera_study/Scene11/k5_abcdf/render_a_aruco_detection.json index ac207f2..e9c5991 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdf/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:22Z", + "created_utc": "2026-06-02T22:42:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "228339d2-9693-4b0b-b4a6-44cc863f4ce3", + "observation_id": "01281335-729c-4e80-9e40-bbe6ed507468", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "66caa00d-b48a-441e-86d8-22509c20b843", + "observation_id": "46c04bcb-d16c-4a65-ad2e-580f39fa2adb", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "f200615f-9cb1-424e-9f57-c0255bdd1254", + "observation_id": "f622296c-e444-4c07-a055-ec96be4fa13c", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "95c15dc0-5796-4f02-8919-56b1efdd883a", + "observation_id": "d7223d73-4839-494b-b66e-9a56ef8847cb", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "2d0a8ae7-ab45-4d0e-8e98-218b898748ad", + "observation_id": "7319ee38-614f-4b2c-9db7-4ef17943625f", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "97d3c895-0dc6-41a0-857d-9cfdb9fa11c6", + "observation_id": "75799b69-2da6-4c11-ae70-f892dde9c4a2", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "29f9a765-dc70-45f3-95af-ab1e7bd21f01", + "observation_id": "5d9a7156-4e3e-4bdb-bda9-6085a615a779", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "910ea9ee-ba7a-48e9-9a3c-c44cc430c409", + "observation_id": "b254b197-ee41-4af2-a346-7fdcfd078a43", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "9aac084a-be63-41c9-885b-d9c98820e863", + "observation_id": "de158cbe-33ae-4610-8d95-0f3269283608", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "a136dcbc-d6d2-4119-86d9-f4bdfcff7155", + "observation_id": "1c7ec063-30bf-4555-a63d-4768fa061a94", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "62ef5070-8737-452a-9014-bd18653d101d", + "observation_id": "1c5716ca-c904-48ff-a128-83e9042d5a42", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "3abe58f2-b7de-4f6a-a250-d310d33c4494", + "observation_id": "2ca95ec4-d84b-414a-a040-c0a6b7cf3d0b", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "49c6c642-bd66-4e1e-a486-02b5376577fb", + "observation_id": "f6d57032-4190-4ef9-b6f4-9395e610dabc", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "daa8b009-c7b3-4dc4-bd36-e4f428d45cbe", + "observation_id": "6c35caae-0edd-4666-a4db-23df6216d553", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "9912bfbf-35e7-4809-8d94-a065b760be64", + "observation_id": "7c6cf771-5522-478e-913a-a9c105c8f4e7", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "1eed0bcc-6f4d-4745-ac6a-58290a015b18", + "observation_id": "fd585525-3cdc-413d-b5b2-98b1077dca88", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdf/render_a_camera_pose.json b/data/camera_study/Scene11/k5_abcdf/render_a_camera_pose.json index 80e2a9d..20ca13e 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdf/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:23Z", + "created_utc": "2026-06-02T22:42:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdf\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdf/render_b_aruco_detection.json b/data/camera_study/Scene11/k5_abcdf/render_b_aruco_detection.json index 0f4750b..925a9db 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:22Z", + "created_utc": "2026-06-02T22:42:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "02b16b5e-4f91-48a3-adaa-c60857514483", + "observation_id": "f71715d7-28d1-4b87-908b-b1a84a7f60df", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "ea5e7aa8-5baa-42f3-b897-3aabcb3ae864", + "observation_id": "09a3f905-be1e-4264-8484-2c06156aaa43", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "c12a36b0-8521-4527-b9f1-f9555d5f162d", + "observation_id": "e5289b9a-4a65-4e55-bba6-504918b4a214", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "a3a87eaf-1ab2-4721-b2b5-09a486585cec", + "observation_id": "2b7e1b95-e866-43ec-8526-d1b51299258f", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "1ed14d0e-ae8a-4af8-8190-251c67a31293", + "observation_id": "f036a464-6df1-4602-a6df-a2d491fa125e", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "bb638bcc-5a3a-4352-89c0-d00ce6df88a7", + "observation_id": "ab3e6a00-e69c-4613-b3af-330ab46420a8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "29b115b8-2131-4c85-b7f1-0c43bfd00180", + "observation_id": "bcd199d7-1791-48aa-b684-21637fce9a1b", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "9b782dcc-e315-4582-b0ea-6c9a4b3c2c32", + "observation_id": "e8eef38d-38b2-4eec-9191-313934afa297", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "f2040b5f-073e-4e7b-9774-dfa75b415a2b", + "observation_id": "279c8dc2-82d6-46ad-b461-6fcee08fff1c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "cfaac7d5-a276-4e36-a263-dd24dfd36643", + "observation_id": "eff239eb-db02-4765-be30-4b9506ccc233", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "8395aea3-fd69-4f30-9214-825f7dda85bd", + "observation_id": "fc77a65d-185d-4f3e-b43a-e9480fc25a75", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "738ca837-c873-4eab-9522-40b8c037cbef", + "observation_id": "07c0661e-57ee-45a5-a71d-3f41d2062d98", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "0ca1af63-cbe1-4a26-8102-781fa040d5c5", + "observation_id": "cbd37900-cec3-4e8e-b87a-adc090943eae", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "0f3a0150-6bb3-410a-85a1-7f61ace57eb0", + "observation_id": "62f5fd31-c62b-4c75-b4e3-a170921f827c", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "bece1f75-edee-48b0-a81b-b2618433696d", + "observation_id": "c853dbc1-6264-47d1-9d43-5655a61e531e", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "3280a930-2eed-405c-8301-ebd99f15c7a3", + "observation_id": "1cd43a2e-2e18-44a2-a80b-fc7c1d008ce2", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "30b1ae15-9773-41d5-9ea7-72e5e4ddff54", + "observation_id": "2c4176d2-816b-4222-b8f7-1afe22fa78b5", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "69c38cd2-85c3-41ce-aceb-eae2e1f04b8e", + "observation_id": "5a3b82a9-2a2a-481e-83fd-c1b42a93782a", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "3a31d631-16a2-40c7-85b0-5b60049340ea", + "observation_id": "481941bb-0fc0-4cf6-9e3a-de5eacba1032", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "accbbeb7-e987-416c-a32a-0eab77b06c92", + "observation_id": "d91d22db-5c30-4239-b5c5-38848f85f676", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "c9f28653-c89d-499e-bb76-5d759e43b5a9", + "observation_id": "3e70c243-be2b-4798-b4d9-28ebded32124", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdf/render_b_camera_pose.json b/data/camera_study/Scene11/k5_abcdf/render_b_camera_pose.json index 76839a3..5c1881c 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:24Z", + "created_utc": "2026-06-02T22:42:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdf/render_c_aruco_detection.json b/data/camera_study/Scene11/k5_abcdf/render_c_aruco_detection.json index c61e70a..770919e 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdf/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:22Z", + "created_utc": "2026-06-02T22:42:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f78106d9-6d1a-4750-ad0f-bd58b37cdaeb", + "observation_id": "93d606c7-0b6b-443d-ae1a-6feb00662e66", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "d3ea0971-1d97-42e7-af30-4ec5e41b112b", + "observation_id": "01a7267e-ac26-4149-af8d-39d100714cd4", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "102b6ab0-a30e-4ccc-8ef6-39d32b3e5830", + "observation_id": "e3b172fb-6b24-4475-8a26-5765542a5816", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "ecb551d4-6332-4185-8b15-679c3d362b58", + "observation_id": "2538c3c1-a03f-4931-9bc4-ea204ecbb771", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "704689e2-44fc-4fb9-a310-863fda5310d4", + "observation_id": "38f0c607-2744-4d17-9444-0cb95e041071", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "a5c01fca-426a-437f-8a09-83439880ecec", + "observation_id": "5a80aca4-d9ea-4b9c-941a-5f93a498bda2", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "a68bbea4-b7bd-48b1-88bc-997ee33cbb58", + "observation_id": "51558f95-1acb-4257-bb6d-846e2786096e", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "9ec1db93-f569-4bcc-83a6-fa1fffcc68f3", + "observation_id": "704d3e43-6c33-47d2-8f4f-fa5088fefb1a", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "44b3eb4e-813b-40f2-bd4d-af3f0b537cd2", + "observation_id": "67603594-ade4-4003-85ff-0028f93f5ca2", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "b1bf4516-dd1c-401b-b4fc-776794b8a5c2", + "observation_id": "b5873a7e-c38a-4eea-9400-ffc886c89b70", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdf/render_c_camera_pose.json b/data/camera_study/Scene11/k5_abcdf/render_c_camera_pose.json index 4606f05..bad2f00 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdf/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:24Z", + "created_utc": "2026-06-02T22:42:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdf\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdf/render_d_aruco_detection.json b/data/camera_study/Scene11/k5_abcdf/render_d_aruco_detection.json index 09cb663..d0ccfd6 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdf/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:23Z", + "created_utc": "2026-06-02T22:42:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e094ec2c-76d0-451b-95cb-acfcdd934761", + "observation_id": "b91cc0c5-8b38-4a9d-9931-25e3764ebef1", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "ffeb93e6-e7f9-4bd3-9dc6-6ce5df31c4d2", + "observation_id": "8a5fdc78-f598-4382-88d6-5da47e9b835b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "ed2031f3-6c20-4278-bf9e-50f10206a5d4", + "observation_id": "2f6c35bb-a9a7-4be6-ac1f-49eb614a2dec", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "b5a09ded-cf3f-47c0-b24a-9330cb61ad61", + "observation_id": "aa708a41-8e23-4f19-a35b-1a18be96bfe8", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "3d35f88b-6c95-49c5-937b-fa449a0d4da4", + "observation_id": "afb84411-58f7-41b0-80d6-119fe7d3c2f6", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "eeefa756-e56d-425c-a039-b62453fd031e", + "observation_id": "a931eb80-b5e9-45a9-ab61-6a7de7815cb9", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "2309babb-cf16-4ad6-97ce-71b77594fa6e", + "observation_id": "df3d1d45-c433-444a-af77-8b025e69c045", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "1e27c912-855a-4fce-829d-9588796bc3c6", + "observation_id": "cede8dcb-a121-49ab-b93a-5bd5bdd3687a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "6460c115-3b46-497c-8a29-36e247807160", + "observation_id": "3f6baf95-ad70-4d32-bc8e-05b21363d400", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "4ade48fb-7bac-4421-95bb-75a1db9c1dae", + "observation_id": "84484624-c462-461f-ac1d-8b9e03eed3aa", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "1fc61d00-c85d-4378-b98a-79b97bc12489", + "observation_id": "b068f541-faaf-402b-8184-4025a1fc4e16", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "de4a7318-9477-4a86-97a3-9741e7c0d9a8", + "observation_id": "01a237fa-73d9-4778-9538-f91b3cd70756", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "dbb761c2-9196-4f94-8d8d-9b72045ec3f4", + "observation_id": "2b63103f-1df6-4a70-bc2e-e81b20be257b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "0267a49b-44dd-42ec-a9ce-9df8c78bdf5d", + "observation_id": "bff42d61-7adb-48a9-8f6a-14d3a7b1b199", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "52f66ef0-eb64-4ff5-bea9-33b8434fd753", + "observation_id": "ff006a6b-fe76-4643-b80e-ee79c39770f4", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "261ae337-93ab-4b1c-b62f-babc2d8660b2", + "observation_id": "44d58b54-c3d5-49e3-9c3e-28ed363e83d4", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdf/render_d_camera_pose.json b/data/camera_study/Scene11/k5_abcdf/render_d_camera_pose.json index 6571f66..12af389 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdf/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:24Z", + "created_utc": "2026-06-02T22:42:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdf\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdf/render_f_aruco_detection.json b/data/camera_study/Scene11/k5_abcdf/render_f_aruco_detection.json index 4ba2a72..397e208 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:23Z", + "created_utc": "2026-06-02T22:42:36Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b6b82910-f03c-4b01-8eb7-a590dca6ad85", + "observation_id": "69df1b7c-2bca-45bd-912e-cad4f3684334", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "7878ac86-fbbc-4846-a6ab-147b8c4b19bc", + "observation_id": "bf2d87c5-684e-43b8-b34f-794cbb46c087", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "2db794ee-deba-440c-95ad-24a691e11fe0", + "observation_id": "4ecdbe9e-a0b6-4eba-92d3-b5a5fcb9758d", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "d4d0aa15-a3fc-4fff-ae0d-be07f50510f5", + "observation_id": "3d05992f-badd-4978-9425-0d97d2e9919f", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "34ae64b1-719f-41f1-9054-a2b78f3ed2b6", + "observation_id": "349b72ce-e32b-4b2f-ba7b-0e1a972ec64d", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "d1dbd5d8-0e97-458b-82c9-8d96a72d9bee", + "observation_id": "198a9c8d-e9cd-4ac7-a45c-d0ffa6bce42c", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "eb82ba19-90b3-4aa6-adde-db70ac849c41", + "observation_id": "809d18c7-8d09-4bdf-8de8-87646a076970", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "5c3feca9-9974-4cc2-aa7f-2f8e7942fe5b", + "observation_id": "c06b1866-6e61-404f-bdde-dabfcc3b82f5", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "a3545bf6-a394-435a-ab75-c1d8cdf80971", + "observation_id": "485071d3-c16a-4942-bdcf-1126e2149656", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "ef2e80c9-85b8-41f2-ac79-98e1756686eb", + "observation_id": "c58ad6a3-70f0-46f3-afbf-369f5b157baf", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "d98a8f51-00e1-41d0-9431-4019596f6793", + "observation_id": "3c8b6e23-ebda-4c77-9d92-8936eacc0f2f", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "a70bc29d-b361-4d48-95fe-2bca53374d6b", + "observation_id": "2d81e3ea-b7b0-4e0a-8c56-5ef6a6723ebb", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "f9d1b603-58e2-4fe8-ba64-14df6c77c828", + "observation_id": "13da4029-7f49-4c6d-960a-1de3559f92f0", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "1c0f33b6-eace-49ec-96f5-c131729f696d", + "observation_id": "197ca423-eab7-4451-aa66-5bd7ea445113", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "156ce116-929c-4a6d-820a-f8442069c660", + "observation_id": "6b9e68ac-16b6-4d0a-8b6d-d8fab2da6b23", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "add10297-0311-460c-9ca4-7eefd4691f8c", + "observation_id": "5ca180d2-63dc-41f9-83e9-2ecd8e286f0a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdf/render_f_camera_pose.json b/data/camera_study/Scene11/k5_abcdf/render_f_camera_pose.json index b8d9f57..be05323 100644 --- a/data/camera_study/Scene11/k5_abcdf/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:25Z", + "created_utc": "2026-06-02T22:42:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdf/robot_state.eval.json b/data/camera_study/Scene11/k5_abcdf/robot_state.eval.json index 1c9b659..ea6497e 100644 --- a/data/camera_study/Scene11/k5_abcdf/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_abcdf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.0542062682964115, "mean_abs_mm": 0.8299316680638387, "max_abs_mm": 1.2172392492478181, - "finger_error_mm": 1.398728645201165 + "n_unobservable": 1, + "wrist_error_mm": 1.2832238691681825, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_abcdf/robot_state.json b/data/camera_study/Scene11/k5_abcdf/robot_state.json index 8c29a1d..54b32b4 100644 --- a/data/camera_study/Scene11/k5_abcdf/robot_state.json +++ b/data/camera_study/Scene11/k5_abcdf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:27Z", + "created_utc": "2026-06-02T22:42:40Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_abcdg/aruco_marker_poses.json b/data/camera_study/Scene11/k5_abcdg/aruco_marker_poses.json index e7afb0f..a5ec3b9 100644 --- a/data/camera_study/Scene11/k5_abcdg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_abcdg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:26:20Z", + "created_utc": "2026-06-02T22:42:32Z", "summary": { "num_cameras": 5, "num_markers": 24 diff --git a/data/camera_study/Scene11/k5_abcdg/aruco_positions_initial.json b/data/camera_study/Scene11/k5_abcdg/aruco_positions_initial.json index ff462d0..e2ac840 100644 --- a/data/camera_study/Scene11/k5_abcdg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_abcdg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:26:16Z", + "created_utc": "2026-06-02T22:42:28Z", "summary": { "num_cameras": 5, "num_markers": 24, diff --git a/data/camera_study/Scene11/k5_abcdg/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_abcdg/aruco_positions_optimized.json index 09c1c14..f9bfdb3 100644 --- a/data/camera_study/Scene11/k5_abcdg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_abcdg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:26:19Z", + "created_utc": "2026-06-02T22:42:31Z", "summary": { "num_cameras": 5, "num_markers": 24, diff --git a/data/camera_study/Scene11/k5_abcdg/render_a_aruco_detection.json b/data/camera_study/Scene11/k5_abcdg/render_a_aruco_detection.json index 6502074..56a52bc 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:13Z", + "created_utc": "2026-06-02T22:42:24Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "af30a806-210f-40c3-b6d0-8c24fc7ddbac", + "observation_id": "2b09efd1-fdb0-48d0-b5e0-03b90454f279", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "727c745a-ad63-40bc-9bbe-be8ffc4353dd", + "observation_id": "ead918a0-75a4-43de-bef1-2e0b53740113", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "cf7d6ca6-9224-4ea3-9dcf-3c0b96d57a7c", + "observation_id": "1842b96d-82c1-4477-9660-b7e6f16e0b08", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "d26d9feb-d438-4b7a-8946-a3b4e3c7e53f", + "observation_id": "41a24e81-42a2-4b67-8868-844e08532cd6", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "57a168a6-22a2-45db-aafd-6ef849ebe309", + "observation_id": "abdbdfe3-2ef1-4222-aa6a-8e0112b50401", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "2a2304c4-15bf-4637-bf0a-e31b573e364e", + "observation_id": "f2019a25-ea49-458a-8ed1-d3e559b273d0", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "7287e05c-62b5-4fbc-b941-c223a8bb4166", + "observation_id": "70a4251e-8b6f-4ced-84f5-ae5bd78764e7", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "2a6a9832-fb9e-4176-982e-cdec8a251132", + "observation_id": "879c0b67-58be-42e2-b899-66114a2d30c4", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "88adb251-79d5-4a27-9001-dedf4a35b778", + "observation_id": "76f34469-e598-4e3f-9d9a-305b3f55e473", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "117d0ebd-ba95-4fe9-80bd-1f09ed8f2bbb", + "observation_id": "4746de40-afec-4f28-a76d-9396ddc778e2", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "b08fb11d-6873-4f23-80d1-e6a762c59618", + "observation_id": "b306a91f-df11-44e4-883b-19a75945bd98", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "45c841b5-55d0-48f2-b9e8-2574fb4e6ad2", + "observation_id": "b5619798-5145-4344-b030-85922b5f1d8f", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "023de943-03eb-4eb1-80cf-ca7314884a69", + "observation_id": "6752fdd7-6f9f-4032-bf29-1f64afd74bf0", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "8ab03098-51ac-4ba5-b135-69ab5da45271", + "observation_id": "e22ceb21-9f9e-4ea6-b331-bb25024cff47", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "49628070-7f70-476b-a357-912e8f2b163f", + "observation_id": "62d2e58a-60f2-4a8b-9e97-5f18d615ba2f", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "3e8d6f51-00d0-4781-a048-508fb414c461", + "observation_id": "3f0ab9bf-4791-47bc-ac8f-d7aacc39b80c", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdg/render_a_camera_pose.json b/data/camera_study/Scene11/k5_abcdg/render_a_camera_pose.json index 0322246..f885212 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:15Z", + "created_utc": "2026-06-02T22:42:26Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdg/render_b_aruco_detection.json b/data/camera_study/Scene11/k5_abcdg/render_b_aruco_detection.json index 458bf73..83d0b30 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:13Z", + "created_utc": "2026-06-02T22:42:24Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "adb6dae1-2c1e-42fc-be5f-03f0a6a183a1", + "observation_id": "37aa5a3d-735e-41f2-81bc-fe0e1d59e55d", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "19cf0cd9-e0d5-4c17-9e5d-8a9aa6f0ebd7", + "observation_id": "f57538d8-5d27-46cd-beba-f0cbace017e7", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "31ce524c-fb02-4d39-b660-b6da6a8c1dee", + "observation_id": "c4d6fe24-f1fc-437a-9ade-cd3a5bf7a2e6", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "7e7ac318-4bd9-4f8f-bbb6-2e9fd4f2616f", + "observation_id": "fad3ce5d-31c8-4eae-a340-cc652a60c705", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "6d4b4769-8bdc-413f-b694-70f411dcb2ef", + "observation_id": "9a2f462c-3df6-4296-b913-1c2f031ff20f", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "844e7f18-40f3-4972-9572-4ee58bae20bb", + "observation_id": "14812b41-a41f-4223-9e1d-bd748bf41d2f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "978709ec-6d13-47ce-a970-ab056d5e302a", + "observation_id": "894d496b-a2b2-4688-acd2-c6816fecdaa2", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "5fcad50f-801b-4024-a3d3-e52df5a62a1b", + "observation_id": "dcb72140-a02e-4e1a-8dbd-a209377e822f", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "1a6b2ef0-eb13-4928-bbfe-3bdf2c982748", + "observation_id": "12c355a4-066a-4ca7-82ea-50b7d04f423e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "def265b7-1cdf-482e-908e-75c519a241e1", + "observation_id": "779c2323-eb25-4bd1-937d-9e4440e27692", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "c65dccf1-7d77-4287-a459-63ba4d7eeb6e", + "observation_id": "ade244bd-99b0-461d-9a59-e9e3b4c0c003", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "b173791e-71ae-4b49-ae91-5e157040169d", + "observation_id": "ddd22144-a626-4975-87da-9a231d21414b", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "6d2841f3-3f18-403a-b87b-5298a3b0b289", + "observation_id": "acfef35e-43ce-49b9-9f6d-7b7d086c5582", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "e615e688-06e1-4c33-b99c-b0a74074de05", + "observation_id": "853e8498-0029-4204-a812-9e5132b907be", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "75c0d258-bd54-4455-ab47-6b39fb04e8ae", + "observation_id": "3401150f-515a-4c4d-9b57-0e4a5dd1d5d6", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "0841aebd-09d8-4afc-b6ca-4b7b36479b67", + "observation_id": "ba455f23-96c1-4c9b-94ee-61981ed62ce4", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "4912dad2-0836-4886-987c-c4c775fcdc4e", + "observation_id": "5a1a5f3b-5bce-4ae7-9cd0-938663e0929b", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "3d0f92f9-0d24-4817-9922-1389f631e0cf", + "observation_id": "5df26600-f20b-4a1f-83e1-35258a08ab29", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "9b28f9e9-a1ea-47b6-b3fb-7e03adf5e40b", + "observation_id": "beb6c314-ea1c-4492-9719-c1b2e35b69b9", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "64069eae-e347-4c89-b890-d5ea09d8bc68", + "observation_id": "1e3a1098-ce3c-42bd-bf76-2942eae83be3", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "f73ffa02-9e2e-4590-996a-ddeec7e7f01b", + "observation_id": "5568c72c-ac17-45ec-9907-917c582d2d0e", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdg/render_b_camera_pose.json b/data/camera_study/Scene11/k5_abcdg/render_b_camera_pose.json index ab51fae..987dbcc 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:15Z", + "created_utc": "2026-06-02T22:42:26Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdg/render_c_aruco_detection.json b/data/camera_study/Scene11/k5_abcdg/render_c_aruco_detection.json index 6330fb9..f3a3b43 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:14Z", + "created_utc": "2026-06-02T22:42:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c8c63eed-a8b0-43d9-b4a5-de534bcf664e", + "observation_id": "1e637319-1a94-4598-b079-4062292dd461", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "93439f2f-552d-4a83-9f38-3c3e2535ee07", + "observation_id": "d4d46bf1-0d90-4962-892c-d6d27944ed0b", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "13380362-21d6-4e91-b853-6f1abdc72385", + "observation_id": "59a0dc45-0998-4418-82ea-245d013db3a3", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "12aa7570-3d9a-4d07-8f66-9a0d3a46df4f", + "observation_id": "16286d6d-9795-4357-a977-d7c06a5bbea0", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "3e4c1ade-048c-4011-8506-84d6070da684", + "observation_id": "af0cee1d-f829-4263-b1cd-1db483779a15", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "72f60c22-9559-43da-aa41-468755bdd6d9", + "observation_id": "cab8df17-e3ee-4963-be49-6e98aca6c805", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "9dcff115-bcb5-4403-a324-9b81af51b342", + "observation_id": "002e7f6e-89dd-48d1-97f0-ebb545a53749", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "15d0881f-00a7-4ca7-94c4-f8709601955c", + "observation_id": "1149565c-e415-4565-ad9b-6a739e411725", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "25b771fc-4705-43fa-8a5f-3bfe63414ec9", + "observation_id": "81e4c6a0-979c-4664-8f6f-8a849ea7c33c", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "7794c418-5a5a-4106-a576-a932dc8af313", + "observation_id": "f3eddf55-9d1f-4504-9a2a-ce88a1faf923", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdg/render_c_camera_pose.json b/data/camera_study/Scene11/k5_abcdg/render_c_camera_pose.json index 44d948b..40b22a9 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:15Z", + "created_utc": "2026-06-02T22:42:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdg/render_d_aruco_detection.json b/data/camera_study/Scene11/k5_abcdg/render_d_aruco_detection.json index 45ef045..7fc9bb7 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:14Z", + "created_utc": "2026-06-02T22:42:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4138c004-ef3d-47a4-8590-5081a6839b17", + "observation_id": "1b3bed27-47a7-4e77-9d3d-77d2fdaa41fe", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "74e845ab-4678-41b3-ad1b-f7676d26a31c", + "observation_id": "2866b4ab-0e63-463a-81fb-6cb6fb914601", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "7bc38472-10ce-4c7e-aa44-736dbb33c987", + "observation_id": "4aec667c-3e16-4da0-8423-8c3af32e8adc", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "1e7dcb16-8a74-4336-85dc-290127b596c7", + "observation_id": "9841b21b-ea75-46cf-9951-808663e6dd04", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "6d9131e0-e805-4c96-90bf-b293909eebc9", + "observation_id": "a9407e2c-3bf9-40ee-be27-c0acb5d1f33a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "9f75ec6c-c5a8-439f-b8f7-13b8d3716c21", + "observation_id": "7bbc898b-41ac-49e0-a165-01aa7b0f684b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "2db8c3e4-259b-475e-95f6-c08ecc7a56bf", + "observation_id": "cf43ad1c-cc56-437d-b092-317a9a6a2982", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "8bb7218b-e858-41f1-bb46-6e6f54b64983", + "observation_id": "2ebbe89c-d5d4-4428-8b10-b077da12a106", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "74b1bd85-7ae2-4a90-a702-ed43cf2c3247", + "observation_id": "6b814ae1-9fe4-4944-913c-e196fa1db007", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "47215e28-2599-4d42-b061-98634413e5ae", + "observation_id": "9352e8dd-c85a-4caf-9fbe-483a71e9fea6", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "e5ff37ee-8488-4c67-9180-c26e6220be11", + "observation_id": "f1a21164-025c-4417-bc67-41d2c7c2d793", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "6370a7ed-c39e-4b37-9ee0-ee3726295bde", + "observation_id": "8fa5d1e5-ff35-44ad-a973-68a5dd8c0054", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "6cf632c9-3139-44c0-81b9-06e73a448131", + "observation_id": "9c2279f6-6f77-432b-8383-cf8ef9f82bc9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "2733d13d-ca3f-4a71-923f-3b3477acd97e", + "observation_id": "0777ff6b-7649-4af7-bac9-b66320cf0142", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "c370ace5-d39d-4684-9cb6-085fd9beecd5", + "observation_id": "54c7cf91-0277-4477-902c-07e437f882a6", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "620fe63c-a2aa-4118-b97c-802269e48c0e", + "observation_id": "46162ecb-140a-4272-a733-393e27f10071", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdg/render_d_camera_pose.json b/data/camera_study/Scene11/k5_abcdg/render_d_camera_pose.json index 7affa3b..2352174 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:16Z", + "created_utc": "2026-06-02T22:42:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdg/render_g_aruco_detection.json b/data/camera_study/Scene11/k5_abcdg/render_g_aruco_detection.json index afc0d89..c38f666 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcdg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:14Z", + "created_utc": "2026-06-02T22:42:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "add84fc5-7333-4c0d-879a-fc922c449639", + "observation_id": "412d61f2-fbfe-45eb-a4a8-4ea8718d46a3", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "945bfb52-361c-477d-84a8-b7c8fef40445", + "observation_id": "3794dc99-45ae-4aea-ad7a-746e1eb83203", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "7b41a1e1-b53f-4c57-b2c8-112f8b372be4", + "observation_id": "364670b1-fb76-4a57-86b9-71cdaed3883b", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "60498382-f6da-418f-80f2-eb01b3e34465", + "observation_id": "c8b3365c-5dd8-491a-aa49-2e47ee12d694", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "1b4d72e7-76ef-43d9-a367-13b4892fbedf", + "observation_id": "2af30390-611e-4d1a-9790-f0b6e4c81caa", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "5e3cf2fb-e8e3-49b5-afa5-8ea3c13d57da", + "observation_id": "064613b1-2f47-476b-9b92-81f41d709bc7", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "46d5772d-7edc-47b8-a8f7-dc344d4e1534", + "observation_id": "e2e3e88c-cc5a-46f8-94f3-ac9247e49d32", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "990f82bd-dffc-4b9a-906e-efc6017a6782", + "observation_id": "bc698d48-31e3-42c7-a950-8ede20d2247e", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "dbb88d1c-0f59-4ad6-b26f-93511bbc8272", + "observation_id": "42019d68-7271-4233-a965-185e77b58dd5", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "32437230-6a77-4a4f-8bb8-e8ae84c8ecb6", + "observation_id": "006003c4-d882-4dc9-9c8b-b645630cf89a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "a5699f35-9637-4316-9e5e-656e771d32be", + "observation_id": "2a385fd9-0c9f-4fcd-a45f-f5d2569fc5d7", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "fe806cea-e45b-463c-be93-b61c37ffc745", + "observation_id": "20984730-d748-4fc0-8613-c765cfb0d327", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "5fff97ac-cf59-42f1-8b55-fdcb8f30cdb8", + "observation_id": "7748fe45-3c36-4085-8530-f004177887d6", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "33fc15b9-ac45-47bf-810b-3ff9401c326a", + "observation_id": "d2915abb-e959-4972-87f1-ee5877949225", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "599bb2e7-85b3-45c0-b53b-783e51e5ec2d", + "observation_id": "618173cf-88da-41eb-b41c-afcf267dc8e1", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "c1ab114e-1928-40e1-a310-151ae68fba4d", + "observation_id": "022b2e91-0b38-4054-a2be-60f9d20c8e59", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "e4d96174-3c6e-49c2-91cc-540b01ac287b", + "observation_id": "0dcc4004-f2a5-4d96-ac43-52f433a8f2ab", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "13e759b6-c374-4470-b91b-9b490c96fe56", + "observation_id": "4f35d413-fad3-4040-9170-544d4648eea9", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "6c29680f-87db-40a4-aa3b-dd79b434d8a1", + "observation_id": "ef46520e-bc6d-4a71-b53e-3c156d42736b", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "b594a258-2d13-4999-accd-a30908bb2e29", + "observation_id": "38d69f85-e8a8-49a1-a0f0-792b79b93cf1", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "b94295d9-ee8c-4da2-a0ed-0b19c4e6417e", + "observation_id": "27a28ae5-91d6-4737-ad54-fc378772d86f", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "23ec8ff6-74d9-4c80-b5ae-5aad332468dc", + "observation_id": "142dcf84-0d2b-4380-922e-64d21909a8f4", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "254686ef-2290-470d-969e-b237bda5933c", + "observation_id": "8bbcf937-fb9d-4f16-b0e5-00212ae8f373", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "c89e4d7e-daba-4999-adf0-10df882991f0", + "observation_id": "b7c97d48-892a-4058-96a0-926dc7625591", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "63eb2a40-8ef8-4537-b4fd-b032227e4458", + "observation_id": "bfb8bcdb-fabf-4625-b50e-4fb6ae39018a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "233e1d55-47bd-409a-beaa-e93239924e9a", + "observation_id": "53122d3e-15ef-4a82-a91a-e482647b7fa9", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "0e18a510-cc5d-4723-acf2-7c5f895c515c", + "observation_id": "b3f66bbe-b589-40ed-ba07-9ec2f92f51f0", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "3d3f8438-7068-46f5-bd1b-7b3af91795d7", + "observation_id": "33b959ed-b4ee-4cfb-9414-a3537387f45e", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "83c5b49c-a590-49a3-b46f-f73afd53a3fb", + "observation_id": "9323748b-16ec-44b7-a61d-381573ae8d3c", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "80650527-9a98-4870-8b22-a22d14180e86", + "observation_id": "7da68032-5968-45d7-9e31-81f91b62f747", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcdg/render_g_camera_pose.json b/data/camera_study/Scene11/k5_abcdg/render_g_camera_pose.json index 6d87d46..812f894 100644 --- a/data/camera_study/Scene11/k5_abcdg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcdg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:16Z", + "created_utc": "2026-06-02T22:42:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcdg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcdg/robot_state.eval.json b/data/camera_study/Scene11/k5_abcdg/robot_state.eval.json index 496410f..da757c0 100644 --- a/data/camera_study/Scene11/k5_abcdg/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_abcdg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.806255393304582, "mean_abs_mm": 0.6368482258903589, "max_abs_mm": 0.7428882573543802, - "finger_error_mm": 2.324609515367678 + "n_unobservable": 0, + "wrist_error_mm": 2.4700469726641767, + "finger_error_mm": 2.301437406823007 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_abcdg/robot_state.json b/data/camera_study/Scene11/k5_abcdg/robot_state.json index 6eeb4d7..eac97f9 100644 --- a/data/camera_study/Scene11/k5_abcdg/robot_state.json +++ b/data/camera_study/Scene11/k5_abcdg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:21Z", + "created_utc": "2026-06-02T22:42:33Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_abcef/aruco_marker_poses.json b/data/camera_study/Scene11/k5_abcef/aruco_marker_poses.json index 29dad8d..5d9f131 100644 --- a/data/camera_study/Scene11/k5_abcef/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_abcef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:27:15Z", + "created_utc": "2026-06-02T22:43:32Z", "summary": { "num_cameras": 5, "num_markers": 23 diff --git a/data/camera_study/Scene11/k5_abcef/aruco_positions_initial.json b/data/camera_study/Scene11/k5_abcef/aruco_positions_initial.json index 46ab0e4..88f34e1 100644 --- a/data/camera_study/Scene11/k5_abcef/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_abcef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:27:15Z", + "created_utc": "2026-06-02T22:43:31Z", "summary": { "num_cameras": 5, "num_markers": 23, diff --git a/data/camera_study/Scene11/k5_abcef/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_abcef/aruco_positions_optimized.json index 41889f5..9897730 100644 --- a/data/camera_study/Scene11/k5_abcef/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_abcef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:27:15Z", + "created_utc": "2026-06-02T22:43:32Z", "summary": { "num_cameras": 5, "num_markers": 23, diff --git a/data/camera_study/Scene11/k5_abcef/render_a_aruco_detection.json b/data/camera_study/Scene11/k5_abcef/render_a_aruco_detection.json index 4205b73..698cd06 100644 --- a/data/camera_study/Scene11/k5_abcef/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:11Z", + "created_utc": "2026-06-02T22:43:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9f1e3b2c-8f9c-4778-98d9-56ee1e34c2b7", + "observation_id": "2cece29b-6c23-4224-b266-e3dbe75f4841", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "cb0db6d6-87df-43c1-aa2f-fea1c2879680", + "observation_id": "87406714-865c-4ab3-8b3f-8c8e8b327b1e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "dfa45e24-0a1a-4a0e-bfdd-02e8348b6fd5", + "observation_id": "0ad1bf30-6adf-4d65-a392-a566ef6b8cbb", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "f4917eed-b481-40f6-badc-22cf11d354af", + "observation_id": "df043379-6327-4860-b786-210cc4b8b547", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "ca56d065-4899-463f-871b-09cc0e225112", + "observation_id": "6bc93009-ff9c-4f14-8dda-2f55c5cf5e1e", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "65ee6d2a-1a19-48a2-8762-d7a1cfb521ac", + "observation_id": "efcbc3f6-8d93-4064-aa05-615ab03834f7", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "c52325a6-7306-4519-a36c-153bfce69f4e", + "observation_id": "8eeb55ff-34a2-4556-80ec-faca8b1f1555", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "3bf7cc46-3dbc-4b7e-8025-3caa78c1f6c4", + "observation_id": "fb1de4e5-011f-467b-9813-6bf4fa89cbf8", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "b16a7c03-a8e0-452f-aaf7-d752333a923b", + "observation_id": "c38551d4-6b31-494f-822b-df4a774f6ac4", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "0cb9a01f-2f9d-4942-95c5-177528d8eb09", + "observation_id": "bfe10b45-5f27-4c99-915a-2643bc10115e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "581645a2-946d-493b-a1af-e6e46624416e", + "observation_id": "68467829-acd5-44ca-b1c7-bc3605d90142", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "974d132c-ae74-4d13-bec1-9ea20b418902", + "observation_id": "63e4249a-6f20-4df0-8f16-282caeeb8f9b", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "55dfdbe3-52f7-4ca0-bd98-d581f3fa39e5", + "observation_id": "7d4d253a-1098-4e6f-99c9-3b702e30b968", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "d006aef5-256d-46f0-8446-3f61daecf55a", + "observation_id": "e40a8f04-d8d5-48f3-80cd-0cbdae7b2e82", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "eb26bfb8-768a-436e-88bf-f71fe6d63f01", + "observation_id": "d1351a97-53d8-4f30-a380-e0b03efe16f3", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "f80933f0-0f81-4d02-a8d3-b0cd24ae1170", + "observation_id": "0eb50232-18af-4c6a-ae98-e3384901aa46", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcef/render_a_camera_pose.json b/data/camera_study/Scene11/k5_abcef/render_a_camera_pose.json index 8f00872..954b683 100644 --- a/data/camera_study/Scene11/k5_abcef/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:13Z", + "created_utc": "2026-06-02T22:43:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcef/render_b_aruco_detection.json b/data/camera_study/Scene11/k5_abcef/render_b_aruco_detection.json index 9b05a92..9b7086e 100644 --- a/data/camera_study/Scene11/k5_abcef/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:12Z", + "created_utc": "2026-06-02T22:43:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "52eb8321-1741-4a0e-a5d8-ac845f45a182", + "observation_id": "11052e7e-17d2-4cf6-a1e3-e6bc97bd8991", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "46fa19a0-ae0b-4297-866a-82410f34df11", + "observation_id": "fb74f95c-4bbf-486d-99e1-6369f7014c7d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "34827221-990c-43ef-b3e7-598290a3f051", + "observation_id": "5332c97f-fa24-4260-af27-4dedcaef059b", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "35760999-043e-41af-ad27-e3d79db41019", + "observation_id": "d3b80579-7387-4a74-9a0a-f1d952335b86", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "2c6e7156-8e0f-4625-bdb1-b6593ba4306b", + "observation_id": "46a4d3e4-4214-4ea4-b67b-b0a520cdc6b9", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "bd496212-0e4a-44b1-864a-d9b796a39c2a", + "observation_id": "4ff8c224-947a-44ee-a17d-691a2225e900", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "e1e924f8-996a-42cd-91d3-7844ec8b8fe8", + "observation_id": "95bca297-06f1-4d7c-b1e6-f357c74d082a", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "5f481bbe-97a1-4322-9d96-5810698ecde8", + "observation_id": "773ad95e-5e28-48e8-8f6e-a2b5541298ff", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "2bdfcea9-005b-4d2a-8531-98c32729924d", + "observation_id": "5ee84dab-045d-4b82-bfee-c65ad78843c0", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "dd77e7d8-a401-4115-99e8-42510a50154e", + "observation_id": "d2087bd6-b383-4d5d-9c44-45bd15b2d856", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "1fac5b35-e227-4cd9-99cb-b46ccafde929", + "observation_id": "367fac3e-953b-4be1-a915-1f3b7cafa14a", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "fb5f030f-cbfa-4d9c-8f87-29f7e7300c90", + "observation_id": "771f22b5-696a-4f18-8a9c-5444566ec528", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "a631cd60-44f9-4b30-bb64-114ee3da3517", + "observation_id": "22a8d5b7-15e7-4a72-97bb-c6538d5efbb2", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "710cee2c-51b3-45a5-bfb1-3bdb0ec1f07c", + "observation_id": "3e3609b4-8bca-4e16-bf11-d8a51433c0c2", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "ea160d97-2bee-49c9-a12e-926e727a06cb", + "observation_id": "b2d34e4e-f517-41ab-8ae8-f6387d79e5e3", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "91113df9-5868-433f-b901-f1d39449880a", + "observation_id": "b7a5c00a-8bc5-4378-944e-4e4523d829d3", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "48841da7-d0e6-4570-a274-047845a72ae0", + "observation_id": "e2613d65-30ec-4c7f-b6d1-2e2e6e9970fc", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "2a4d4590-2f40-4c33-ab27-21ed34727453", + "observation_id": "dc4fc752-39a8-4509-872a-bdaef85a9ab5", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "19287f21-0d2f-4552-943c-57ded9f7618f", + "observation_id": "787c194b-7130-4dfb-956a-e6dc434f20b3", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "81b6220b-5e7d-4b10-ac69-3fff2cbac5fa", + "observation_id": "6a08236a-9e2c-4ebd-90f0-0fbca90e1e51", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "681b1478-3356-4893-981e-91d4c111dc2a", + "observation_id": "5de05395-688f-4476-a22e-bca7855b886f", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcef/render_b_camera_pose.json b/data/camera_study/Scene11/k5_abcef/render_b_camera_pose.json index 78d0e31..8071b06 100644 --- a/data/camera_study/Scene11/k5_abcef/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:13Z", + "created_utc": "2026-06-02T22:43:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcef/render_c_aruco_detection.json b/data/camera_study/Scene11/k5_abcef/render_c_aruco_detection.json index 8e33d40..880a732 100644 --- a/data/camera_study/Scene11/k5_abcef/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcef/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:12Z", + "created_utc": "2026-06-02T22:43:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e3d11e16-6b90-45be-8d78-2ee9e4b50ef3", + "observation_id": "e63754bb-006a-412b-a298-18ac090e3f97", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "3f3da6b9-180d-4df1-af96-e55dd4ce43e6", + "observation_id": "23b5c342-f471-47c6-8f8c-40e42a98cabd", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "6c99a2f6-355f-49b3-80f1-6d15124db918", + "observation_id": "f3df84ea-deb3-4f37-91b4-b78baae01799", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "934aa364-781b-4dfd-a6b3-4ba27d5038bc", + "observation_id": "3a1cf010-77f1-4c8c-be51-b9354d641e06", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "9293b979-c05f-43d2-b3c9-c1b3cf074095", + "observation_id": "859f4621-4962-47af-96f7-330306102048", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "64674971-b217-4038-84ca-999570d03542", + "observation_id": "f361abc3-04ed-4e0b-bbcd-c6899716da9a", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "47fa8cfd-e940-45a0-a2af-2011a38f9a2d", + "observation_id": "1643a52a-bc6b-4c71-ab92-be4c1c121ccb", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "e7f834a7-bb41-43e7-946f-a036dd8bea9f", + "observation_id": "3837dc01-560a-4f4f-860f-7bc491619a44", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "bde0c52b-fbbf-4579-979d-604c82fe8597", + "observation_id": "d9732c1c-cce3-4c2d-be45-508ef62589e2", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "862c81ef-5ca3-4bdf-8d69-dbdf2542b8d5", + "observation_id": "1a0d3b09-83c8-4023-a748-b9ad74652834", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcef/render_c_camera_pose.json b/data/camera_study/Scene11/k5_abcef/render_c_camera_pose.json index c908847..a121406 100644 --- a/data/camera_study/Scene11/k5_abcef/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcef/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:14Z", + "created_utc": "2026-06-02T22:43:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcef\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcef/render_e_aruco_detection.json b/data/camera_study/Scene11/k5_abcef/render_e_aruco_detection.json index 10d6088..9ae7285 100644 --- a/data/camera_study/Scene11/k5_abcef/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:12Z", + "created_utc": "2026-06-02T22:43:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "87481087-b830-4904-b49c-1853486e79f6", + "observation_id": "a3fffaa8-21be-47cf-b7f1-bfce395bc619", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "f77b688e-fec1-4665-9eff-8d92d26f873b", + "observation_id": "ada56c7b-be18-45ef-89da-3f9936217ee7", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "44a26603-78d5-4631-b823-d727c82ebd26", + "observation_id": "4fcd059e-17cc-4861-bf8e-655df233078f", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "e1a93012-1232-4760-8c36-c8d597d02616", + "observation_id": "708ac965-570c-489d-bc97-21e0fd8ee467", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "9f83bc16-1c26-4dca-b82f-7f5a57aa643d", + "observation_id": "cac2ad45-4181-41e3-ba39-0ed0d2cb06a8", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "add28e55-f1ef-4062-ba8e-8f32b05b7136", + "observation_id": "59da02e7-c93e-47a0-b5d2-97b34a19e7dd", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "1765af39-35a6-4983-a032-aa712fc9ece0", + "observation_id": "bf8cbbb6-3afe-4fb2-8410-9146438d3a4f", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "c35595cd-b92f-4425-ac0a-9dd09a8cb904", + "observation_id": "cc664497-581d-436a-8639-b598b2313e50", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "bff1eef5-a83f-4143-9f8b-ad28031f5b7e", + "observation_id": "ff8185d1-881c-4c7c-bd34-7164ed0badeb", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "179ea206-24d7-4ef5-8cf3-6075c06faaf1", + "observation_id": "3ac19789-b081-428a-8cac-f2c0d3c93b10", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "8af8430d-0754-43a2-8133-1977b58d7ad6", + "observation_id": "693dc2c5-be9a-41e8-b64b-a091df007c0e", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "19452b5c-2d1e-4471-bde2-963c2f8ab084", + "observation_id": "54691ba3-6a79-4af9-b5a0-690711a06f59", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "7061a00c-5ec4-4845-8b68-76beaff28173", + "observation_id": "6a173e3d-b9e7-4040-b697-90741dfd370d", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "d9bf766d-00a5-41f0-a9ea-1f3601c100d5", + "observation_id": "cd235754-883f-49e6-9399-a74b1d4d7ad9", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "bc6bb8ed-716f-4d45-bf54-55c0b84c2a50", + "observation_id": "fdb6cfbb-eb9b-4369-9382-860ab91e553f", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "ce5ea2e2-c455-4975-aba8-c1fc9bccedd0", + "observation_id": "f28933bc-7c3f-47f5-95c6-1bc7e8ad8872", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "b03c316e-bddd-4693-b73e-c5a5c7456e2f", + "observation_id": "5a3fa2a5-945c-4ff6-bc15-1ab3fc674c62", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "5b788154-9bdc-46f0-8a99-584677f9ae65", + "observation_id": "a68dae3b-3923-4645-afd5-35c7a7cbf6eb", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "b73fcebd-d580-48b7-8878-9af55eb99124", + "observation_id": "7ec4f53c-ed2e-4b67-b0a0-10c68fc99270", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "348f7701-49ce-4613-bdd1-b46eebd359b0", + "observation_id": "453941de-d452-44f4-9e0b-0b5f98a0408c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "2086676c-7b87-4fc3-8b05-72649f76b13f", + "observation_id": "40b63199-dad6-4d68-9d49-b6fded184aac", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "9c2b16eb-b5ef-4f22-b10a-8af5b35a07d8", + "observation_id": "2d1203f5-eb6a-4eed-964e-dde1b8c6efba", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcef/render_e_camera_pose.json b/data/camera_study/Scene11/k5_abcef/render_e_camera_pose.json index 8caeb9c..c579e04 100644 --- a/data/camera_study/Scene11/k5_abcef/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:14Z", + "created_utc": "2026-06-02T22:43:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcef/render_f_aruco_detection.json b/data/camera_study/Scene11/k5_abcef/render_f_aruco_detection.json index ca9b7ca..67ec859 100644 --- a/data/camera_study/Scene11/k5_abcef/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abcef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:13Z", + "created_utc": "2026-06-02T22:43:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "58a2ffe1-66ff-4cf8-883a-2d29dc46484d", + "observation_id": "261fef01-93d0-443e-8f78-8370d7bdd136", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "4a388084-044e-4889-a450-311870a10765", + "observation_id": "085a684c-b415-41a9-b0f2-dcbfe8911d46", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "4ca7b701-1825-4381-98ac-6a3bdfc5cd5e", + "observation_id": "74ba8366-d538-45ac-bda4-3e52b71a4579", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "37d76add-a950-4327-8444-f22fefac18ca", + "observation_id": "dae7e7ab-0120-4c4a-956b-575ca4ccbd7e", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "0e30c7a8-b83a-424b-9f9c-13c065d26d61", + "observation_id": "3ddf0ffd-d9f5-4c8f-9689-c6ee8172dbef", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "0029a28b-c6c4-4e05-a943-25d8d7c0ac9d", + "observation_id": "7d4dbfcb-95fb-4423-8de8-082224394bb1", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "6e7246c0-629e-4f70-b4ed-8050b1873349", + "observation_id": "71c0e27e-f34d-43f1-a43a-da2837710bf9", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "7002e285-b671-4168-8e99-ec1dcf7aac4a", + "observation_id": "feee6b8e-0260-4c3d-b251-42b5adc3c8fb", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "a7cc83c7-d557-4fd2-b4f8-b204ec9e60a3", + "observation_id": "fb622559-9148-4f98-bde0-5fe89316bf38", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "f38d2e93-233b-4ed0-84a6-0a088d0e7f52", + "observation_id": "c44c2212-67e4-4f13-a384-944e2a66383e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "8e6a25f1-7e6c-4b74-a8a1-f7266b17eb21", + "observation_id": "e27ae7a5-e704-4f8f-a6cb-75fdcffddf12", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "80caf1e9-e307-419f-83ff-764e9bcb4282", + "observation_id": "6e580ac2-03c5-4ee2-ad25-e2f4d129c859", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "097ca0a5-04c4-4f60-bccd-95c2a4a2b257", + "observation_id": "3be44637-df34-47c0-8763-1a48957689b1", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "5bb7e6f4-5c94-44c3-afe2-2b099ba3e75b", + "observation_id": "0a11d13c-e388-4f3c-a9d5-c987e2c5a8cc", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "1307b338-36eb-416e-a812-f47771729821", + "observation_id": "2d05da53-1682-4c53-ae14-f343afc114ab", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "8327d40e-754c-4722-bbbc-4317a54f18a3", + "observation_id": "d8148546-178f-488a-bc87-589c619938e9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abcef/render_f_camera_pose.json b/data/camera_study/Scene11/k5_abcef/render_f_camera_pose.json index 44f2e18..14eb20c 100644 --- a/data/camera_study/Scene11/k5_abcef/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k5_abcef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:14Z", + "created_utc": "2026-06-02T22:43:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abcef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abcef/robot_state.eval.json b/data/camera_study/Scene11/k5_abcef/robot_state.eval.json index 8e54818..b5b813a 100644 --- a/data/camera_study/Scene11/k5_abcef/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_abcef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.8925681295717993, "mean_abs_mm": 0.7371214007459774, "max_abs_mm": 1.2650039130728317, - "finger_error_mm": 1.0357406455005236 + "n_unobservable": 1, + "wrist_error_mm": 1.3920201494450626, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_abcef/robot_state.json b/data/camera_study/Scene11/k5_abcef/robot_state.json index 075566e..dcc8467 100644 --- a/data/camera_study/Scene11/k5_abcef/robot_state.json +++ b/data/camera_study/Scene11/k5_abcef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:17Z", + "created_utc": "2026-06-02T22:43:34Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_abceg/aruco_marker_poses.json b/data/camera_study/Scene11/k5_abceg/aruco_marker_poses.json index b99a7c8..0c6e52f 100644 --- a/data/camera_study/Scene11/k5_abceg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_abceg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:27:00Z", + "created_utc": "2026-06-02T22:43:15Z", "summary": { "num_cameras": 5, "num_markers": 29 diff --git a/data/camera_study/Scene11/k5_abceg/aruco_positions_initial.json b/data/camera_study/Scene11/k5_abceg/aruco_positions_initial.json index 4eb68da..b2b5a7f 100644 --- a/data/camera_study/Scene11/k5_abceg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_abceg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:26:56Z", + "created_utc": "2026-06-02T22:43:11Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_abceg/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_abceg/aruco_positions_optimized.json index 2aa1dd5..1a5e127 100644 --- a/data/camera_study/Scene11/k5_abceg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_abceg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:27:00Z", + "created_utc": "2026-06-02T22:43:15Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_abceg/render_a_aruco_detection.json b/data/camera_study/Scene11/k5_abceg/render_a_aruco_detection.json index 5ad1f19..9cee937 100644 --- a/data/camera_study/Scene11/k5_abceg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abceg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:52Z", + "created_utc": "2026-06-02T22:43:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "935af8ae-8a1f-48db-b363-5d116060d680", + "observation_id": "7738deb0-7a8d-4f61-8fc6-14648655b501", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "08afc2c4-a1b4-42db-9306-2ac397902009", + "observation_id": "14316149-6d48-4459-b090-27baa726e586", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "42234fd2-d4eb-4ad4-b7ee-51b1f5b90ac8", + "observation_id": "e9537202-33a7-4074-968b-d8a6c19612c8", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "800df55b-6c9e-4691-bb0e-a79ddf3ab405", + "observation_id": "57bc6439-8a7e-4853-a9c6-168168337c54", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "c054b6e5-ea38-4bb8-a615-412e0e2503f2", + "observation_id": "f5f469f9-533e-40f6-8688-d161e0a2081b", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "bb33b388-a442-4fea-bb56-c8082b373ba0", + "observation_id": "f354509d-5604-4ca8-a719-6b68f3a57da8", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "1d081a7d-c50d-4bb8-869f-173f59037d8c", + "observation_id": "0596c78f-5961-4f56-b473-c8885ca2e643", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "cf368e7f-0419-4919-b7b5-c294d076ae77", + "observation_id": "06ea8821-f9a6-41fa-b23a-2d9785afaf64", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "fd0b93d1-c397-4cfa-94cd-4e44345d302a", + "observation_id": "089814f7-b147-479a-8297-b99e73f543d2", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "98f39a01-89b7-4452-a841-e12dbda911ba", + "observation_id": "8c91b781-5fa3-46ca-a5f7-3357a01c938b", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "17a4dd61-0052-4167-af5f-b0280a51fcb1", + "observation_id": "ff0b79ee-a3f9-4d15-b9c6-a6cf35350b8a", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "44caa889-0dc7-410a-b421-33eccce8c09e", + "observation_id": "f8eb8ec7-166b-4eab-8d8f-c9e247ca38cd", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "1bfd9e11-2c48-40fc-ae71-f19e1ebcfc4e", + "observation_id": "df81e5a5-75bf-469a-88e8-3c090949a84a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "b67cf461-861f-4520-b71c-0162f7b5118f", + "observation_id": "15622ca2-15c7-4195-9f38-8b573cb55ddd", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "c1dc17c2-000c-4606-a8ae-3dcb21912056", + "observation_id": "552640e4-d760-4649-b7aa-5fec07f82ad9", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "4a9e1895-2c0d-4ad6-8bfe-bfb66f29f2b3", + "observation_id": "3ee0099e-7d20-4ca8-96b7-50b498bf6365", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abceg/render_a_camera_pose.json b/data/camera_study/Scene11/k5_abceg/render_a_camera_pose.json index 284ca20..e8a6f54 100644 --- a/data/camera_study/Scene11/k5_abceg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k5_abceg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:54Z", + "created_utc": "2026-06-02T22:43:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abceg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abceg/render_b_aruco_detection.json b/data/camera_study/Scene11/k5_abceg/render_b_aruco_detection.json index 516f170..6ffec53 100644 --- a/data/camera_study/Scene11/k5_abceg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abceg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:53Z", + "created_utc": "2026-06-02T22:43:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "eefd59ab-e64d-49ef-be75-8c253538a56c", + "observation_id": "1205127c-2adf-44d2-aa7c-163240ac5db8", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "5b21f1e6-3936-46ed-b609-3f922f687ea7", + "observation_id": "47fa9460-75c8-4351-bb6a-7b0748adf75f", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "50b19c3b-fdf4-4d36-ae55-5a58d99dbeef", + "observation_id": "60282e13-008b-441f-bdb6-b8b8615979be", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "f9f50ac7-8589-4d7f-95c1-ba0d187fbdf3", + "observation_id": "ed538710-e833-42a9-abcc-f64b3908a191", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "04833c6e-e3d6-432b-81c3-4850ad885158", + "observation_id": "d0cc5098-6b62-4529-b991-87f2da2c3fe4", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "c9592dc0-98b1-44bf-8d50-ff40b6f85c17", + "observation_id": "16fd76fc-1d2a-41e5-bcd2-ae6e855e7d3e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "ab83a937-9a9a-4a6b-82e8-9b7884e03822", + "observation_id": "4aff1c48-302a-4cf5-8fc2-e813cdf4879b", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "050684ff-c3ae-45fc-adeb-54be99df730e", + "observation_id": "5f4cb279-b2a6-471d-8777-7f84a3eb17e2", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "ae814152-22a1-4a3d-9d75-05f647f0eb1d", + "observation_id": "48c6859e-5e97-4083-ad96-8918f5cf1637", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "093bb9a3-cfaf-4dcd-8873-4c7cbb877cff", + "observation_id": "93f2784c-efe7-4c5e-bf41-bd8d62898fbf", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "4de4dd92-0bf0-4a27-8457-0b9d92881fe0", + "observation_id": "625538af-b0a8-4388-bce6-9af43b13e69b", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "9f524b89-63a4-4fa9-8275-0cfd8c09b0a3", + "observation_id": "d87152b6-741d-467b-b975-15fb14f5c9dd", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "d8fe10af-ce6d-47de-9f26-933cea034d5b", + "observation_id": "27bcfeca-f9ea-4760-b8f3-9f0046d02542", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "a614e37f-3f71-4acb-aeae-8a4a027158b9", + "observation_id": "ee6ef6e2-9050-4436-8ec3-83eb56d764a8", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "f5f26572-7301-4973-9058-ac3cb673f0d5", + "observation_id": "f24fa84d-1022-43ad-be05-53152a1be1e4", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "4b531e27-1734-441b-94ef-646167d94e94", + "observation_id": "43e88681-9449-4f89-ab6b-2651ca3ac5c9", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "7ecc4bbd-9470-4a0a-8680-2100e8e01edf", + "observation_id": "c5a4bbe8-ff42-4f87-a6c2-fc2caa9c92c4", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "d1db6417-f660-401c-9dd8-4fef506bcead", + "observation_id": "89d30dd1-fe1a-413c-a311-ea15abd31b65", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "1776e4c4-64ec-4f83-91b3-62075b3c2f48", + "observation_id": "b8a81213-1849-485e-9987-0542ee658ee0", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "249c9db9-3416-450f-bd9c-12d087dd323f", + "observation_id": "98ab768f-36c4-4ab6-8aa1-a701d60d30b6", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "4b32e252-cc6a-49f5-90cf-f30c2ac477b1", + "observation_id": "b1653b8e-2b12-4416-a4a5-a2d813b56caa", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abceg/render_b_camera_pose.json b/data/camera_study/Scene11/k5_abceg/render_b_camera_pose.json index bd84848..f159fba 100644 --- a/data/camera_study/Scene11/k5_abceg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k5_abceg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:55Z", + "created_utc": "2026-06-02T22:43:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abceg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abceg/render_c_aruco_detection.json b/data/camera_study/Scene11/k5_abceg/render_c_aruco_detection.json index 44178a2..5e462c7 100644 --- a/data/camera_study/Scene11/k5_abceg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abceg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:53Z", + "created_utc": "2026-06-02T22:43:08Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4e91e4ab-cb98-420e-b6d9-193552e04fac", + "observation_id": "4d448060-5bd7-4102-8b04-ae90122a63e3", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "fc3e4ecf-2e30-4170-8114-cd1ef9373aa2", + "observation_id": "1ecc7c8e-d93a-46e0-a21b-7f49f5272915", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "c47a9ce7-637d-4b02-9f07-c2e6276e2203", + "observation_id": "1f5ec05e-4df9-4679-80c9-28747ef050f1", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "dcd05d88-c333-44d6-b4dc-0fb80661d989", + "observation_id": "7dda4fe7-1154-4315-91a0-742a3f892bb9", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "e804184b-3f62-489a-8126-120f4adca459", + "observation_id": "24aaac53-12d4-4d85-9a1b-43b2ebbb37ad", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "3bf914f0-cfde-41fe-9611-24e5590b5601", + "observation_id": "a3b665c7-a9b4-4ebf-abe6-c8935613ba56", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "d807ba9a-bc8b-4635-b0f2-8a132d0318e1", + "observation_id": "47dcf2e5-3688-417d-89f9-74842b1bdc5b", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "49c0ec21-7888-4ecb-ad12-e7b81805cad8", + "observation_id": "70fdf6d0-811b-4491-8d13-15184470a6b6", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "c9bdc8e2-7dd5-4ca3-8ac8-77c156c6693e", + "observation_id": "d3520803-8328-4006-83d3-80edb54fecf5", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "2846e7bc-5192-4a05-9553-de12f0484408", + "observation_id": "222b1d9a-54e8-438e-aed2-df9eb3ab53ea", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abceg/render_c_camera_pose.json b/data/camera_study/Scene11/k5_abceg/render_c_camera_pose.json index 72194b3..0d26fdb 100644 --- a/data/camera_study/Scene11/k5_abceg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k5_abceg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:55Z", + "created_utc": "2026-06-02T22:43:10Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abceg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abceg/render_e_aruco_detection.json b/data/camera_study/Scene11/k5_abceg/render_e_aruco_detection.json index eb1e6c8..d21faeb 100644 --- a/data/camera_study/Scene11/k5_abceg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abceg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:53Z", + "created_utc": "2026-06-02T22:43:08Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4d3bab6a-f39b-42ab-aa7d-95835daa1976", + "observation_id": "e3df9b41-4acd-4665-be08-4525e2bb003d", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "51963097-176a-40d6-84bf-585a73d3530e", + "observation_id": "98f15059-81c4-4af6-b0cd-686157e1e0f5", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "e76e101b-039e-48e7-92c3-4fd6b88ed216", + "observation_id": "bdc0bf7d-1590-4f67-8fb3-5dd9b48ab6f4", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "78e8afe3-2828-48e3-a0c1-cbd644293b12", + "observation_id": "a9911bd0-75c8-406f-aa05-43b5c0893c80", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "376a1701-bfa5-40f5-80fc-8f504e819e6f", + "observation_id": "bb2c011a-46ec-4317-85fd-d75b507a0a1d", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "7b11d3d7-7ab8-40b8-8d43-8b980042612e", + "observation_id": "99383fff-8d42-40b0-a7fd-664aae1e6148", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "72097705-c2e8-4e59-9a65-a89474013b23", + "observation_id": "6aea72bc-ea8a-47aa-a914-b060c1a640d1", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "5d7f4d5f-1100-4550-80e2-6d902af8c8d9", + "observation_id": "bce50013-c76a-4fec-9152-195a13e97c90", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "f50e361b-3117-4f0b-ab79-307042486361", + "observation_id": "510905af-c49f-4b66-862d-be9596fa178e", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "7e4df421-1385-48c2-b14e-308e48d4ed4c", + "observation_id": "3a8d3c13-043a-4a48-8e18-ac89dfdeeb32", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "a6056544-4363-4946-86e1-464113a32cdc", + "observation_id": "cfc811be-beaf-4c02-aa92-882621fe3e72", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "696cf062-078e-497a-a45b-930c39c34117", + "observation_id": "1e390cff-3922-48d7-953c-fa4ad9323f11", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "d685f825-e88d-4473-bbae-c9dc2e67df7f", + "observation_id": "590e4843-ba8d-4ce7-ae9f-4fddc3de7b0d", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "13d0a972-71b3-45ae-8b76-c883c56af14d", + "observation_id": "c61709a7-fc73-4642-9be5-7237af48adb0", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "b112c659-560e-49a3-9d77-aad6463c9780", + "observation_id": "fb784854-31d0-4864-b201-93c6c655b27f", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "f448c0eb-a8b8-4261-9633-abfbde8bf3da", + "observation_id": "115ddead-2b59-477e-9469-9b7a6e4f5568", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "876c75fb-e8bd-40f3-8624-c53ec94c8aa1", + "observation_id": "09bca319-d76c-42be-a158-6b9df1a21400", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "2db10d54-b19f-4223-af36-c565fe7da4e1", + "observation_id": "0af2d8a1-9a45-4de8-bff8-5e224f6aa703", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "f297d212-d12c-48cc-954e-7d327b1cd433", + "observation_id": "6c584891-5737-43b6-9c72-777173a71292", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "6b83fa84-8ccd-4530-85cf-9848c2255223", + "observation_id": "a76c7f19-dcf4-4fe1-8438-c6d68e147dcf", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "4f65f909-83d6-4d7d-9609-87046e23abb9", + "observation_id": "f562cf05-f580-47d3-8823-ef754d35e66f", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "35170e09-41a2-46bd-8240-38576767e71d", + "observation_id": "95a0264e-39b5-4e28-b68d-f287b06f8b53", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abceg/render_e_camera_pose.json b/data/camera_study/Scene11/k5_abceg/render_e_camera_pose.json index 25feedf..8ab3834 100644 --- a/data/camera_study/Scene11/k5_abceg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k5_abceg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:55Z", + "created_utc": "2026-06-02T22:43:10Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abceg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abceg/render_g_aruco_detection.json b/data/camera_study/Scene11/k5_abceg/render_g_aruco_detection.json index c21dffd..38fc5e0 100644 --- a/data/camera_study/Scene11/k5_abceg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abceg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:54Z", + "created_utc": "2026-06-02T22:43:09Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2d681ebd-c75b-4d81-9001-de9c820d0570", + "observation_id": "1cfa726d-3e93-4345-b842-136711266b2d", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "ec79b761-0f96-4f6b-8b36-c57ded24c5f6", + "observation_id": "352372aa-5231-4d67-b487-272c178832d8", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "310f7b5a-8daf-4725-857c-27f5950a88ec", + "observation_id": "7d170ef0-18ed-473c-bc39-372e167d618f", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "3954dff3-69b2-4640-b5f2-0ba2d7fb7f9d", + "observation_id": "c6241e4d-2bb3-4e60-bf8e-80e5501bcfe0", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "50bfdff2-e0a4-4ab5-9cb7-c9d5d5e66218", + "observation_id": "0bc07808-175a-470e-8c00-bfb9b4d8d74f", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "42337115-5e1d-487a-ba36-e99d6fc7fdd1", + "observation_id": "3ea3db73-eb46-4681-b7b0-a3234b3c673b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "141ca35d-9749-411e-811d-8a3b26c7c91c", + "observation_id": "403a614b-6bfb-48e7-85ef-4888f0f663aa", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "fce0fe3a-56f0-4161-a717-92c42ca4b0ed", + "observation_id": "f5408f8c-fc85-4b23-acd0-9b6d30f68f68", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "141f2bb8-2b1f-433b-bff3-4b82e5eacdef", + "observation_id": "4dfc859e-2165-4797-911b-7fcda2ca79fe", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "b18df101-9f43-4590-baf6-6472008b5236", + "observation_id": "f0596069-feb2-4cf8-bf49-2c4e1703117c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "937cc661-9d6b-4bb0-89c7-6b5704ff411b", + "observation_id": "9ea63bf9-a906-4af0-8de5-2014023ab58e", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "b7b2943f-7776-4096-87ad-a0ecbd3eb069", + "observation_id": "b7c9bf3c-4c39-4b08-a3ba-08f614811b38", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "b68d1488-3fd6-4727-a6e6-1ffd267e831c", + "observation_id": "f941d82b-3d56-454b-8c5e-c6cca1921734", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "99e746cc-289f-4a26-877a-321f36a61750", + "observation_id": "badbed57-225c-496f-a157-41014d1b175e", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "543645f8-ca39-49e5-856d-5f10e90325da", + "observation_id": "69bba5b4-1ae2-49ec-83df-b54b105913e8", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "5686770b-6488-45c9-a060-e7cd0aceb4df", + "observation_id": "6d8230b0-7808-4e40-b768-1cd2b10bfa11", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "ebfcb193-897e-4e0f-aea5-0ba4a5fb8001", + "observation_id": "20950ccd-9f01-4b5a-82e9-094d5f1f7ec5", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "9d71b48f-9724-4c1b-a905-a7826113b556", + "observation_id": "f1734913-aee7-489d-aa2c-60dd63745515", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "00dc8c41-87fb-4561-b21f-8ddcbc39d27e", + "observation_id": "b4d98dea-a968-4385-9008-e0853acb9960", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "d63bcb40-f561-4483-9412-15cf7d2c70d9", + "observation_id": "155a7e0c-7c2e-4999-8fc1-0d387e12af5f", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "dd0a4aec-4a40-4813-8f16-79ba894b3b4d", + "observation_id": "38a22566-ce5b-4ccd-bc09-4fd157dfdd5d", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "5edd1062-25a5-4eaa-bbcc-15edbefaddbd", + "observation_id": "01d7682c-3e3e-4c8c-ad83-f89793bfe243", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "89e1555f-6666-408c-b860-8b1ed66f6f25", + "observation_id": "5a2b4cbb-713c-49fe-a16a-b42936c92b27", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "5151d1b2-a1d6-4f3e-8841-cac709601c5b", + "observation_id": "b6ad0ff6-adae-4062-868e-0f1dc40cfbe3", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "6df3ec9e-68ff-4de3-8e02-a8a3dc3a005c", + "observation_id": "05ed9524-e795-4ad4-a604-8a9075b150ed", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "bdecd2d9-fbc7-4516-ab0d-9de9b613ceeb", + "observation_id": "87278e88-d709-46dd-8b9d-4c2c0b877e3e", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "03b1dde9-0d7b-4839-a023-497d43f82f22", + "observation_id": "277e4b1e-0b34-4e1d-9d01-e552953671c9", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "4e9a2209-aa7d-4ff3-ab73-aee6e1cfe7e9", + "observation_id": "c1d3ba30-8b89-4660-b1f7-7f0b6d58cf29", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "a2ce91a3-d450-452e-a7ed-957d662d8c38", + "observation_id": "915c11a5-ac24-44d3-adde-53f09f525dd4", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "e5924f5d-f79b-43c8-99c3-db2feeb2f59b", + "observation_id": "54f9614c-be13-4485-9ae7-530646d828ce", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abceg/render_g_camera_pose.json b/data/camera_study/Scene11/k5_abceg/render_g_camera_pose.json index b5f772a..9022a1b 100644 --- a/data/camera_study/Scene11/k5_abceg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k5_abceg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:55Z", + "created_utc": "2026-06-02T22:43:10Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abceg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abceg/robot_state.eval.json b/data/camera_study/Scene11/k5_abceg/robot_state.eval.json index 92921d8..f34bfe3 100644 --- a/data/camera_study/Scene11/k5_abceg/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_abceg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.5399807178584126, "mean_abs_mm": 0.5035436969959868, "max_abs_mm": 0.6704911097185828, - "finger_error_mm": 2.220695533805742 + "n_unobservable": 0, + "wrist_error_mm": 2.0678105116123446, + "finger_error_mm": 2.518647699548493 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_abceg/robot_state.json b/data/camera_study/Scene11/k5_abceg/robot_state.json index 77fa052..4852c6c 100644 --- a/data/camera_study/Scene11/k5_abceg/robot_state.json +++ b/data/camera_study/Scene11/k5_abceg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:02Z", + "created_utc": "2026-06-02T22:43:17Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_abdef/aruco_marker_poses.json b/data/camera_study/Scene11/k5_abdef/aruco_marker_poses.json index ff0c67c..0d3e8b1 100644 --- a/data/camera_study/Scene11/k5_abdef/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_abdef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:26:11Z", + "created_utc": "2026-06-02T22:42:21Z", "summary": { "num_cameras": 5, "num_markers": 29 diff --git a/data/camera_study/Scene11/k5_abdef/aruco_positions_initial.json b/data/camera_study/Scene11/k5_abdef/aruco_positions_initial.json index e7881d8..aa0ccbe 100644 --- a/data/camera_study/Scene11/k5_abdef/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_abdef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:26:09Z", + "created_utc": "2026-06-02T22:42:19Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_abdef/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_abdef/aruco_positions_optimized.json index 54db4e3..795bd91 100644 --- a/data/camera_study/Scene11/k5_abdef/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_abdef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:26:11Z", + "created_utc": "2026-06-02T22:42:21Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_abdef/render_a_aruco_detection.json b/data/camera_study/Scene11/k5_abdef/render_a_aruco_detection.json index c15933d..630125a 100644 --- a/data/camera_study/Scene11/k5_abdef/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:06Z", + "created_utc": "2026-06-02T22:42:16Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c85e6d5a-9a72-4d08-bf94-e2ae9c08a476", + "observation_id": "a33dcd7b-5de7-40f1-962c-cc8d4d0558f0", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "da75b6f9-ae61-4151-9681-4410ece22ff9", + "observation_id": "05690dda-a30f-4bec-81a6-5810e60f2df5", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "15a35d70-a961-4864-8726-84d19857c0ee", + "observation_id": "43596ec7-b01a-49de-9eed-6f8163189e0b", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "979e58de-ca06-425f-b201-423ab08fab20", + "observation_id": "df106857-019f-488e-983a-000a704bf1c0", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "f692488c-75fd-454a-be39-d2d10c0a1733", + "observation_id": "618b7b79-bf60-4498-95ab-6ad91ffd1ff0", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "46d5ecb0-cbc6-49de-8d53-2fcb1a149b2b", + "observation_id": "a6485e9d-62eb-4ec7-a597-b65ad81fa40c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "29930c57-2b7e-4d39-9bb6-ea94d03a3d42", + "observation_id": "4981cfde-884c-4750-be9a-166fadd1c671", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "1e0bd65b-e5f3-44f2-a5e7-3e816e590f7b", + "observation_id": "6884f55c-8a71-493b-818f-1c9ce8033c44", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "cb718663-5b4e-4c1a-8f26-05d0f4862ccc", + "observation_id": "fc9bb9a5-4cb2-43d9-ab17-5eb04f1a0498", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "9577e4c8-fe70-4907-a809-41f82bfb5453", + "observation_id": "292354b0-c6a7-4c41-8341-a82ac48e339f", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "af72f78b-2c67-4da8-bf04-d037ee188521", + "observation_id": "1b92ee81-1caf-47ae-b20f-0bb651c85ccb", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "928d3a82-9124-4501-8687-bf9578c8ce4f", + "observation_id": "a3a7d2d1-5352-4efb-84f1-8f3b8d0dc301", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "55251083-7480-4b9f-9287-0053fb65a845", + "observation_id": "933d15a4-0710-413d-a1a3-20c7e51cc446", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "8fc8b88a-91ce-4aa8-a6cc-0b79b010216e", + "observation_id": "42498d4f-10f9-483d-9a10-d94cb2c72e26", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "88f7684b-5150-400e-9058-9625f2bf120d", + "observation_id": "0c920d17-9060-4e2d-b1ba-f0ddd89f9a19", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "633385aa-206b-4f35-b674-3a12dcb7e802", + "observation_id": "6ebd269a-5b40-4485-94ca-80d424ca7087", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdef/render_a_camera_pose.json b/data/camera_study/Scene11/k5_abdef/render_a_camera_pose.json index cadbc0f..767bf12 100644 --- a/data/camera_study/Scene11/k5_abdef/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:07Z", + "created_utc": "2026-06-02T22:42:18Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdef/render_b_aruco_detection.json b/data/camera_study/Scene11/k5_abdef/render_b_aruco_detection.json index 9fb36e9..557374b 100644 --- a/data/camera_study/Scene11/k5_abdef/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:06Z", + "created_utc": "2026-06-02T22:42:16Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b4590b9b-8c9d-424a-9d7e-c06e3a3bdb05", + "observation_id": "6ae9e3c1-7ec6-48a5-a6b7-4552b16bf6f3", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "8996f452-b439-4286-8d7c-ef2946b5dcd3", + "observation_id": "1b08603e-e3f2-487f-8207-639b48cbf8e4", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "5978f903-a551-44db-acb3-0407cf31ce8b", + "observation_id": "cd997ee9-d401-4c58-bc0c-b1d5216a0a17", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "80906863-ff65-44ef-87d1-985da8b1213e", + "observation_id": "2de74e99-ca47-4444-ab6a-64799f36c40e", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "452636a0-e50a-43ee-9ae2-dc8c8bc6121c", + "observation_id": "a07beedc-4e80-4d35-b0cf-d1352f7af2fd", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "e162907d-dde3-465f-b605-bb8840335e9d", + "observation_id": "1614825c-5635-4a81-9ce5-b336d405c996", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "cdeb687f-2228-4a6c-857f-f7965d45e284", + "observation_id": "4f7f9eea-0e70-4f88-8e57-ef8cec12c4f9", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "999aa23b-44f4-4481-9ca7-229974bab0ea", + "observation_id": "f05d7cc4-e461-48f3-8034-bd43aa7c1ee1", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "4d7e3be3-09ab-4684-a047-912204f02337", + "observation_id": "becd7a7c-17cc-467a-a011-f7f7166019f4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "eae64606-c7b1-4753-89be-2a0822459ceb", + "observation_id": "b58c5bcf-6999-44f3-9ca1-2c4c2bb45c76", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "d0190886-ecfc-4892-8483-f8106fa901f7", + "observation_id": "e67b9110-fadb-48f2-ba1d-b4ae0d093a66", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "80ced179-abd4-4ca0-9f7e-c11d6e50fbec", + "observation_id": "2d471c4c-2b0c-4373-9006-a8387ec37b5e", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "579e0f19-4b41-41c4-bddb-91bf4a483e6a", + "observation_id": "f149cf95-012d-4fc5-807d-b1fcd923458e", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "638467af-dd88-4afa-b829-553a520fe879", + "observation_id": "82903488-e609-4d02-a23f-c878dc0d933e", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "c24fc252-149a-4dae-80a6-cab9fa4a956f", + "observation_id": "519f2abd-94bc-4c96-b997-7361304d2613", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "c4538231-2018-4a9c-ae3d-f7d4a2540fec", + "observation_id": "c1ba53f4-22ca-4ceb-b1b3-5ba1631ca435", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "b2d4faa3-9081-4cae-ac52-8e2dd1e569e7", + "observation_id": "1f851527-8b86-44a2-be65-1187a0859de6", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "a3e860c9-4a0a-4578-a77b-25bc72191fa0", + "observation_id": "551c4e71-05a1-4975-9c6e-126112f70484", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "5c40ae7a-63b5-43e5-aa12-42f6bb381390", + "observation_id": "47d9cc49-6676-4aeb-b05e-43190aef0457", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "35f8bba6-8e75-41bb-90dd-60f24e2a6a0b", + "observation_id": "363f1725-cc0c-40a5-8a9b-7623c9f2412d", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "45d7617d-f781-4062-9948-73ddca11b140", + "observation_id": "f17a588c-dc4b-450f-8ebf-d9a7194bbd23", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdef/render_b_camera_pose.json b/data/camera_study/Scene11/k5_abdef/render_b_camera_pose.json index 1b1050c..0786b68 100644 --- a/data/camera_study/Scene11/k5_abdef/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:08Z", + "created_utc": "2026-06-02T22:42:18Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdef/render_d_aruco_detection.json b/data/camera_study/Scene11/k5_abdef/render_d_aruco_detection.json index c4ad3a9..ebfeda6 100644 --- a/data/camera_study/Scene11/k5_abdef/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdef/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:06Z", + "created_utc": "2026-06-02T22:42:16Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bfbc12e7-ba4c-4444-ab7c-1ca6753b0fb8", + "observation_id": "148d51a5-f29e-4be1-861d-11b171a0ffa0", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "7f141e29-afd8-4ca6-9b81-8d1f1c454f57", + "observation_id": "911003bb-6c0c-4189-a2f0-2281ce6fdd7e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "a3560c16-c950-481a-bcc5-c79cbd4dcd9b", + "observation_id": "9c7e408e-bbb5-4c3f-92c6-52a8cd1fb5ae", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "4353e048-2429-4ab8-94a6-f7c4ab2bbb5a", + "observation_id": "e21f06e5-e5e5-4131-b1e0-19db2b468259", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "f8d10974-e0ef-4230-ae46-3a24570590d0", + "observation_id": "515aebff-9713-4287-8673-d4f6a8322728", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "c65d8de1-ba79-41e8-ab23-31d909e34698", + "observation_id": "168cf599-6f74-4443-b5cb-1cec6db4b974", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "5b20b61a-5e8f-43cb-84d5-4d7018d3b291", + "observation_id": "3e76834f-680a-4870-b2af-c7dfac9e4d3c", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "972b82d7-bfc9-436b-82f5-cff314d4b928", + "observation_id": "53354d13-6750-4fdb-908f-cf9cc2413dea", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "60637164-1370-4a83-8f92-0ff2ea99a4d8", + "observation_id": "a98890d5-2d76-4160-972b-ddf9ed848820", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "ff447328-a789-496d-af93-e58f3574b91f", + "observation_id": "6c08c51f-9873-4f7d-bb5a-4ee2f176b78e", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "1b869007-2604-45c1-a667-751a805de8a3", + "observation_id": "63c2941f-6bae-41c5-93ec-4391cdc8f2db", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "f8cfdd59-0075-4289-b10e-3aa80a24a63a", + "observation_id": "3a10f574-35fc-4568-8f1a-eed27e95562e", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "c018c060-017f-43b6-b16b-9d32264e13d4", + "observation_id": "7aaf47b3-c7fa-452c-b248-773c46e9f22a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "a4885797-9e80-46f8-9357-fe12dd786280", + "observation_id": "ffd7a4ec-29e5-46c1-8f89-aadf0a7b80bb", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "a0e89bba-6d4a-4314-9bf2-6ce443768f2d", + "observation_id": "a8a12221-9245-4965-a407-e4e1ed6a97b1", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "fa2e274c-3dfe-474a-8845-a3d1a9c4d84e", + "observation_id": "0691acf0-d86e-472b-a2a5-d5502a9ee2cc", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdef/render_d_camera_pose.json b/data/camera_study/Scene11/k5_abdef/render_d_camera_pose.json index 3216a79..628d86e 100644 --- a/data/camera_study/Scene11/k5_abdef/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdef/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:08Z", + "created_utc": "2026-06-02T22:42:18Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdef\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdef/render_e_aruco_detection.json b/data/camera_study/Scene11/k5_abdef/render_e_aruco_detection.json index dad737f..7931267 100644 --- a/data/camera_study/Scene11/k5_abdef/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:07Z", + "created_utc": "2026-06-02T22:42:17Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d0f2b303-efe1-45fa-8913-0552c63bee8d", + "observation_id": "3a748bb1-3b73-496d-9f26-c287bf9dec01", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "6b965641-25e3-43af-95a4-53efb6df58d4", + "observation_id": "d8628e03-8333-4991-84f5-b214577c1d08", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "2fa7a294-7138-48f2-b415-272bac55c2f0", + "observation_id": "7739b32a-c125-403f-8533-325136991d7a", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "aec0cb19-8f6f-4cb0-898b-fa2899664d9e", + "observation_id": "90c346b0-c604-4056-973f-be8ac22902a4", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "1770a4e7-90ed-4c76-936e-00773ff431b2", + "observation_id": "53ecf107-97e6-4939-a96d-4909c137fd98", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "8ed1faaa-d06f-48f5-9c81-acf66d797982", + "observation_id": "9efa6642-9fb9-4ddb-84b7-f307a4ba658e", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "39abe507-a281-4d89-9cac-7a0eb4cf7a2a", + "observation_id": "8c662efc-d93d-4f2c-85a5-ad9aa2231072", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "43e22a8f-7e18-47b7-b43f-dbe6d0916608", + "observation_id": "d5412177-31b7-4e19-8d95-7561edfe1fe3", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "46a37b57-cdbb-4772-8ff1-111f7e74ec68", + "observation_id": "fad4f0b7-5aec-4f22-ae88-8bcfb4ce4cf3", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "a31861fd-6b31-4a6a-974c-63175808cc98", + "observation_id": "54cfe938-944e-409b-b350-8dd1af45c85f", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "d558daeb-bca7-49ca-8b1f-3d962b9ebfc1", + "observation_id": "9d9609d1-7ef4-45fe-98ce-152ba3d32b92", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "89b63b42-42c7-4f3c-9a55-90593950d12f", + "observation_id": "31cc6627-4949-41bb-b91d-a4c9b61a3a59", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "7553e609-2e61-4a08-b097-b3786efa62be", + "observation_id": "bf5173a5-8dbc-442d-a671-fbb0735f3c77", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "9279ab3d-2fdb-4aa4-8f6d-670d0fc71b89", + "observation_id": "c60b946a-274e-4a53-be34-6c9ec8282e8c", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "21b13006-a54f-4b39-9d59-d18b06e888be", + "observation_id": "5c3e83b3-61fa-48f2-bc38-d418e784c894", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "dd6dab80-7827-4c75-b72a-38422d22ed96", + "observation_id": "dd7ee0b6-520e-4020-8d22-40036f1d6f8e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "a107fea1-7b01-479d-8b52-8c11b10755e7", + "observation_id": "80d784cf-0220-4b16-9346-0fb7a6994818", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "ce2ef71c-25a6-460a-9c96-8998bca97df2", + "observation_id": "dc1b06fd-3744-4c12-b195-3810de24f616", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "5d507e51-4399-4b5f-9fc5-84cb52bc4587", + "observation_id": "d43ba533-38a5-475e-b222-0c2e469318c2", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "87c665c3-ca30-4bbd-81eb-eb5c06ca80aa", + "observation_id": "2f7842f2-a4e3-455f-a705-b3f09f1577d4", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "e72e8aa8-5bde-422e-b8f3-1c951e1c8331", + "observation_id": "a6341b0b-1d2a-4d19-b54e-6525642265aa", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "97a99462-be09-4ce4-8f8f-708a7041ac7d", + "observation_id": "e8bf3172-7968-4560-9ea3-4d8a20b02fa9", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdef/render_e_camera_pose.json b/data/camera_study/Scene11/k5_abdef/render_e_camera_pose.json index e61fe24..d466d4e 100644 --- a/data/camera_study/Scene11/k5_abdef/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:08Z", + "created_utc": "2026-06-02T22:42:18Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdef/render_f_aruco_detection.json b/data/camera_study/Scene11/k5_abdef/render_f_aruco_detection.json index f7f90d1..8b209fa 100644 --- a/data/camera_study/Scene11/k5_abdef/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:07Z", + "created_utc": "2026-06-02T22:42:17Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "281c5ffb-90d6-45de-88e4-2679b4e1cdbe", + "observation_id": "adf0acde-cc4a-4a67-875c-3da32042b64f", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "cfeed1d5-ab70-4dc7-be60-45c92282188f", + "observation_id": "b75515e9-2b39-4c93-8d80-e370d6fa63f4", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "d7043540-6d62-4a65-af23-1505f47f5132", + "observation_id": "1c4c0b38-b6c7-498b-a382-1f1adb417b92", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "6b3722c1-7ee0-4f98-8e9c-2ff9ac08b5aa", + "observation_id": "066ac65b-d041-487a-b422-ce50b582fa22", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "0791c726-8c43-49bd-8a20-1f65934bc01d", + "observation_id": "f4f01086-0365-4f47-9dc0-9a4681913173", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "416a317e-6317-496f-907f-d75ff6f1cb7d", + "observation_id": "3c3fe5f0-e039-4e81-b9c5-bbd561ac95e8", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "26cc1c6f-8d72-4c14-bba5-42ac3bccd0ed", + "observation_id": "67c9cce3-df70-48e9-9d4c-1a7855d43325", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "1885131f-c998-491b-b247-72dfdd72b01e", + "observation_id": "20d7cf9b-5654-4557-aae6-f72fbff33449", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "81e0cb40-d8f3-4ff6-851c-e3db33ed15c2", + "observation_id": "29374d5e-ccae-4a77-a480-f6d31a226fb2", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "54b9d84f-d8ab-446d-9ab6-b495320c575a", + "observation_id": "7f3f2765-f807-402c-8adb-754c2f5ea926", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "064069ed-6306-4bd2-b6e8-724a1756d8ee", + "observation_id": "f4f8f5b2-1b9a-484b-897e-22e66d686050", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "f0d9c6b6-8546-423f-ba0c-35f5633277f8", + "observation_id": "8b45b533-c7ed-4080-9b5f-14f9235f8cbe", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "1243335b-cc20-4d88-8d1e-f02bebc0ab12", + "observation_id": "7b482aa2-6709-483f-bb56-1bcc237a431f", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "3d8940a0-1147-4fdb-9d0c-23fc033e1d67", + "observation_id": "68a81783-6b84-474d-a2a1-bf468a864632", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "e0386eb0-3fa4-4819-846a-5d99d5060a32", + "observation_id": "77237efc-e8c7-4002-a4f3-00d514c739e0", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "f6717391-57c3-406b-9827-a3f4df035286", + "observation_id": "33712d45-a9ce-4f6f-9861-53a0deaf0ea0", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdef/render_f_camera_pose.json b/data/camera_study/Scene11/k5_abdef/render_f_camera_pose.json index 8805ed6..bc6a86e 100644 --- a/data/camera_study/Scene11/k5_abdef/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:08Z", + "created_utc": "2026-06-02T22:42:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdef/robot_state.eval.json b/data/camera_study/Scene11/k5_abdef/robot_state.eval.json index f1cbb4e..92cb2cf 100644 --- a/data/camera_study/Scene11/k5_abdef/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_abdef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.7183885677771684, "mean_abs_mm": 0.2675796070793255, "max_abs_mm": 0.3079405481562505, - "finger_error_mm": 0.7615867983076363 + "n_unobservable": 0, + "wrist_error_mm": 0.33385804521364615, + "finger_error_mm": 1.2155372639990962 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_abdef/robot_state.json b/data/camera_study/Scene11/k5_abdef/robot_state.json index 43041d1..c17aff3 100644 --- a/data/camera_study/Scene11/k5_abdef/robot_state.json +++ b/data/camera_study/Scene11/k5_abdef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:12Z", + "created_utc": "2026-06-02T22:42:23Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_abdeg/aruco_marker_poses.json b/data/camera_study/Scene11/k5_abdeg/aruco_marker_poses.json index 976bc21..f70592c 100644 --- a/data/camera_study/Scene11/k5_abdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_abdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:26:43Z", + "created_utc": "2026-06-02T22:42:57Z", "summary": { "num_cameras": 5, "num_markers": 34 diff --git a/data/camera_study/Scene11/k5_abdeg/aruco_positions_initial.json b/data/camera_study/Scene11/k5_abdeg/aruco_positions_initial.json index eeb81f4..da401f0 100644 --- a/data/camera_study/Scene11/k5_abdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_abdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:26:31Z", + "created_utc": "2026-06-02T22:42:44Z", "summary": { "num_cameras": 5, "num_markers": 34, diff --git a/data/camera_study/Scene11/k5_abdeg/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_abdeg/aruco_positions_optimized.json index 45e0d3e..9a0755e 100644 --- a/data/camera_study/Scene11/k5_abdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_abdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:26:43Z", + "created_utc": "2026-06-02T22:42:57Z", "summary": { "num_cameras": 5, "num_markers": 34, diff --git a/data/camera_study/Scene11/k5_abdeg/render_a_aruco_detection.json b/data/camera_study/Scene11/k5_abdeg/render_a_aruco_detection.json index d4e59ae..1f33b91 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdeg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:28Z", + "created_utc": "2026-06-02T22:42:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "1da9b953-2ec0-4daa-9da4-e97ac3e4edab", + "observation_id": "7dd8c3e9-8b1f-49ee-b3e1-eed902a0eecf", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "eec18937-0222-4d42-b0f4-4c5057eb32cf", + "observation_id": "8433b851-7949-4276-9d13-d1ebaf4b9d0a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "98b62504-5c1a-41c8-946e-ab29f3395b6e", + "observation_id": "cd7ce60d-5b20-4211-a8d0-36caa7ec9d6d", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "1a6ad838-e559-4eeb-8ebe-a3f78e925977", + "observation_id": "c2dec646-c411-43f4-ae11-967b8712cf0e", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "cebc7cc9-5bc2-41fd-ae3a-742d9d922078", + "observation_id": "f009a05e-19d1-442d-b49d-0d640474691c", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "6b55b95a-fc92-4e6d-96ec-094e60f20cb7", + "observation_id": "416d500b-d8b8-40a8-8914-f4c5d8578e8b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "97f49c1a-a5a5-4810-9b77-410913fd93f0", + "observation_id": "e995bf3c-9729-4415-a7cc-abe94436adee", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "482b4659-9130-4109-8be8-6c8aa8e1380c", + "observation_id": "a80150ae-e698-4306-9a36-479e86620757", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "9fb72355-0d1d-484d-9500-4f1da646ff53", + "observation_id": "1f5c4c31-ce44-49f0-887d-bbaa632c7408", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "215946ee-7c7f-4575-87a2-d9d4c9916a30", + "observation_id": "5ee509e4-77a8-446e-86cb-809e22f57538", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "ad15dcdc-13e0-4df6-98c6-f73c1fa01ee3", + "observation_id": "479cf48e-4d6e-4017-9081-364e6e71e562", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "7afdb425-6626-453e-91f2-e070c3f0db22", + "observation_id": "7aa0d5d9-0e1f-4563-ae36-3b939f7bb9e8", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "4eca71ec-4aea-41d5-a775-69a1d146d0e1", + "observation_id": "67674d08-ea52-49d1-b5bb-8dbf238e7bda", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "ac64f348-f44c-4b71-b461-466c96208d49", + "observation_id": "edddbb0b-318b-4992-849f-7ee735d8da68", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "ff96dcaa-19b0-4d93-8405-3c563c0a0790", + "observation_id": "c2d2350d-852b-4511-b413-8461add6fc36", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "bbdc9371-bb52-4309-a58b-f8f79a0c6ee9", + "observation_id": "16287bdd-0804-4f78-8eba-1620aa733a85", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdeg/render_a_camera_pose.json b/data/camera_study/Scene11/k5_abdeg/render_a_camera_pose.json index d03847a..d983d8a 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdeg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:30Z", + "created_utc": "2026-06-02T22:42:42Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdeg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdeg/render_b_aruco_detection.json b/data/camera_study/Scene11/k5_abdeg/render_b_aruco_detection.json index c71f4e8..e518552 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdeg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:28Z", + "created_utc": "2026-06-02T22:42:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e476c30b-8f57-44b7-9c55-17080d787c12", + "observation_id": "353c0300-7d0c-452a-a824-3083f6fa61ab", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "3035dd66-1348-4f49-af4f-e6b5f1769e5d", + "observation_id": "a1d6cced-d4b0-48bd-9b62-7580a461ed2c", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "cc21468c-b43e-4d3d-8faa-89b43b98f8f4", + "observation_id": "11651f1c-92ce-438d-aabe-bb5c3a32d222", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "d7e45161-109f-4e25-8022-577fe8f0f030", + "observation_id": "6b72009c-c145-43a2-8903-14f44589a216", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "e840d329-c896-4934-9ccd-2cb4bd4dca19", + "observation_id": "6a5971b1-a968-4f23-949b-efca890544bf", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "82e6c8f7-7ee2-4508-9e94-c1e151845b47", + "observation_id": "bf3212d0-db02-4442-800f-e4112c0dff34", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "ab92a4c1-5fb2-41a6-afd9-2f31e7c9ac39", + "observation_id": "c9e4d90f-2fae-4159-8d3a-0f37bb4620e2", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "51eec119-e61b-4cc0-b24d-7d5d568b8b8a", + "observation_id": "5ade03f0-323e-4371-bb35-f0ea6959c91f", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "56223998-9f54-4c13-82f2-10b4160bbee6", + "observation_id": "e79f9faf-80e9-4b08-ad1f-70726ce13967", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "14c57498-adec-4471-9bff-7a779febbfc5", + "observation_id": "a4d13621-7402-4c9f-8630-c3af107b0e89", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "d2f9c0f8-5e1a-4c52-95fa-cfc0b624b8f2", + "observation_id": "c7e0c950-4c7d-4654-83bf-a8aed3b9d531", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "940a9113-c47b-43b3-be9c-5caf8c2f08cc", + "observation_id": "74b8ba8d-d871-48d5-88bf-8511eca06d6d", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "964f33dd-2ecf-4c7c-af12-ffe8a78e6247", + "observation_id": "71f5d78a-f1a2-450e-8c56-16804d8c4ae0", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "5c398f0c-b85c-4b2c-a6b7-973a7e1638d3", + "observation_id": "3bb792da-d735-4459-a996-48048398c323", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "a6804a89-1257-44ff-86f4-a7821b516519", + "observation_id": "84abf071-7310-4290-bd20-286b41e229fe", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "7e828ab9-ed4a-4e66-835b-8ab15fa2421e", + "observation_id": "d945df77-4c11-414e-b404-14854291c870", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "dc56236c-2fe6-451b-a013-544959527eed", + "observation_id": "65d03057-6160-4507-9c4f-688817e387a1", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "d58d9a1d-3c5c-48bd-bea9-98f9b15cbb35", + "observation_id": "556d0430-0dea-4656-a0cd-9a036462730e", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "06e787f8-e952-461b-b57c-b736bee56ffb", + "observation_id": "e9f50c0f-038b-43a5-8bba-7d0f4f7096a0", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "7eb49833-1747-49dd-9a6f-cf123144e55f", + "observation_id": "184e0173-8e52-4325-9f78-90cf3870b175", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "d9941292-e568-41e1-bfb1-3693f84f5d70", + "observation_id": "b4d7761e-c3c9-4922-b2c4-ca3708e34f36", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdeg/render_b_camera_pose.json b/data/camera_study/Scene11/k5_abdeg/render_b_camera_pose.json index e5d760b..d30a24d 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdeg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:30Z", + "created_utc": "2026-06-02T22:42:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdeg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdeg/render_d_aruco_detection.json b/data/camera_study/Scene11/k5_abdeg/render_d_aruco_detection.json index c38645c..4e76bc1 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:28Z", + "created_utc": "2026-06-02T22:42:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ca30b38d-567c-4ac7-a50d-e56a7963f629", + "observation_id": "d774ed83-0a05-44ab-9a2a-1a4ec09dfbb5", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "d816f47c-a39f-4251-9974-faaa1e1f06b1", + "observation_id": "4eebd4b9-3828-4211-8cfe-3a359f20157b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "c6d3a4c1-46c0-44fa-940b-77a57b5de818", + "observation_id": "81a9d0f0-3c72-4e0d-93c9-0a0c4bf4fef0", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "8a2edcf7-1fdf-4fd0-8662-c27d225f0d8e", + "observation_id": "8d3b8447-801e-46ba-a49c-332486ace854", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "41a19446-05e8-4ae7-aa6b-b6072508a1f2", + "observation_id": "22035417-dc47-41d2-b7b0-c18a60b27860", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "e3de8f4c-75ae-4cc8-9bd5-431de5d6c7ef", + "observation_id": "358a9016-f544-4254-99e3-3b7d084ff24a", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "6de0ad22-7442-4abc-b1cc-263b9757ad3a", + "observation_id": "0506657b-6890-42d5-ab8e-6367a20b2d5c", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "2f7e3736-a00f-4dab-9fa2-7343e90afef6", + "observation_id": "a9029711-04da-4b81-bad0-3f4f3675ffdd", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "91339f1e-c3c7-4176-bdd2-5038817faa47", + "observation_id": "6e57f78c-0486-4358-8a81-dd08ae8b96b1", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "b2f9029d-0652-45b7-9faf-5275c9e27ac7", + "observation_id": "a5139877-046d-4b44-ab5e-a916d1f87e6b", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "effa160c-bb3e-46f3-9c4d-5b104625f479", + "observation_id": "fd9655d5-4de0-4e9e-8a66-a3207d4e780e", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "8c921772-9763-47b4-8bf9-3def81311917", + "observation_id": "1048f5c2-c2d3-400a-8f3f-f40c4906e2ea", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "a4e07c80-7dc2-4311-9baf-cb056ea8499b", + "observation_id": "dfa19be3-1b8b-4d4c-b6f6-3e0b58d0e7cb", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "ffbe304d-d8ab-4e70-a130-956183fdf9f8", + "observation_id": "81853611-34f6-4b0d-9c14-6dbeb618a839", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "3599a226-202a-4fe6-8f1e-0b620dc36f47", + "observation_id": "087d2b23-e441-4315-a2b7-21c4f99b53ca", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "58a2f2dd-8f29-481e-b7c1-0050fc1f01df", + "observation_id": "14a5a350-8177-4b0b-b9fd-ae409dec2d3e", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdeg/render_d_camera_pose.json b/data/camera_study/Scene11/k5_abdeg/render_d_camera_pose.json index fd588cd..2f56f22 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:30Z", + "created_utc": "2026-06-02T22:42:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdeg/render_e_aruco_detection.json b/data/camera_study/Scene11/k5_abdeg/render_e_aruco_detection.json index 9e30358..23b284a 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:29Z", + "created_utc": "2026-06-02T22:42:42Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2b6f5d0f-0d75-450e-ba94-c136fdc3d768", + "observation_id": "27ad0117-847a-4519-805b-79cca2614bfc", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "6ec51789-4a62-4c72-ac37-af389613170d", + "observation_id": "5215b6aa-125e-41cb-8802-9ed5306fc598", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "aed09bf4-77f1-4fde-80d6-4e24a35818e5", + "observation_id": "d0b2f0d6-67e5-4f87-ac48-ca50f854df69", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "672f82ab-36a4-4929-914b-b4680e38d4a1", + "observation_id": "5f18b8a1-18e2-4370-8346-2b6043fccb8d", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "fa23b4a3-f977-44e1-ab60-181e5f0c73ce", + "observation_id": "69cf8c7e-9bd7-42fc-b3a2-8172fae46208", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "9fdf0eba-e980-4796-9ce2-4d78d0bf28bf", + "observation_id": "a6154ac0-3b12-4ccd-a6c2-f2560b3a2692", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "288bfba2-fac8-4ad9-9cf2-000ac04d9db1", + "observation_id": "9b8c9a48-ebe7-4894-b5d0-da34d6ba9d26", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "53ebc95a-52e6-4f52-a4e2-b65548ac2929", + "observation_id": "41a19a39-601e-47ae-9b5a-72425aa2e884", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "e04d49a6-5923-4c24-a4da-de9c12797ba2", + "observation_id": "85bcf58e-72fc-4fb5-a5c8-1824d6119324", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "a205e8af-a0ef-4610-9544-74943a7e2045", + "observation_id": "0732f89b-a2c4-43cf-8b7f-f3789f4a0fc7", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "043fb9d6-c9d2-4885-9cc3-840df50f447f", + "observation_id": "bc8923b3-7856-4f3c-8a8b-cd763d3a4fa8", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "eaddcf34-fc9c-467f-ab15-3bacf59b7588", + "observation_id": "5ddf4e27-f446-46f8-b231-064acc8473b9", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "456de9b7-c121-49bf-a826-213703669ac8", + "observation_id": "b3629b85-3bf0-48d3-9b5d-dd64648877c4", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "a38dba2a-a92d-494e-a68f-956807500843", + "observation_id": "144f420d-44e8-4022-8a1e-be398dd274e8", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "6e96ab24-78b5-4d57-b35e-204161a4ae95", + "observation_id": "c2646a9c-3281-4870-a65a-b4ad803d5dfe", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "7cd0eea7-7233-4c70-bb35-d2c297e9a798", + "observation_id": "940dd0a6-fdc6-4bcd-8b54-cd9a42e1123f", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "c60c7787-d991-4a29-a3df-bd4ea6d4a6e8", + "observation_id": "992f9fd5-a7f0-4522-a0fb-3cd71912a310", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "d9ea19ed-1397-4622-b603-a4826e41f6d6", + "observation_id": "adf32f36-671e-488a-9fc1-409048b3b0ed", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "86b1dfe4-4c0c-4ac5-b16e-3f0f830d9cbe", + "observation_id": "bbd79b76-6a1d-4c49-b3b5-4e50751582d8", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "c87c710f-78f5-462e-b717-6c3fc8995e55", + "observation_id": "ac4e1f37-bc9b-4456-ae16-2a50e8bf9c7f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "2a436a26-94f2-48a2-9879-3fd6f5d776b8", + "observation_id": "f31d62a2-3802-49cc-a35f-b1b80e08f0b2", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "674fefe1-a404-4886-8477-3bb5464911cb", + "observation_id": "c64722e3-eab9-412c-be35-482485fc0b97", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdeg/render_e_camera_pose.json b/data/camera_study/Scene11/k5_abdeg/render_e_camera_pose.json index 6e0d6fd..a3d1948 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:30Z", + "created_utc": "2026-06-02T22:42:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdeg/render_g_aruco_detection.json b/data/camera_study/Scene11/k5_abdeg/render_g_aruco_detection.json index 7656844..9b2f815 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k5_abdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:29Z", + "created_utc": "2026-06-02T22:42:42Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "806e3f20-3c1c-4d9e-bc42-4f1a2c9b4a3e", + "observation_id": "a84c70f7-e015-4852-96cb-2b2dd3a19cf1", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "f90b30b0-d975-4891-8c42-bfbf8619df72", + "observation_id": "5352088b-3c42-447e-a68f-bf39ba24a849", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "84da863b-310d-4ff6-92a1-c1a6d1abf840", + "observation_id": "8b1df070-ae1a-4761-a9db-0a7d5c01de49", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "e1842e5a-c4ea-47c5-9a92-d3ae62f232dc", + "observation_id": "69cdbdab-0725-4153-a11b-e2f390dade30", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "8b976985-a4b6-43ab-9efb-7b1ec6ca307f", + "observation_id": "52c87675-da9e-4580-977d-598a85b27200", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "8223e1e9-a870-45ea-bb62-345f036caf3f", + "observation_id": "e8e7c929-65ac-4afc-b3c4-60eadc913bd1", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "9cc9a079-6e51-41b2-a538-e54c4ce0b1b0", + "observation_id": "2484df16-e06c-45e3-a19b-be9890d951bf", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "d859cd3d-570d-44d7-a206-1fad592d4072", + "observation_id": "becc1b65-ca89-44d7-90dc-7e45aac3d678", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "9fffadea-9a62-4fc9-bd20-ececa6f27a63", + "observation_id": "28708188-edaa-4406-90f7-f4ce3746fb36", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "942693a3-4e2e-4ba2-ae7f-3690e74781d0", + "observation_id": "39ae5e31-976f-4fdc-8709-f9367019e4fa", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "5678830c-9dcf-45af-9b03-fd57d4f30fb8", + "observation_id": "5dfe9b1e-f908-47b6-9d6b-12be790d3188", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "6146f461-c41e-4c1f-b8dd-3e0e3155127b", + "observation_id": "284d1f87-f133-4e60-8c46-0df02cff46a8", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "d1892056-823a-4f67-bafc-7c18ef7b8b04", + "observation_id": "700c6d56-272d-4f56-ab2a-4f9b90912f3f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "263de7df-3357-4b10-b77f-7e815ffc39d6", + "observation_id": "89e6e401-56f3-4f59-ac7e-cb9ad08cbf9e", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "f0a92903-d54f-4424-b280-46f333bbd860", + "observation_id": "e190b8ed-1b8d-464e-8d58-a7776fa63283", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "547cd7ab-16dc-4e74-8c2f-4b3deaf14894", + "observation_id": "6619c7c2-d2db-42c9-8479-768620662177", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "dbd58f85-54e2-4115-84ba-6ebc880817f9", + "observation_id": "22950868-7edc-481b-b80e-25fc0f05de18", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "c80b3160-4ecb-491a-9f94-bef6982ce5e9", + "observation_id": "e3313be3-d8d7-489f-af98-a1d2967bb313", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "5551032e-25a8-44b5-acb9-09cec3a1f4a5", + "observation_id": "afbfba4b-118c-4b1c-9023-065466c0016c", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "8a645bc9-5a6a-4cda-bcbf-4852bc529f2f", + "observation_id": "71dee016-c7fb-4d1b-8482-d5b3489e49e6", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "3a28c2d3-55df-4fbc-b3ee-a422ed3f5f41", + "observation_id": "11620a89-9ec4-426e-a927-646c17c2f2d6", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "51e11c11-440b-410f-9ade-ef11a3362b56", + "observation_id": "71586a80-5d15-47f1-870e-f9434247d261", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "3a51417a-d4c7-4938-90ba-2621e28b791c", + "observation_id": "d06b3dbd-7e7f-402f-b735-6fd5fa5a9eef", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "8bc2cb60-4f18-4235-8b90-c3b4a24bbb86", + "observation_id": "1bda34c0-df53-494c-9b6b-474c9a45ee58", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "acaef40f-9da1-41c1-93bf-1926b610b7af", + "observation_id": "b150eb57-f477-4181-9b26-f15a40e3234c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "dbf9b523-472a-4f58-b98b-2f05ba0f571c", + "observation_id": "983cd013-5c56-4b89-a755-60d2b2f032d6", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "ff2f8d0a-43e8-4292-88b5-acc4fe7cab7d", + "observation_id": "bdac6569-3227-4c4e-9094-20e026f2eb30", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "e9cbdbbe-e5b8-4bd8-b1e9-ea8cf770a8b3", + "observation_id": "c429cf3a-a1d9-47f1-80a6-a100f7c3d32e", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "a5245664-faa1-4bd5-908e-e3a483dae9ab", + "observation_id": "b188255c-7b2b-468e-93ea-db0bd2b731c2", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "947a0063-b391-4522-aabc-a23ca754312c", + "observation_id": "e58672f6-f789-43f6-a25d-edd018459c2f", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_abdeg/render_g_camera_pose.json b/data/camera_study/Scene11/k5_abdeg/render_g_camera_pose.json index 154e3ae..b112d54 100644 --- a/data/camera_study/Scene11/k5_abdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k5_abdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:31Z", + "created_utc": "2026-06-02T22:42:44Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_abdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_abdeg/robot_state.eval.json b/data/camera_study/Scene11/k5_abdeg/robot_state.eval.json index 9309647..8aa80b0 100644 --- a/data/camera_study/Scene11/k5_abdeg/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_abdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.9510830718676004, "mean_abs_mm": 0.22748684930427698, "max_abs_mm": 0.320453654824866, - "finger_error_mm": 1.6906306041710832 + "n_unobservable": 0, + "wrist_error_mm": 1.66440542165013, + "finger_error_mm": 1.938254616576325 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_abdeg/robot_state.json b/data/camera_study/Scene11/k5_abdeg/robot_state.json index a804bb0..8456877 100644 --- a/data/camera_study/Scene11/k5_abdeg/robot_state.json +++ b/data/camera_study/Scene11/k5_abdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:44Z", + "created_utc": "2026-06-02T22:42:58Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_acdeg/aruco_marker_poses.json b/data/camera_study/Scene11/k5_acdeg/aruco_marker_poses.json index 58f6b09..0c8683a 100644 --- a/data/camera_study/Scene11/k5_acdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_acdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:25:57Z", + "created_utc": "2026-06-02T22:42:06Z", "summary": { "num_cameras": 5, "num_markers": 29 diff --git a/data/camera_study/Scene11/k5_acdeg/aruco_positions_initial.json b/data/camera_study/Scene11/k5_acdeg/aruco_positions_initial.json index 9198efd..20ffe9d 100644 --- a/data/camera_study/Scene11/k5_acdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_acdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:25:54Z", + "created_utc": "2026-06-02T22:42:03Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_acdeg/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_acdeg/aruco_positions_optimized.json index 9f0e40f..b887631 100644 --- a/data/camera_study/Scene11/k5_acdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_acdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:25:57Z", + "created_utc": "2026-06-02T22:42:05Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_acdeg/render_a_aruco_detection.json b/data/camera_study/Scene11/k5_acdeg/render_a_aruco_detection.json index fe484b5..2040642 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdeg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:51Z", + "created_utc": "2026-06-02T22:42:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c10c5eb2-0362-40d8-bd11-f5ddb7ebbff4", + "observation_id": "b80c05c6-f5fc-47d2-a932-aa27261e32a5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "0afdce1b-3300-41ff-9020-01954cc98bae", + "observation_id": "052ec6b6-db41-471e-ad4b-2f622e82199a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "3c0e9ee3-1764-4598-979c-f6a3511c2d7d", + "observation_id": "41e47d59-10d6-46a2-b9e0-53e71727a975", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "7a079319-d3fe-4fc7-baed-634f9aed356b", + "observation_id": "6880e0e5-686b-4ef6-850d-f0a9eaa6a1fc", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "9405635f-9288-4e33-8059-12247e65ac82", + "observation_id": "fea94411-c0fc-4ab3-b77e-9bc727210d9a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "1f2cd7cc-fc5c-4cb3-8d8a-3858a16f3a59", + "observation_id": "816344df-edbe-493e-891d-cc35368b1d73", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "62f3d0ca-2fca-4e5e-a676-929a99386627", + "observation_id": "80f4a11a-5aa8-429f-bf9b-9f8b766172af", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "df4ab32b-68fa-4141-9db7-a36fd8f2fa22", + "observation_id": "f4b98468-10aa-42bf-a2a8-f08d9a21299e", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "97b0dbfd-8692-43d1-af35-1256e0041e8e", + "observation_id": "bbac7f6a-b76c-418b-8c97-2d27acab320a", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "683c87e9-fe10-4911-86f7-16c86f05932f", + "observation_id": "dff8b36b-5394-4dd2-a9e0-d7366cdb1981", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "16e13a2b-2e78-49a9-86f2-fe3e87c00738", + "observation_id": "22ac33fe-5f43-4349-b88e-ff0b9c23f920", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "6def9db2-3e66-4705-a37e-30b3ca576bf9", + "observation_id": "b2656a19-6dcd-4ee8-82a3-5c34e5b4464e", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "4845e25a-2f85-44f7-af93-38080c504d34", + "observation_id": "7a1f20d7-1bcb-4545-9592-d7dae2983486", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "96763601-74c5-4aee-ad22-c2a2fe294161", + "observation_id": "e7949cf8-f451-4f67-a658-2a1641e467a8", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "19ab07cb-b259-46fd-807c-31f4ea5bd38c", + "observation_id": "370a27d6-b5ae-4dba-a5e0-fe8ba8a95ffb", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "3ca7b4b4-be60-4aa8-83cd-2c348c63d6eb", + "observation_id": "d62897cd-62bd-403a-b187-b18069a49805", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdeg/render_a_camera_pose.json b/data/camera_study/Scene11/k5_acdeg/render_a_camera_pose.json index 0df1616..0407ec3 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdeg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:53Z", + "created_utc": "2026-06-02T22:42:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdeg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdeg/render_c_aruco_detection.json b/data/camera_study/Scene11/k5_acdeg/render_c_aruco_detection.json index 27c3929..9020a54 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdeg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:51Z", + "created_utc": "2026-06-02T22:42:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ad14a28f-6eae-4847-974d-d35841ef1d20", + "observation_id": "ea8ad31c-42f8-424f-934a-e5b5cfc699a6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "e164b3f8-f27b-4210-bccd-c1d324236d85", + "observation_id": "5c7d3dc5-9462-4dde-ba20-485e676facfe", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "2fbdd770-0fdf-452f-8d67-0932f2cc34b4", + "observation_id": "6699c92e-75c3-4b2a-9149-c343518ce9b6", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "41033880-b96e-40b2-b9a9-86ea50a9c552", + "observation_id": "c5ec73ea-beac-4c47-ba81-88b58ada96f5", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "81d7abea-e7a0-4892-928b-ff67b78e15b6", + "observation_id": "908a9142-94ad-46d7-ade6-d1712376f235", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "91068933-5422-4d44-b946-142d1abe73e6", + "observation_id": "e2e06ea2-d3ec-4a54-a7bf-d504b4bf34ae", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "c46280fa-20ad-4d96-a898-297ae1c09173", + "observation_id": "57fc35bc-9b66-4ecc-8f09-a65b6bbd16df", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "78a67d32-0344-4d67-86b5-b58fe21f2038", + "observation_id": "dd259c3c-d064-4631-9485-bcd8cc2dddec", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "6a46366e-766a-449a-8af1-ea79f721f60f", + "observation_id": "8130eecd-a652-4dea-981f-91b26aa78aa7", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "33354a32-9586-41ad-b99c-da4a48689e61", + "observation_id": "77d041e4-d50a-4d32-b7a0-fc64d9af932f", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdeg/render_c_camera_pose.json b/data/camera_study/Scene11/k5_acdeg/render_c_camera_pose.json index 8043475..032d4ae 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdeg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:53Z", + "created_utc": "2026-06-02T22:42:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdeg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdeg/render_d_aruco_detection.json b/data/camera_study/Scene11/k5_acdeg/render_d_aruco_detection.json index 5c77c53..1d3eefe 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:52Z", + "created_utc": "2026-06-02T22:42:01Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "041a033f-2854-4824-a53b-609fe878dee8", + "observation_id": "64d7137a-6de3-41e6-bc6f-ebbc006c2950", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "de02f14c-8cd3-43d5-9daf-1dd40a43461d", + "observation_id": "a2b3a932-e2fe-4890-8f2e-f4f918712805", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "0a6b06d5-8943-4cf1-be39-b87c77e81693", + "observation_id": "889184bf-2064-480b-8516-7dc628d386f9", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "021f0ea7-f0de-499e-8da7-623270e5d08e", + "observation_id": "472084a0-b329-4f30-be90-844e82140a1e", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "94fdaece-8e9f-4219-94e4-79efa0d236e7", + "observation_id": "626994d3-f0af-40eb-a8ea-cf7338b9d236", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "1d9e8ce1-3e36-4178-bf01-bb7c3eec8938", + "observation_id": "b8bb72a0-8228-4363-9455-f37e22dbf62b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "7df81479-bbb0-402a-9bfe-ec880bc49e67", + "observation_id": "e1478863-059a-4a16-a46e-1c9250ba75d9", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "d465110d-db00-4d61-8f56-ab9dd688289a", + "observation_id": "cd327d72-9152-499d-b285-d2f0318485ab", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "9e163133-1054-4e0c-b698-9938349a4c1e", + "observation_id": "516b6284-2ccb-4266-8d65-f0845512b44d", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "48e91503-80cc-4596-b78a-c3f8e755b051", + "observation_id": "50f11be8-df2c-4524-acc3-76c30c46b0ed", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "d164cc6f-7794-4cf0-a618-b61e0bf872dd", + "observation_id": "aed15574-594b-4b58-86ad-d445726e9d30", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "6c79caab-ad21-4ed5-a592-49dc4fefbc63", + "observation_id": "ef3ce1a7-61c2-493b-ad2e-fc0f31032093", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "23e3400b-84fc-4d91-9c59-e76e76b6b5c2", + "observation_id": "36fb77c3-df79-4955-ac87-e3411125200c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "ef08ec0f-4847-49b6-9c99-b9dfd98b8db2", + "observation_id": "4ced0bb9-8813-4432-8e08-5ebd8a5531a8", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "a1f66acd-b00c-4b48-adf7-61cd18a138ba", + "observation_id": "b6f16838-d83b-4418-a68e-433691fd2754", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "ebf6e775-5bf2-4209-bd1b-22158218684c", + "observation_id": "70cf157c-8d65-4392-b6ad-27abc26c3988", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdeg/render_d_camera_pose.json b/data/camera_study/Scene11/k5_acdeg/render_d_camera_pose.json index 62208cd..c29876b 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:53Z", + "created_utc": "2026-06-02T22:42:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdeg/render_e_aruco_detection.json b/data/camera_study/Scene11/k5_acdeg/render_e_aruco_detection.json index 5822169..8beafca 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:52Z", + "created_utc": "2026-06-02T22:42:01Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e7f7757d-09f8-4990-9ecc-ce258be9e887", + "observation_id": "d8fccc18-e2e7-46a7-9e62-f6bb284972c8", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "35677a4f-e459-4581-8477-171ac8d7d8b1", + "observation_id": "e9c5df9b-2117-4e5f-947f-b06a08dc1af9", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "85827b27-ef0c-45f3-a5ca-46f857af08cd", + "observation_id": "bf7de37b-5ef9-42bf-ab9c-196a62eabede", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "c29e6164-fabb-4541-9705-842ecc846db0", + "observation_id": "1ae30281-a35a-4746-b33a-76b2c7c1e873", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "70e34b05-6b7b-4f81-bbd4-a22b2f5a95c8", + "observation_id": "1fb48d2e-2103-4639-9fe7-4a75275c043b", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "ceab05e0-93bd-42e3-845f-37c615aefa0c", + "observation_id": "d31a88bb-28a0-4dbd-8c55-f21075f0e16c", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "cec165a5-ba5d-4c92-a171-797f815d6d22", + "observation_id": "4b521849-5966-4ddb-b885-d8b40c09854d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "2890db09-561e-4ce9-8a74-2cd8b9e0bd2a", + "observation_id": "e29f8d8b-3636-4329-84ae-dbbf43792e5e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "8ab3a1c1-f443-4bc9-a46d-1a2a63e06765", + "observation_id": "c0bd9363-38a8-4d09-8228-f01031c0f37f", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "7ceb231d-c394-4262-b185-3a8b98f4fc3c", + "observation_id": "9ea9f249-e3ca-45cd-9d12-1f309f9c8b30", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "41d7c3ca-1268-4465-8569-99ff98f8f4e9", + "observation_id": "a53f26a5-7e56-4426-ae11-39bfd587d6eb", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "ec254eee-d11a-43ba-b126-9764a16bf15e", + "observation_id": "09740d7b-3c8c-4458-925f-e076ae17159b", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "70a800f1-2a46-427b-9811-5b24ce7e8a05", + "observation_id": "c68b6762-932e-46a1-8c20-1de297649ae7", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "f51dd8d4-64d9-4195-ab7d-245dc6a276ad", + "observation_id": "edc926b0-316a-4214-8375-b39b4eeeacbc", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "b1fe9bc1-1b4c-4871-b174-ce5a1892a4f4", + "observation_id": "05683cbf-d9e0-4ff6-ab7b-460d86f5a92a", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "83d84f6c-a39d-449f-8c10-b6ffcbbb3c86", + "observation_id": "89358fa4-a1c7-4291-af8e-1bdab63bd125", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "537c30e5-a0de-4984-a76e-296edecdbc31", + "observation_id": "b45a0da3-2698-4b8f-a6bf-535082fbd104", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "c40aa85a-dc48-419f-8427-d1989fed9874", + "observation_id": "fd770f7b-6480-4698-94b6-9160a8ef3bcc", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "d1b5698a-b325-4445-9eb9-8eae6083eb9d", + "observation_id": "c3ef0a0f-3cd7-47d4-b136-38b367e0ac3e", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "6390d2e8-453a-45b6-8c28-3e569c971121", + "observation_id": "8e7163e3-6a1c-40b0-8b5f-d4e363f9b9da", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "dc9ebb22-e2f2-4f41-b40b-37a3962a4c70", + "observation_id": "d2129978-993f-4f05-8e08-005dc31ee120", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "413a5087-001e-4d9c-97b0-ef31b4de037f", + "observation_id": "8b99a4d3-ae15-494d-9065-ac7dcea0b9e1", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdeg/render_e_camera_pose.json b/data/camera_study/Scene11/k5_acdeg/render_e_camera_pose.json index 7b47d1f..00290d5 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:53Z", + "created_utc": "2026-06-02T22:42:03Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdeg/render_g_aruco_detection.json b/data/camera_study/Scene11/k5_acdeg/render_g_aruco_detection.json index 960ab8d..1bb297c 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:52Z", + "created_utc": "2026-06-02T22:42:01Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c8bbb7a5-6397-4eb7-8af9-4665f7b285fb", + "observation_id": "f17ced9d-93c9-40f3-9ba3-adff0b8c97a9", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "29051bfa-cd04-4f26-abfb-995ae910982a", + "observation_id": "1afd7ac2-462a-4711-9980-40becf7aad74", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "510ef44d-a195-4f86-99b4-b2b2735d09a4", + "observation_id": "3e6386db-c521-4994-8e36-3605722a8b96", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "f8d01e29-a00e-4861-83c7-454e70e0f22b", + "observation_id": "9502416a-40c5-4b09-83d1-cc56d8588136", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "77c71558-8d2e-47c3-8ef2-dceb71b571a6", + "observation_id": "cd349627-7608-4117-a4ee-a79a71d90ac8", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "676faa30-2b18-4b3c-9e1b-b967ad934ec3", + "observation_id": "d6e3e80a-efce-4a56-b189-a9906bb3ffb3", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "1dacc1e6-1cbe-484c-a85b-6bdc84c81515", + "observation_id": "4f0c8816-bf9e-44cb-9ce7-1fde2029d8cb", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "b8e9eeb3-3c98-4775-a207-db8f376512d2", + "observation_id": "45552307-66cd-420b-ac34-7cba91524602", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "f540e73e-eb7e-4da7-8e43-e15e97a44307", + "observation_id": "5ad47d95-30b0-4981-8604-2a30a3c684d1", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "19c0243c-4e39-41b4-a0ec-133263471110", + "observation_id": "93884941-55c7-4c94-9b77-e1db24c081fd", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "dc201743-2558-4168-a35b-d72f1848e848", + "observation_id": "e25eabe0-41a2-4f01-99ef-2f640b3ab00b", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "d051e888-67b1-4c69-b7c8-01cc86254db4", + "observation_id": "c7315e7f-7f45-4dc4-a42c-c85a3478c345", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "6e4d6711-00ee-4a30-aee6-3a87923930f2", + "observation_id": "bca49ace-f864-41f8-bc4b-591c7804fb62", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "e4c2c39d-8d31-403f-b077-70a8320ce9f5", + "observation_id": "9f01d37b-a2c6-47c9-84ca-6f494fff14b3", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "8a7f6859-208b-40b3-ab74-010d7ac8267d", + "observation_id": "cd503cd0-fd63-4908-bfbc-d5e431ac61bc", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "6b713e69-1150-4ed8-a089-aebd1796caaf", + "observation_id": "62a36f3e-7fa3-48b3-b5b8-f9e592f81b15", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "f2f94096-3456-4bec-a7e7-0ab608e1add2", + "observation_id": "68b53220-2304-41bb-9b85-9bd8cf2706e1", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "dadd2236-41f7-4670-84e9-6dd189e29c0c", + "observation_id": "5e55fe59-3611-46c9-bd01-ddad02d097db", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "18f60f83-57eb-41c9-a3e8-856ee87a9af3", + "observation_id": "dfab3197-aa02-490d-b90d-1150fee718e4", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "504b515e-05cb-4797-a4ba-51f61477de51", + "observation_id": "5b36dd6c-437c-43f0-90d9-6b0446e8d070", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "fdd31563-36cd-4907-8007-f766fab54583", + "observation_id": "dbeb8e3b-e2a3-4408-8d82-5cbc582c82a3", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "bcb7ea8b-c94e-4d73-9198-e43347dbec9a", + "observation_id": "76fae098-cac3-4c16-8228-bd1bfc3dab8f", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "6f56c706-9fe0-492e-b2f6-2cdf73aeb087", + "observation_id": "04de6425-7365-429d-9db8-e33f2913d483", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "433f591b-fbab-4050-a873-752e9f13e361", + "observation_id": "9df7b831-7ced-47f3-9059-1e68b6dd6c52", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "eddbc744-5e16-4823-b1b0-24a1a9903f23", + "observation_id": "47c458c1-d71a-49a3-9027-99168e89f262", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "4fad0f11-b834-40e0-bc45-ccdb32f9ec9d", + "observation_id": "1731fa09-1120-487e-8b25-80fab94944ae", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "c90493cd-9b63-4291-a2fe-d57a51eead16", + "observation_id": "c73a94e6-448e-4e89-a8a2-7b3baee7dd66", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "18636842-5e75-4391-9549-765ddf4e26be", + "observation_id": "730788e2-31c6-4540-8fd3-e967b133e8f1", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "b2801afa-f637-4e35-a1df-70b98ab60ce1", + "observation_id": "6f5505db-f761-4105-9177-2376a24444c9", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "3ba0cd8f-232b-4135-b559-0a6f7993856e", + "observation_id": "1b8d1ebc-c01d-49c6-96b6-6ceab6f1b9d7", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdeg/render_g_camera_pose.json b/data/camera_study/Scene11/k5_acdeg/render_g_camera_pose.json index 3b4211e..880f237 100644 --- a/data/camera_study/Scene11/k5_acdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:54Z", + "created_utc": "2026-06-02T22:42:03Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdeg/robot_state.eval.json b/data/camera_study/Scene11/k5_acdeg/robot_state.eval.json index c029c2c..87d184e 100644 --- a/data/camera_study/Scene11/k5_acdeg/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_acdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.0064601115328458, "mean_abs_mm": 2.713342994749513, "max_abs_mm": 4.285508793209251, - "finger_error_mm": 3.006049793340801 + "n_unobservable": 0, + "wrist_error_mm": 1.1517769176861563, + "finger_error_mm": 3.1016727618745508 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_acdeg/robot_state.json b/data/camera_study/Scene11/k5_acdeg/robot_state.json index 0abebe8..12ccb20 100644 --- a/data/camera_study/Scene11/k5_acdeg/robot_state.json +++ b/data/camera_study/Scene11/k5_acdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:58Z", + "created_utc": "2026-06-02T22:42:07Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_acdfg/aruco_marker_poses.json b/data/camera_study/Scene11/k5_acdfg/aruco_marker_poses.json index dbb1a5c..1f5c5e6 100644 --- a/data/camera_study/Scene11/k5_acdfg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_acdfg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:26:50Z", + "created_utc": "2026-06-02T22:43:05Z", "summary": { "num_cameras": 5, "num_markers": 24 diff --git a/data/camera_study/Scene11/k5_acdfg/aruco_positions_initial.json b/data/camera_study/Scene11/k5_acdfg/aruco_positions_initial.json index ec4cc40..0f742b9 100644 --- a/data/camera_study/Scene11/k5_acdfg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_acdfg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:26:48Z", + "created_utc": "2026-06-02T22:43:03Z", "summary": { "num_cameras": 5, "num_markers": 24, diff --git a/data/camera_study/Scene11/k5_acdfg/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_acdfg/aruco_positions_optimized.json index ae0b00e..727f448 100644 --- a/data/camera_study/Scene11/k5_acdfg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_acdfg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:26:50Z", + "created_utc": "2026-06-02T22:43:05Z", "summary": { "num_cameras": 5, "num_markers": 24, diff --git a/data/camera_study/Scene11/k5_acdfg/render_a_aruco_detection.json b/data/camera_study/Scene11/k5_acdfg/render_a_aruco_detection.json index 5be61f9..a25f451 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdfg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:45Z", + "created_utc": "2026-06-02T22:42:59Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "391f69a0-1191-4b92-bdda-40ce429ffff7", + "observation_id": "4430ea89-2464-415a-8b15-50a04f1ac2a2", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "c85f2c07-facd-4bed-bc0f-9e51ae465424", + "observation_id": "17fef1b9-8ffb-47da-b9cb-938303f5bb50", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "482a4947-8de8-4a25-85b7-34163b03ebdb", + "observation_id": "28b19376-6170-4c4d-8106-76c12fbad8a1", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "65073b9e-226f-4ef1-92d8-511421ca2bf8", + "observation_id": "f15d48f2-70ec-4c72-938f-e2881943b4e3", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "ae39d8fa-a98b-4b38-ad62-e4d6e1870a66", + "observation_id": "7a4f3909-a307-4085-9409-83086b5181a9", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "168673a9-f2b1-4a59-80d5-2c8010f6b7c6", + "observation_id": "d50c552e-4c7e-4bdc-b86b-3058b621b91b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "c907763e-cdac-4ae1-a252-9fc99fbea228", + "observation_id": "05829142-234b-4834-9a1f-45b15d9e7992", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "9a7c6251-cf99-433c-aa6d-8a04087366b4", + "observation_id": "09316abd-a97c-4a9c-b06c-9c460ea50a6d", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "650676b2-82ca-4168-8128-6da866553b6f", + "observation_id": "90d1ae8b-edd1-43b3-af47-016009e07821", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "7fa11317-78bd-422b-9544-c12f94d684b3", + "observation_id": "846c9780-ba7d-47cb-bba9-2176473bfe07", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "012d9530-b277-42cd-856c-ebdad657ca71", + "observation_id": "012610b9-8378-49cc-a80e-c2f47d16358d", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "4badc28c-c67b-4357-be2b-0b145671d994", + "observation_id": "cec63db5-890e-47a9-9747-8dad619eccd1", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "568e0c94-b77d-4c4c-8b5b-0c286770ae4c", + "observation_id": "e7c3b553-0734-4931-8367-7414d68b60f5", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "3a55d3e2-f089-451f-9ce8-46524f429273", + "observation_id": "e2b347b3-25a2-457c-b27d-feb424c586bc", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "be71588d-26ac-47d1-80d4-17b67d918038", + "observation_id": "1033d3d0-7e6c-4f80-9f10-84424cdea3bb", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "87f0b67a-2821-48da-97fb-811002333c7b", + "observation_id": "694cf244-a824-4eab-979f-bdfd67f01471", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdfg/render_a_camera_pose.json b/data/camera_study/Scene11/k5_acdfg/render_a_camera_pose.json index 34c8c52..d62123e 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdfg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:47Z", + "created_utc": "2026-06-02T22:43:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdfg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdfg/render_c_aruco_detection.json b/data/camera_study/Scene11/k5_acdfg/render_c_aruco_detection.json index 41f701a..72d12f9 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdfg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:45Z", + "created_utc": "2026-06-02T22:43:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9d180800-777f-4417-9b6d-135b427b69e0", + "observation_id": "24750f35-9f5e-4ae4-b3af-f730652e8765", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "ad4736f9-2d11-4f73-8cc7-3faf6fadb70d", + "observation_id": "34d79ff5-41b3-4004-bcb5-70cf414d4051", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "d4e038b4-f38e-41e1-9008-9e427ce1d7b0", + "observation_id": "e8fbe495-9698-4451-908d-1b4ed186ac00", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "94e408af-99ff-4ae2-8366-498b956f1207", + "observation_id": "cb104d33-f3f9-41fb-9dc9-84cb3b051b8c", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "da28cee7-6155-4045-b2e6-5d4b098146ed", + "observation_id": "d39463be-fbf0-4979-accd-2e9a4264c295", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "21f9d574-c74a-45c0-8649-261f4b91a65e", + "observation_id": "949b6a9c-bb6a-41e3-9f8d-d7212b0a4757", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "61d18b4f-b446-40bc-9c9d-42b4623bb4ad", + "observation_id": "824eb1e9-5e28-48b7-b6c9-d490b4635263", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "e1dff028-e06b-4af5-b74a-4705c5874adc", + "observation_id": "b9df992b-f394-4877-826f-65a63afd7b92", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "28ef5d59-b308-45b9-a2bf-862c116f467c", + "observation_id": "a663d797-f727-4974-b405-f35bfaef99b2", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "5cc22ffe-8f25-4fd3-9259-b146f9d05b09", + "observation_id": "34476a49-5cad-433a-b4f9-f5f56bccafbc", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdfg/render_c_camera_pose.json b/data/camera_study/Scene11/k5_acdfg/render_c_camera_pose.json index 5e0ef11..37f1465 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdfg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:47Z", + "created_utc": "2026-06-02T22:43:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdfg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdfg/render_d_aruco_detection.json b/data/camera_study/Scene11/k5_acdfg/render_d_aruco_detection.json index d202a12..4cf19d3 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdfg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:45Z", + "created_utc": "2026-06-02T22:43:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "26661542-f5df-42d3-9fb2-4e8cb8563117", + "observation_id": "70372134-6113-472b-b0c5-08a8ed17fe2b", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "f5b3999e-04f8-48a8-97bd-40de2b385867", + "observation_id": "1d553b52-813f-4f75-8f00-c6de0b98b8b6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "69e4114e-4a44-4464-854b-0e346cc08ff3", + "observation_id": "726e061e-a5f2-4baa-99a3-7186d38983c0", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "9d157a1d-4600-4976-8e99-c0c4cb0423a0", + "observation_id": "01c530e9-e402-4df4-a6df-67e9d7d4e1ef", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "3a5fbd16-74df-4724-8aa0-25e4097415d1", + "observation_id": "087af81d-8831-47e5-8be9-eabe248a10c7", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "aaab49ad-10f7-4090-903d-4fcc8709f991", + "observation_id": "fff6865d-e46d-4180-be77-ae41da1699fc", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "adb32775-0252-4467-8e73-21c84b07719f", + "observation_id": "23cdabb2-e57a-4651-bcfc-f3e47c52134c", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "158a63a9-adeb-4089-84b4-296f9fc840c3", + "observation_id": "10d03347-53ae-429f-a8f1-9e6a384ce89b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "b49a7621-d8e7-4560-a96a-b5c2917c71b3", + "observation_id": "1d9f1be4-c046-4bb2-9366-a8312a599808", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "1f33da0d-a2b9-445f-ab48-4d34f933a1b2", + "observation_id": "e33a193c-652e-41f6-a5f2-30d84d658521", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "570a1504-5fd9-4e52-baea-00c92237d851", + "observation_id": "307e469f-16b8-4c53-82d2-cadb81b8e46b", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "e9623328-15db-4b0e-a1f9-1b0463d6d4af", + "observation_id": "4799c505-1f76-41a0-91d8-7f8372f6117b", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "e48c58d3-c341-4b6f-9621-b5ee6ac37a9a", + "observation_id": "d6ed9a30-eb49-43b0-97ec-671b36a0bcfc", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "cc5a83b2-8330-4eb0-959a-ccb2da341029", + "observation_id": "7f332ae5-2828-410b-aa60-fb5cf2d128fa", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "aae0a88c-f0d4-4617-b35f-cbdfe18d7faa", + "observation_id": "9d3c5e72-39b5-4a51-8786-f6398335dda2", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "8ce146ea-99b2-474d-bf74-4bb7066c0ee4", + "observation_id": "8538f8e9-016e-447b-93b9-3aad2e14c044", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdfg/render_d_camera_pose.json b/data/camera_study/Scene11/k5_acdfg/render_d_camera_pose.json index 7fe35ee..99ce725 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdfg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:47Z", + "created_utc": "2026-06-02T22:43:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdfg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdfg/render_f_aruco_detection.json b/data/camera_study/Scene11/k5_acdfg/render_f_aruco_detection.json index 4a11c8e..2ec3312 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdfg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:46Z", + "created_utc": "2026-06-02T22:43:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "43007874-7ccd-46b2-8ed4-67348159537d", + "observation_id": "c31093e5-95f4-4f3c-a2c9-0c6537b96c94", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "5b4d4ede-ec1f-44e6-80e5-f68ecc6c2cfb", + "observation_id": "4663cdc7-09c9-40a8-9f64-e0001b5485f9", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "4eca0577-016f-48cc-833f-a9fd5eadf9d7", + "observation_id": "285c8fc0-48a2-4f47-b46a-9bd4522aa901", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "2b666170-2a79-4840-a7bc-686e6802aa58", + "observation_id": "848bca4b-9a42-48fc-975c-5cb0a27c280b", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "178c5901-c0d0-4532-a930-a37f5aca361a", + "observation_id": "99898f7b-4589-4500-9ee9-6cb6187a444b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "c09291a6-9d4e-465c-bbd5-a369b4ab5ccc", + "observation_id": "9d5e9d95-7435-4428-8319-b2e53e43674d", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "e68f290d-05e6-4c30-bc80-91dc82d9c348", + "observation_id": "6541ea0e-ba2f-4465-aa53-b0cd9d54354c", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "87fc03a4-062f-42f0-ba93-b681e4bf24b5", + "observation_id": "533f434b-748f-4162-b729-b96a9b1fa7f4", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "9064fcd8-9348-4e66-af85-37d2058e2ad3", + "observation_id": "c8395331-68af-4fad-b01b-50030236b05d", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "4bfd8593-b358-4f3e-b3c0-a05d6f9dbb45", + "observation_id": "e3d2d6f8-caff-4292-84f9-fafec78af6e5", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "afd303ac-4d41-4b11-b60b-ceb79ef97691", + "observation_id": "0b12cf28-929d-4145-b30b-a66c2a3763bd", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "f56d5af3-e655-42b9-9abc-cbefa6f70295", + "observation_id": "d2aa251d-ad5a-4755-a81f-855e33e040f8", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "798d9004-e583-4766-a78f-ecebfaa2a675", + "observation_id": "eeb248d8-2197-4a27-8333-c73eb6df3d2a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "1fd3db6b-07e1-44b0-8687-939a64d96844", + "observation_id": "9ede5487-ec16-4727-8d18-4d197059dd62", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "56caf68d-05e1-4f07-b144-c41fafcaf3d7", + "observation_id": "7202220e-66c9-4a4a-92e3-520992e8a144", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "9bb85b92-7650-4a8a-abd0-28a2a81b776e", + "observation_id": "a3a7d89d-9497-42fa-97db-d6891d5b0b7c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdfg/render_f_camera_pose.json b/data/camera_study/Scene11/k5_acdfg/render_f_camera_pose.json index 975dfc7..65cdf98 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdfg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:47Z", + "created_utc": "2026-06-02T22:43:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdfg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdfg/render_g_aruco_detection.json b/data/camera_study/Scene11/k5_acdfg/render_g_aruco_detection.json index 8c1f223..e5a3fa1 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k5_acdfg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:46Z", + "created_utc": "2026-06-02T22:43:01Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d6e58a41-e370-45d0-8785-66dd0010421c", + "observation_id": "64f98ff2-9b60-44f5-8acc-29a7ac881d0e", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "ad5207aa-0b49-47a2-8e98-068d6d6ca8d8", + "observation_id": "316b9ad8-d7ff-46a6-b9fc-70e9d8f65785", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "d5bbad8c-9d5d-444a-bc55-2b55e1339897", + "observation_id": "fab21fe9-3f71-4498-8fae-a930f2edeea7", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "f278dd77-b597-4d41-987d-be9394f6982a", + "observation_id": "ccdbb2ea-7fa2-4f2a-b983-62b13ccd9277", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "a5424cc8-6202-4423-9dee-049fd1be8808", + "observation_id": "93b93940-1fa4-460f-b691-4ea1cd95ded3", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "770d1006-9d87-4598-b317-d8d692ebabef", + "observation_id": "349c29ff-73f0-4766-b533-996ebc40af6a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "dddbd00d-3d54-4803-9255-c2a9e757e65b", + "observation_id": "4700466a-fc1a-4eaa-9139-4f1956195100", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "b059721d-9083-4adb-a3bd-e19fdcad25f1", + "observation_id": "226a40ca-ef4d-4758-8ca4-51eae54262e4", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "1ea3dc01-5cf9-4639-91fe-233337f1871d", + "observation_id": "d6eb20ba-11a2-4922-affa-7d8e1a152fc8", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "5f492044-1227-41ea-bc55-ef90193e8b1d", + "observation_id": "6352886b-3eec-4fd6-bce2-fed3b45ad0f6", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "753f33b5-443b-405b-a651-23b10944fac3", + "observation_id": "a44cf2be-1a32-441c-8966-6780d1e1a7e0", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "b371845e-4144-4c2d-a87f-0658a023724f", + "observation_id": "f2308456-c75b-468b-99f8-8a1f26ae622d", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "1270a107-3350-49c1-bf38-0c79660e81d6", + "observation_id": "590115be-2a34-4cd5-abae-3dfc1afc07a0", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "09f6814d-54a2-48bf-80e5-4fa503786cc4", + "observation_id": "f2b69099-682f-474e-9506-51a8e1d075d2", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "de4a09cb-586a-4627-a255-0202492d702e", + "observation_id": "6b3241cc-7973-4d23-89d1-9beeea94b3ef", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "b995b9b7-c76a-4727-b0b7-85cda81c4e45", + "observation_id": "7751ed85-310a-4ba8-864f-ba1a677c605b", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "5780a45a-93a1-4600-90cb-a8bfa4c7ff51", + "observation_id": "8e8073aa-f17c-40dc-8ca5-83e50179d647", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "c9967fbf-d6c1-4f64-b850-d4d292be498b", + "observation_id": "aa9a5533-a2b9-4394-add8-bef068d66078", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "d5f987db-7e3b-4680-a19e-c05e9bb3a7ad", + "observation_id": "7944289a-f18c-4823-9068-d7d9e8c48d00", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "527d280c-633e-41df-a44c-e256cc394c81", + "observation_id": "da1c6b19-7241-4b78-9cb0-772a13df1906", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "1fbe7c29-c61b-4a16-b54f-e4d597745e30", + "observation_id": "bca88613-8572-49c4-9880-b4a64ff5275f", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "bafe3b43-ece3-46be-8865-4c567069ee40", + "observation_id": "d88eb489-0e84-4509-a52d-df29d6765e56", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "24133a69-b01e-487d-bac6-020435e767fc", + "observation_id": "17f69abc-1df0-45e9-851b-2aba1ce3fc0e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "cac1670a-65bb-48ca-8de0-602e7ef6b84b", + "observation_id": "5b5cd5d2-791e-4a26-8238-fd9155e3edf0", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "573aa18e-081c-44ce-a318-f11fd8d1035e", + "observation_id": "22805cae-d149-475c-b96b-8ef1cebd202d", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "4ad04c2a-aae5-4be2-9365-5cc25988ebdf", + "observation_id": "953dd328-7f89-4925-bd64-f16c7e1be796", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "8d11a82d-c045-4415-a8e9-d7880c9bb3b4", + "observation_id": "247153e5-be2a-4c2c-9164-b6da2a931b1a", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "39a972b7-d023-4cab-babb-1d91980f4c03", + "observation_id": "c9dc178c-eaad-4b95-ae6c-36770c9d74a2", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "bb638c8e-d701-4b16-8a4d-5da406517a4f", + "observation_id": "3d3c34d3-6855-462e-ab98-d662786795ea", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "9a078254-abbe-48dc-85ad-6fb993d01dbf", + "observation_id": "dba03e77-f546-4153-a557-153b7766f709", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_acdfg/render_g_camera_pose.json b/data/camera_study/Scene11/k5_acdfg/render_g_camera_pose.json index 8de0223..e0150e6 100644 --- a/data/camera_study/Scene11/k5_acdfg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k5_acdfg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:48Z", + "created_utc": "2026-06-02T22:43:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_acdfg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_acdfg/robot_state.eval.json b/data/camera_study/Scene11/k5_acdfg/robot_state.eval.json index e15648b..6dc3317 100644 --- a/data/camera_study/Scene11/k5_acdfg/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_acdfg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 2.709380503341208, "mean_abs_mm": 4.767913713090845, "max_abs_mm": 7.039456115041574, - "finger_error_mm": 3.1362319745569134 + "n_unobservable": 0, + "wrist_error_mm": 2.5084774042999474, + "finger_error_mm": 0.6095653634528271 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_acdfg/robot_state.json b/data/camera_study/Scene11/k5_acdfg/robot_state.json index 255c599..32c7982 100644 --- a/data/camera_study/Scene11/k5_acdfg/robot_state.json +++ b/data/camera_study/Scene11/k5_acdfg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:52Z", + "created_utc": "2026-06-02T22:43:06Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_bcdeg/aruco_marker_poses.json b/data/camera_study/Scene11/k5_bcdeg/aruco_marker_poses.json index e7e738b..94b6388 100644 --- a/data/camera_study/Scene11/k5_bcdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_bcdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:27:09Z", + "created_utc": "2026-06-02T22:43:25Z", "summary": { "num_cameras": 5, "num_markers": 29 diff --git a/data/camera_study/Scene11/k5_bcdeg/aruco_positions_initial.json b/data/camera_study/Scene11/k5_bcdeg/aruco_positions_initial.json index 8771fd8..7b6abfd 100644 --- a/data/camera_study/Scene11/k5_bcdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_bcdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:27:06Z", + "created_utc": "2026-06-02T22:43:21Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_bcdeg/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_bcdeg/aruco_positions_optimized.json index ce0386f..e0e9c26 100644 --- a/data/camera_study/Scene11/k5_bcdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_bcdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:27:09Z", + "created_utc": "2026-06-02T22:43:25Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_bcdeg/render_b_aruco_detection.json b/data/camera_study/Scene11/k5_bcdeg/render_b_aruco_detection.json index 627081b..8ab1005 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:03Z", + "created_utc": "2026-06-02T22:43:17Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "cfa27ec5-14d8-479c-add2-ba6e890591b5", + "observation_id": "b5daa983-62a0-440b-bfc6-5768a0b8f3d4", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "4e1564fb-6f93-4663-a0c1-40af702bc4db", + "observation_id": "238140b3-a6aa-4df3-870d-110c2ef7e18a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "c8bf77e2-b908-4a49-9140-68a93706f34b", + "observation_id": "204d0087-b2c7-4168-8921-bbae7b5c1ecc", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "98392424-c9ad-4ed8-8a9d-a20f40992cd7", + "observation_id": "12c21200-0186-4558-840f-34192616f62a", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "7273cd28-0f0b-474a-9714-a144efb51950", + "observation_id": "9155e6a7-78fa-43c9-8b0b-68c00eff3cf1", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "b71dba56-5a09-4141-bb1b-344953b100df", + "observation_id": "1818ac96-47cd-4689-b717-446c76228a06", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "b9f9c654-0989-40db-8907-8dd3be4ad166", + "observation_id": "0479c0a1-b7a4-441f-ae7e-6e678e73cc6f", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "2e08ecdb-1e21-4457-a370-6a2916523fd5", + "observation_id": "895ac821-0b71-4603-85c1-2194c8dcf145", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "48df83e4-20f4-4b33-af56-ba719c42d741", + "observation_id": "2cceea81-8244-457b-8313-0ec5ac6521c4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "578f7f24-a745-4bd6-9190-3d7bc0acfaf8", + "observation_id": "611b32f8-b392-4738-932a-8ca9d2255701", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "c7c88f76-1e75-4e22-b1dd-b02c7afdc64f", + "observation_id": "36fa2f97-e664-4cb7-81e6-ee5fa93613fe", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "ad4339ed-1691-4892-9868-62f166fff3d5", + "observation_id": "fd6bf4d0-09fd-4c78-955d-da83b21bb810", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "4cd978d9-43ee-414e-b434-79919dd533d7", + "observation_id": "a0744c25-65ab-43a5-b0e6-c82daf5721f8", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "8e452211-0796-4bd8-bb05-53e88f1754d8", + "observation_id": "b157eae3-8fbe-469f-813f-e78ffd54ec02", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "43439d2d-39a2-4d5a-9e6a-e765bccced05", + "observation_id": "02792468-ed1d-4172-931c-ba63e518e5ae", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "0a5d0ff6-21e3-4afd-8f2b-6659efd3ca60", + "observation_id": "b4b2ccbb-a848-4890-ade0-1345fb9a3185", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "ea604d5a-be01-4fd5-982d-60a683c2ebdd", + "observation_id": "b360434a-b775-4c17-b87b-4b8277d20256", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "93b88c8b-3587-44f1-bf4f-663c8a3090eb", + "observation_id": "aad8888b-e9b1-4b70-95f1-019d0e108644", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "6d742233-f8ff-4cd1-aa0b-bf865ff79ca3", + "observation_id": "ea8680f2-f8b6-4cd8-a0e5-4926d033582f", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "078b25a0-8e52-4340-b2c4-4dc6b3112af9", + "observation_id": "84744ded-1ce8-4f30-8d00-b81365e18031", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "6841e55a-a2f4-49b6-8b2f-495c0c619a5d", + "observation_id": "f9bfe3c0-d5a9-4b5b-90aa-0619833b01fa", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcdeg/render_b_camera_pose.json b/data/camera_study/Scene11/k5_bcdeg/render_b_camera_pose.json index 1bb8bda..762ffb6 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:04Z", + "created_utc": "2026-06-02T22:43:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcdeg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcdeg/render_c_aruco_detection.json b/data/camera_study/Scene11/k5_bcdeg/render_c_aruco_detection.json index 5dc52f9..4af0660 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:03Z", + "created_utc": "2026-06-02T22:43:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ad2f84af-8217-472e-a04d-b232863ce2eb", + "observation_id": "a445005d-adc1-41e6-a699-999591ccb644", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "ec1c9a93-40ff-4c52-ab66-98ef32eb54c2", + "observation_id": "97a2f972-a4a1-44bd-8809-86c3c852c897", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "ebb42d6f-ca2e-4891-be33-6c8ab6125e33", + "observation_id": "ea69ea59-076c-4dd2-b4c0-6c3500072d08", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "b030c4f7-badc-4d6f-b2f3-5a132df79204", + "observation_id": "a830e584-f92b-4681-848b-c5736080a417", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "3f5e1d76-990c-4f82-bf7a-25a3525c719f", + "observation_id": "2fc0697f-e54a-437d-9926-c8547fa5f4cd", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "2acadf19-91e7-4ba7-8303-7209fb41f727", + "observation_id": "84878072-871c-4b77-96a9-4de49257ee43", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "2936e9a5-54af-4233-aaec-d0c7e9fdb3aa", + "observation_id": "7aa12c7c-287e-457c-aa59-a2dce26fbbcf", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "c0671091-1577-44e5-a66c-b318984dc4c6", + "observation_id": "ee2eef71-d181-4a05-a281-a4a72d38bf1b", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "c6c68074-5688-4a0b-baef-eef32e3ce926", + "observation_id": "4e781bf2-7db2-481d-89bf-b3b202c22add", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "b4123c01-c8da-4d27-adeb-a70cb0b264f4", + "observation_id": "03b25082-408b-498e-a549-4e586379f640", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcdeg/render_c_camera_pose.json b/data/camera_study/Scene11/k5_bcdeg/render_c_camera_pose.json index 4064726..9146cbd 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:05Z", + "created_utc": "2026-06-02T22:43:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcdeg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcdeg/render_d_aruco_detection.json b/data/camera_study/Scene11/k5_bcdeg/render_d_aruco_detection.json index 8eeab1d..68fb0bb 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:03Z", + "created_utc": "2026-06-02T22:43:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "db8f90ea-c598-4520-9218-5c9ac7d82626", + "observation_id": "550be833-3ca2-435a-bc21-b86225911c9f", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "f16a21de-f852-4ff8-87eb-44272f0e5ffd", + "observation_id": "fe3b8d0a-19d1-4e99-98e0-755f52e81daf", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "06ac7ab9-edb0-4de3-8a68-2a61b14fcca4", + "observation_id": "d46a4a12-5c88-42b7-a40a-6b063193495f", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "4ec52baa-2b1c-4e81-aa6e-8f982e505a33", + "observation_id": "c58056ec-888f-4f4b-adaa-504fb5f80107", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "b6170a02-fd58-4a79-9323-0761aa742a74", + "observation_id": "2a0a8898-0ffc-4bb4-81eb-da76c63ff70d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "2522256c-7ef3-4b21-8760-b6022b6cb17d", + "observation_id": "cab10318-3258-4637-88a6-b5bb7af9a55f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "2309383d-b56f-4d4d-9e36-ca3d451539a3", + "observation_id": "a46ed9cd-ebca-4b93-bd17-6829465cae72", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "43f4ac4f-9dc5-49f4-8d95-289f1aaf6537", + "observation_id": "7ae0a391-8cef-453b-8f66-654b0f2e78dc", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "fce228f9-82b1-4431-8b62-b17e9716cb01", + "observation_id": "326ec76f-0e92-4b75-8504-cad7705c2018", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "8e75459c-f97d-49ff-8076-7539b7d0418d", + "observation_id": "beb1b805-57f5-4559-a43d-b1659f22ddb8", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "28a46203-a96d-4bd7-9c9b-8523fc78a022", + "observation_id": "c32e56f0-abbf-4edd-b266-f7d83320c6f4", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "01543708-965f-4cc4-9f37-ffca88b9fdce", + "observation_id": "ba351385-1cab-4f37-ac1b-0a05087c9f36", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "a5f61cc8-c208-4eb8-9266-162cb9f3ab98", + "observation_id": "d9791f98-c61b-4a84-a089-99b90d99d293", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "7d34f2a6-4f49-46d2-8fea-145f0c5e5a99", + "observation_id": "573ba610-d00a-4368-85e6-0c696a2f6f85", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "49c0f94e-84f7-4701-abb2-f933c46a316e", + "observation_id": "c9b6a806-cf53-4ee8-973c-e8314e7d812b", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "320863ff-aef5-45bb-bbaf-d18fc5fa5f78", + "observation_id": "6cd7090c-2033-42ec-9e0a-c61bbd051588", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcdeg/render_d_camera_pose.json b/data/camera_study/Scene11/k5_bcdeg/render_d_camera_pose.json index a8337e3..883e19a 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:05Z", + "created_utc": "2026-06-02T22:43:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcdeg/render_e_aruco_detection.json b/data/camera_study/Scene11/k5_bcdeg/render_e_aruco_detection.json index e79d80f..58cf9c3 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:04Z", + "created_utc": "2026-06-02T22:43:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0fdb59d7-9f44-4dfc-b4da-b03ea7bd9ab0", + "observation_id": "9ad9dfdb-2c17-4c23-be9d-6c28f143551e", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "cd202812-818f-40a8-8d16-b1a6705dc90f", + "observation_id": "0829bbef-035a-4fde-82e8-8c0071e6694a", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "9c4affee-e502-4d4a-a41d-d5d4bdd54cb5", + "observation_id": "49a6c04d-59c4-4983-8284-36f1da46d0b6", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "567b4d06-439a-4b1c-a912-789bc89f3983", + "observation_id": "07f54f8f-47da-4bc7-b23e-1a0307bd3288", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "5b70f2ac-f867-40a6-a32a-37586dc3e76c", + "observation_id": "4b2353f1-4ea4-4a75-ae15-e1b42264a2a0", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "68bde799-ffee-4227-9271-bb8fd84bd112", + "observation_id": "86f7d4ee-fa6e-410a-b885-7cf5772a630e", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "72e9eedc-46e7-4217-a943-803aedd8a213", + "observation_id": "a9baf830-7c13-47d0-a5e3-218af7c90685", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "e52f777e-4b67-4f93-a142-8cbe791f02be", + "observation_id": "4b9f231d-5154-4b2d-8479-fec34132244a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "3e249953-a08d-4a8d-a2d6-8b32ef1fcb33", + "observation_id": "3f7c7fe9-8792-4c59-b83b-3464a7e4d345", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "9606d109-57f4-4767-8f56-9e0eb6f0e281", + "observation_id": "33121923-3af6-4251-b9ed-8fe396b4be7e", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "23c2530d-3107-4c79-8334-c63d8388838c", + "observation_id": "9d89c215-0758-4327-956d-364f4223307d", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "7e0ac7fe-a916-46f0-8887-e37b8ba7ed0e", + "observation_id": "52df1d2f-dee5-4e84-8286-685d18851782", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "cba292ef-3574-496f-9a96-7e4a50990259", + "observation_id": "88ff7ec3-6f78-4191-91bb-7ef5a874a26d", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "dd6d3d1e-8005-472a-a1fa-83c2e493fb3b", + "observation_id": "b4362498-effb-4a0a-93dc-5913a10b79f8", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "c5923785-6889-4c7b-879b-d1d03739b739", + "observation_id": "909ae657-9aa1-428e-aadc-7470e736aa97", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "e229b736-d906-48ec-84b8-e555eece289b", + "observation_id": "6dbb7f08-0276-40f7-9f8f-fc36dac8573d", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "36c8faad-65ad-450a-be1b-827f62eb4fd2", + "observation_id": "36487bfd-7cd7-4781-9f31-6847cfd67dfe", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "3a4e102f-0223-4187-8cde-10a7cc01aa1e", + "observation_id": "dd501cf9-c1be-4cde-8257-c82dd1d885db", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "8f69344b-695d-4673-bbc1-5d2100b1c5a5", + "observation_id": "86711c1c-cb5d-4f57-b5d6-5bdc707b899f", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "b32b7f08-12b3-4eb3-aee1-8517e811d2f7", + "observation_id": "be5e1672-3301-4e03-80f6-6d5610e0434e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "1b5eaa5d-3677-4f32-b949-21120f785f83", + "observation_id": "6d000fb8-a615-4589-b07e-b8265e014104", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "04a9b270-e2aa-4176-9ad6-f769c49e5c53", + "observation_id": "86b849d2-51d7-4111-9c8f-2c209028f15c", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcdeg/render_e_camera_pose.json b/data/camera_study/Scene11/k5_bcdeg/render_e_camera_pose.json index 396e30d..577b1ab 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:05Z", + "created_utc": "2026-06-02T22:43:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcdeg/render_g_aruco_detection.json b/data/camera_study/Scene11/k5_bcdeg/render_g_aruco_detection.json index 9ec7350..849ea5b 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:04Z", + "created_utc": "2026-06-02T22:43:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "aa9dabd1-874b-450f-b620-8f47c60f7465", + "observation_id": "1880b574-6192-4076-99a9-c63b50c897ef", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "d8849ef5-6fc2-467b-a347-852ab9c42ab9", + "observation_id": "d5dd918f-49d8-404d-a39f-4cab2cdec1b3", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "46e93a72-e507-4b94-a46b-e8ad13a4b14a", + "observation_id": "8f1accb5-699c-4a2d-a0ad-5e2824da2e51", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "901ce131-06b6-4a37-bf03-a72a18f0a8b6", + "observation_id": "4d9c865d-a01f-4788-bf42-7aa89a069f7a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "a08e0098-a09a-46e7-83da-2f5c8b714e85", + "observation_id": "2932ab12-8264-4146-8437-6858c64bdcde", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "a3e77132-b67a-42e1-aae7-afe69d5c81d1", + "observation_id": "65d577c7-80b6-4b92-a6ba-76d681db212c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "61215497-5591-4cac-a46e-dabd1fb7ab23", + "observation_id": "8ca2a233-61bf-4a26-ac2a-dbc23ffcbd14", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "dc542320-aa21-4900-bc1d-27a83f8702fd", + "observation_id": "8e49a788-30c2-4a88-87e6-4f3f42c6a59f", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "1e4ffda8-7e96-4e41-a4a2-b93580a87a6d", + "observation_id": "6dba75e1-9ba7-4b59-8668-cf0a1999e6cd", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "574bf0d9-8abf-4bd4-aba7-7e45dfe0d44e", + "observation_id": "9318a136-ef00-4df9-b5ec-545c2989d75e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "254a48e8-e9f9-448e-ba94-8c6ea7abb46e", + "observation_id": "82672754-c070-444b-8850-51283f3fbc16", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "42c8be98-10cd-46c7-adc3-b9bde1a5792d", + "observation_id": "21e43bd0-477d-451f-8a59-6cf24de5c046", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "e80bc3c3-5ca8-44a4-bb41-fffa7d004d49", + "observation_id": "8853a9c2-eb45-4b1c-a44a-d74939810ebc", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "ef85503a-1c41-4f46-b8a5-da5d4a14795a", + "observation_id": "835d6081-7447-4ac2-a8db-36367a12a206", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "cde7c76e-39bd-4cfa-bd69-4cc05927ae8f", + "observation_id": "1333838d-1a59-44ab-984d-c68f3f253b6c", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "8abac19d-9dbd-4dee-8715-149d2f3420aa", + "observation_id": "9ad2518c-8f31-4ccc-ac8c-d2d845149685", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "c8dc9915-cf43-4d38-a6c5-e9a8e6604676", + "observation_id": "9f792f61-a85d-4490-8fc4-db5cd28d1c63", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "439dce7b-c3cd-4fca-9076-912b71b09ed5", + "observation_id": "d52bb1ba-d778-4ccd-9a08-5224b598d533", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "a4d07d73-300f-4405-9c14-65e5a20f9759", + "observation_id": "8ef81ce1-76c6-412e-a210-14f156e39cb6", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "74464378-41d3-4531-a306-452d98b2ba7f", + "observation_id": "a39c9a06-118f-4044-a9ff-b63c27865719", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "854db914-5e07-4a18-b92a-81d14765d9df", + "observation_id": "e0e34ca8-9ed1-472a-a4fe-5f7cc827edba", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "cdccf49f-0fdc-4b83-9066-2426454dbf79", + "observation_id": "3f902ad8-d173-4c3f-8b80-d65b28981094", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "460f54f2-704f-4fb1-81fd-91437fdf8469", + "observation_id": "b6ae574d-3e01-4031-bdd8-f962207252c5", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "a6b5af42-c97d-4edf-aa96-974324ff4ec6", + "observation_id": "42bd9571-cf85-4b81-bd32-93c930e33e9c", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "94817c56-0e24-4d16-a6df-2e749eddf08e", + "observation_id": "8577c8d3-86a6-4a28-8676-c550c42a64df", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "b766c881-d08e-403f-96b6-f06f95f73962", + "observation_id": "63c86108-d5a2-460e-9e6c-b1ebedf071a2", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "41752b1a-ff90-43d4-b781-93742562476b", + "observation_id": "086de066-1620-4e2e-8b8e-b4f4793cc5c1", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "efd971fd-3b6c-4bd2-853e-57ffd207b904", + "observation_id": "167181c1-f289-4541-9fb0-b7eee6fb55b2", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "2ea66cdd-5e1b-486e-9af0-a048d935b87a", + "observation_id": "37de58a5-6c27-4a9a-a050-e2ab7c065b10", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "f1e03daf-4c93-4621-98c6-a8db52c23103", + "observation_id": "deea836d-0800-4bcb-80ac-02f6e3bcb900", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcdeg/render_g_camera_pose.json b/data/camera_study/Scene11/k5_bcdeg/render_g_camera_pose.json index bdf556b..07cf857 100644 --- a/data/camera_study/Scene11/k5_bcdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:05Z", + "created_utc": "2026-06-02T22:43:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcdeg/robot_state.eval.json b/data/camera_study/Scene11/k5_bcdeg/robot_state.eval.json index 91c215a..a398292 100644 --- a/data/camera_study/Scene11/k5_bcdeg/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_bcdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.0476708558293524, "mean_abs_mm": 2.3821747476173796, "max_abs_mm": 3.868795443158204, - "finger_error_mm": 2.973646585387345 + "n_unobservable": 0, + "wrist_error_mm": 0.996420784813035, + "finger_error_mm": 3.6860602005053904 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_bcdeg/robot_state.json b/data/camera_study/Scene11/k5_bcdeg/robot_state.json index 2e387d5..5f34515 100644 --- a/data/camera_study/Scene11/k5_bcdeg/robot_state.json +++ b/data/camera_study/Scene11/k5_bcdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:11Z", + "created_utc": "2026-06-02T22:43:27Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k5_bcefg/aruco_marker_poses.json b/data/camera_study/Scene11/k5_bcefg/aruco_marker_poses.json index 49a7f68..0216199 100644 --- a/data/camera_study/Scene11/k5_bcefg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k5_bcefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:26:03Z", + "created_utc": "2026-06-02T22:42:13Z", "summary": { "num_cameras": 5, "num_markers": 29 diff --git a/data/camera_study/Scene11/k5_bcefg/aruco_positions_initial.json b/data/camera_study/Scene11/k5_bcefg/aruco_positions_initial.json index ae1468f..08aba29 100644 --- a/data/camera_study/Scene11/k5_bcefg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k5_bcefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:26:02Z", + "created_utc": "2026-06-02T22:42:12Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_bcefg/aruco_positions_optimized.json b/data/camera_study/Scene11/k5_bcefg/aruco_positions_optimized.json index e95c0e4..1c696df 100644 --- a/data/camera_study/Scene11/k5_bcefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k5_bcefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:26:03Z", + "created_utc": "2026-06-02T22:42:13Z", "summary": { "num_cameras": 5, "num_markers": 29, diff --git a/data/camera_study/Scene11/k5_bcefg/render_b_aruco_detection.json b/data/camera_study/Scene11/k5_bcefg/render_b_aruco_detection.json index 9e8293d..977a424 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:59Z", + "created_utc": "2026-06-02T22:42:08Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "dc051975-d428-400e-8f0f-cc6a692e1376", + "observation_id": "82bb6f79-cec7-423f-bb3c-f1615638e0a4", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "d4704e13-3879-4c8f-b272-5989638e2e23", + "observation_id": "30d96c2d-1979-4da1-8b08-fe90909f1299", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "c1c4b8cf-5422-484b-b9e4-f2f7bac82f32", + "observation_id": "d0915139-b183-4624-8859-6a3a56d9ed21", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "a7e8506c-4089-4122-b262-e4b55f13987e", + "observation_id": "f475ce95-a0a1-4281-9d7d-81a02b5be92d", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "d09c499b-86d8-4fa4-8086-4cb65f62abdf", + "observation_id": "36ce079a-2371-4371-9b15-f61fdf58b017", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "6840aded-0c5a-4a7f-9ea0-412dfe84c9c9", + "observation_id": "3e0814ce-6174-4ec7-8e0f-bfeff82cf5c8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "5ca44e5a-9d6e-464e-834f-0e93bd889c5e", + "observation_id": "a7900801-1d65-4632-9635-04ee29b6ca6a", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "b7608eeb-ffb1-4869-9c89-627670ea5b7f", + "observation_id": "c5b577e8-da99-4dd7-adc8-392c680e9096", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "f68b6918-f164-418d-b592-1af03e7597ea", + "observation_id": "75db075f-9658-4b94-9fc6-46cb596bf63a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "7416eee0-6c9f-4312-81ad-08e211c3d26b", + "observation_id": "23292248-d1bb-43b4-b234-96151e93bb71", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "707e69c9-e74a-486f-ad6c-644dccd4f864", + "observation_id": "778fd66b-d5c3-4849-b6f4-df697ba4da28", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "f2788842-a157-49e6-9014-52c8e8ee71f5", + "observation_id": "577eac63-1c80-49a7-9770-9b54ffb0b3f8", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "cf1c00a6-da1f-4e27-add7-c386d785aa74", + "observation_id": "00f8e130-9024-4077-830c-9194b8412b56", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "64585854-2f8e-4b8f-ab45-4b4bb8f6277e", + "observation_id": "af110691-b4ae-4ba6-8eb3-6315867ccfa5", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "1b1e2cf7-a473-4194-b76f-6632ed74f604", + "observation_id": "f9691c6a-a836-4e32-9153-6874eede82bb", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "b12375ef-c0ce-407f-9c98-f66542107c53", + "observation_id": "e279c229-d6e2-4919-9ddd-df33331b8748", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "17f00f68-e5e5-4dd2-a6ad-85804338afa6", + "observation_id": "ee3043d8-c823-491b-b6f2-1360f5355539", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "3d162cd0-d606-4aa3-9e62-4ce1cbba3957", + "observation_id": "f878e8f5-1c7c-42a3-bec1-d89f44549d14", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "f30db507-f9c5-4d61-9ba8-1b011bca4308", + "observation_id": "f462e021-b786-4f27-bfeb-0e5c34ccb17e", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "fab40dbe-5074-4f84-91a2-3799a8b6a264", + "observation_id": "c99fe039-3e68-4de9-9b54-92bbce3f9c26", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "8c28b7c4-93a9-47ac-ba5b-81155089747c", + "observation_id": "191badbd-f495-4b6e-92c6-a9bedd41a335", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcefg/render_b_camera_pose.json b/data/camera_study/Scene11/k5_bcefg/render_b_camera_pose.json index d46c770..02040fc 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:01Z", + "created_utc": "2026-06-02T22:42:10Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcefg/render_c_aruco_detection.json b/data/camera_study/Scene11/k5_bcefg/render_c_aruco_detection.json index f65cf25..381fc2d 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:25:59Z", + "created_utc": "2026-06-02T22:42:09Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "22c5b16e-283c-4a70-8d67-1012702af304", + "observation_id": "5623b8be-5f0d-4521-8dd5-5e0996be5ee1", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "afeab37a-be1e-462a-97b8-893cc553ebb3", + "observation_id": "abd53e87-34f6-4a99-896a-e27580788e03", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "d7f2bac0-e58c-457e-bc09-5993c6e4f43f", + "observation_id": "47de8ffb-8a3c-4173-8f1a-c2c31994aab0", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "91faf829-829a-4ea2-b362-3116a0dae7b8", + "observation_id": "d71bdb6f-e17c-4fef-a5cc-9baf4a3c6bb1", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "23253dc5-ba50-4559-b94b-76112afbf26e", + "observation_id": "2afad886-56a7-4169-b973-1edf26578e0a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "590855b2-d263-424c-97e4-5f171bc4731c", + "observation_id": "bf0541f2-3491-4c56-beeb-0bd163231db8", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "4f39a2e3-371d-4cad-a624-29d2dd4bea86", + "observation_id": "058e7991-490d-4f72-a777-2989c57859fa", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "a3207fa9-d2b4-4f6d-99a5-832bdf5dca7d", + "observation_id": "13397111-523f-4669-9f46-6fedb58ea098", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "efdd5784-8918-492d-9167-5da69f87539d", + "observation_id": "b3926777-466e-4e2f-9084-ddce65168f14", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "708b0e71-c03a-427c-b825-8264abafa5ff", + "observation_id": "8d87c0e3-7192-45f2-8446-2d8b5bc30828", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcefg/render_c_camera_pose.json b/data/camera_study/Scene11/k5_bcefg/render_c_camera_pose.json index a4c7891..283402e 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:01Z", + "created_utc": "2026-06-02T22:42:10Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcefg/render_e_aruco_detection.json b/data/camera_study/Scene11/k5_bcefg/render_e_aruco_detection.json index d36d28f..82d0864 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:00Z", + "created_utc": "2026-06-02T22:42:09Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3ea2b8c8-7d92-43ed-b4c7-d6494b6d5da0", + "observation_id": "9aff438a-bba0-4b63-ab5e-5046589afd28", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "7243aed8-766c-4a15-aa73-557ba7c2747c", + "observation_id": "43faa35e-ea29-48d6-98c6-56b8e5ca22c3", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "75b28e9f-68a4-4659-8f36-8f7ad896efd7", + "observation_id": "15b449d6-b541-4ecd-840e-9f8715b44137", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "591f56a0-6db0-4a72-8a6e-5ac5b7c32ff6", + "observation_id": "73255ef2-816d-4e88-8587-d796c498cbc4", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "1aed8d37-a406-4871-baa1-b9459473f63c", + "observation_id": "c5469352-86d6-4b61-8e02-744ab2f4e2a4", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "4eb31db7-601d-4116-ad00-e569c8fea958", + "observation_id": "983d3f45-a010-42e2-9929-e34bb331a229", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "f26109a1-344b-430d-8799-fa6f870c334e", + "observation_id": "48b927f7-7e1f-4675-b111-1d8433cc747d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "b2f7611b-410b-4299-931f-06f8b35c2f15", + "observation_id": "3e7e3940-06f6-4bb2-8609-00a4f2c16147", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "5dda3cfe-5512-45ea-8646-b3f33cc65fa7", + "observation_id": "77237d45-ae80-4af2-9594-e62e4e30acdc", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "d06db664-2a4e-4780-a0a3-5628871a1a77", + "observation_id": "a1fd769a-7d65-4f85-99cc-5d4aca770d8a", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "8a419558-4b80-4e2f-908f-4d86f7861d46", + "observation_id": "18e33e03-be04-4edd-9a39-b7b0a19c0fb2", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "5a640a71-c210-42e8-92be-650276bfa075", + "observation_id": "a2dbef37-2d36-4846-a715-8c14a6c09e25", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "4efbf923-1551-4c0d-9e82-78426af548d7", + "observation_id": "5c154eeb-334d-47d8-a1f3-d2602a4e52b5", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "aa62d1c3-2183-4301-98ef-78b1786847e5", + "observation_id": "c90e7686-cacc-4657-96f7-bb8b741f9583", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "30b40d80-a39a-495c-8be2-f6909a690f7d", + "observation_id": "386bc480-c345-4dd6-8e33-4d52f1cdda92", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "e70601bb-dc5c-4bd7-8bdd-47f31a6e4430", + "observation_id": "ec924ccb-8f77-421e-9179-d711b2517389", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "bf2bfd1f-545b-4004-86a8-82ccde380647", + "observation_id": "c89dde59-b5c2-416f-be1f-2820f84ca12b", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "1c4050b5-6835-4f23-8673-ca469bfd3f27", + "observation_id": "2e773dbc-1dd4-4859-886a-5d719d1aeb86", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "6d998882-a80e-48da-abde-1a1d3ff0c4a9", + "observation_id": "1ec3571f-a291-4eb8-bad9-7d8cdb09a4ef", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "f06b2dc2-1618-4668-9cb7-7508bddda8a6", + "observation_id": "b61c1d0a-4a41-4f73-86e6-79722d567907", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "fa43f99b-d8dc-401f-980e-7549f520b82d", + "observation_id": "b0be7f79-7108-4963-95ca-af62d70af104", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "1410d57f-87c3-4f27-ac91-b049577c986a", + "observation_id": "c3393261-2514-41b5-b4b9-eca0fb633974", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcefg/render_e_camera_pose.json b/data/camera_study/Scene11/k5_bcefg/render_e_camera_pose.json index f92ea19..42a2cf2 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:01Z", + "created_utc": "2026-06-02T22:42:11Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcefg/render_f_aruco_detection.json b/data/camera_study/Scene11/k5_bcefg/render_f_aruco_detection.json index 9839bad..ef6815c 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:00Z", + "created_utc": "2026-06-02T22:42:09Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "101ae314-9338-45e0-8192-0dee4b178c85", + "observation_id": "1d0b166e-2600-40ac-9442-ec2ae5affc5f", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "e83a5a41-0b24-4755-8ab9-46cebb684828", + "observation_id": "6ef8a6d3-a2eb-4343-ba45-532a56214c93", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "42ab7821-67fa-40d0-b870-11cacca1fd7b", + "observation_id": "b09cc6b1-aac7-4e10-8524-e271b335ad19", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "0f6cf812-011d-4c99-9551-c49079999e5f", + "observation_id": "2ac2533a-ec9e-4a94-b4f4-8046f8166b17", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "3cba98c4-8ed4-4747-9aa0-729e58d9ed2c", + "observation_id": "75d1fe0f-bf87-454b-aef5-279a0c4bf5bf", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "715cdc3c-1861-4d3b-9885-43c6502cbaaa", + "observation_id": "f51e6f0e-d472-4b70-84b3-72617d7107d1", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "0f0abe37-1e3b-40e8-b61d-039cd0e8a1f4", + "observation_id": "a89849be-7a2c-4ccf-9544-670a5c114ca7", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "b7a476e8-fd54-4290-9334-0f758ab72f29", + "observation_id": "4fd15a4c-846d-4158-bc00-1da9c36f3085", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "63a14750-6866-4567-bb1c-c5fc512e0cf7", + "observation_id": "18de5b2e-e93f-4ca2-8ac3-e78b75c39b13", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "9f64f786-3be5-4f8f-be26-e8880df1f97a", + "observation_id": "b3caab5c-754f-4b2b-93c0-06eeb8da62c6", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "8ade24ed-ac27-4fdc-b0dd-564e2ba67804", + "observation_id": "ed3dcf3a-72a4-4ace-82c8-2ea5a4580f98", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "b7f86c81-710f-4b04-bb18-4cf3adc5282d", + "observation_id": "e1464da9-fad2-44a6-956b-05384c9ee93f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "2ea2956d-4f7e-44ad-9a99-dd9e4c72640c", + "observation_id": "8dcb3d9e-0ead-4bbc-8934-dbbf1f246630", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "aa7f1f2d-ccac-420e-adba-1d5987aa75a1", + "observation_id": "4041b4b9-ff17-4f30-ab43-a685148b3c76", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "a43c55b3-afd6-487e-a206-bbb22e65fa92", + "observation_id": "c621bb8b-e937-4a1f-9946-d779e3bb6dcf", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "80bf17f5-005e-405e-bda8-1d8648020c3f", + "observation_id": "b43a7f60-5059-4f53-8de1-d55748c597a8", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcefg/render_f_camera_pose.json b/data/camera_study/Scene11/k5_bcefg/render_f_camera_pose.json index 959bcda..be48a7f 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:02Z", + "created_utc": "2026-06-02T22:42:11Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcefg/render_g_aruco_detection.json b/data/camera_study/Scene11/k5_bcefg/render_g_aruco_detection.json index 483a2a9..ac8c3a4 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k5_bcefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:01Z", + "created_utc": "2026-06-02T22:42:10Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bd3409b4-2344-4aec-b487-64aef00b985e", + "observation_id": "9433e032-55bc-4012-a883-8891f21d5223", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "cf59da69-93da-4b50-bc81-8e8b850da5a9", + "observation_id": "a70c57b4-8e6d-4107-99d1-9df0e12194fb", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "1c6d9990-caad-4fb3-b080-6fa7c87d5a5b", + "observation_id": "115ca21e-0ddf-4590-a083-af2db18daee9", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "23754d7a-5f84-49e5-9a4f-43e08bbca02d", + "observation_id": "910c13ac-49f3-4cfa-b9e3-c268b213dbf5", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "4318b0a3-e2cb-424c-8da3-bc5a4f358ac5", + "observation_id": "c084bf28-fa1b-4d20-8dbc-49bff3aeedd8", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "abd3db15-d4a7-4d09-b193-cd9973fe67c5", + "observation_id": "10771e85-5d93-48e7-a5e3-ca51248efcac", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "6558833b-4355-47ad-925e-453c1c59d57c", + "observation_id": "4a38b2b9-550b-45e3-85ec-aa6b077d24c4", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "a9d3871c-a52c-4f5e-81bc-b191922dc40f", + "observation_id": "24a9c770-a26f-48ee-94a5-bcf85ab62223", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "ca428bf7-fef1-443c-bc70-c1823cfbff5c", + "observation_id": "4fc90387-f64b-4310-8dee-97bce9243237", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "4eefaf5d-8a66-4b1c-b271-8ebbc6c24b21", + "observation_id": "b2044cef-2320-455f-b73f-19b0b07cdbfc", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "a4d03035-528e-411f-ba23-fba19402141e", + "observation_id": "657dc4a7-9c23-493b-bb34-9bb7288c619c", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "a34e8f7c-049f-4fe3-995f-a8ba76aaebc0", + "observation_id": "04aded9a-8be9-4e36-b920-6e513c2f6f69", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "7e915031-b544-4dc1-b4fe-60ae7eb8627f", + "observation_id": "3a9cc6b8-d64e-435a-9d32-133079205cf0", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "6e0340d4-dec5-497f-b953-c9aa7329ca25", + "observation_id": "fd724555-0361-413e-bc0e-700a95d5f84e", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "5ddcb571-3314-4095-8243-27aba63e9fb5", + "observation_id": "181a61ad-11b5-433d-bfd5-3b9bb43a5208", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "0898f6cc-bde1-4d22-baf8-3bfcd4594e75", + "observation_id": "8f5fb9f3-746a-4900-b947-b1ce45f09dd6", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "a2f73b59-ab64-4fdc-905f-3c9ad4ba641d", + "observation_id": "f5b4cea3-b61b-44c0-9424-ca9a89d16155", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "735dccc9-3037-42bb-b0dc-9b5628ce9832", + "observation_id": "c3c67270-3f66-468e-9e3e-d674e10eeffe", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "acaeb862-0cf5-4c78-b930-fce2adf49223", + "observation_id": "0a8944d8-e45b-4972-a7fd-4f70be6c19cd", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "a87fc908-e8ff-466d-802d-bb32d01d9eb8", + "observation_id": "f0e6fbfb-0e8c-4727-9fbb-c2dbec4475a4", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "d92883ac-bfc5-453a-813c-bd6d626c556c", + "observation_id": "56affa19-e015-45cc-bd4a-f8a3fef40462", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "255c1098-3642-4494-980d-34fb43c074ac", + "observation_id": "72d017ae-be09-47e4-a52a-a9a8b13652fb", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "f86c490c-3af4-45e4-923a-773abd5348ee", + "observation_id": "bbada68c-2db3-4b61-81d5-7b777a472695", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "45edbf6e-bf6d-42be-ab18-7c9870d383c9", + "observation_id": "b85c78b9-78da-415f-8b52-5d81917fa04a", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "19640f1f-2fcc-484a-982e-8a79e895be26", + "observation_id": "eb6b288c-4be7-4e76-ac21-a7b2e4ea12bd", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "0c86fd21-31f2-4e23-81aa-cae5c2af8b1d", + "observation_id": "c9388094-50fc-423e-81fc-bf836458e9d4", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "817b214b-6e72-4510-9243-91315e559188", + "observation_id": "9e204e3c-32b9-4267-9e33-166679aae9dc", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "02dd5213-c162-4295-96f3-14756b340067", + "observation_id": "dd740677-5b0a-4dca-9a1d-aa9383634b59", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "6144204c-e4da-42f1-93a8-19ca9203e11b", + "observation_id": "3ae956df-c7fb-47a0-b81d-d0254db33887", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "860bd127-408b-4f3e-981e-e262e93bf22a", + "observation_id": "85b4a3c0-ddeb-4cb8-b4f7-7d8a00bdee33", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k5_bcefg/render_g_camera_pose.json b/data/camera_study/Scene11/k5_bcefg/render_g_camera_pose.json index 218c5db..dfeeb7d 100644 --- a/data/camera_study/Scene11/k5_bcefg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k5_bcefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:02Z", + "created_utc": "2026-06-02T22:42:11Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k5_bcefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k5_bcefg/robot_state.eval.json b/data/camera_study/Scene11/k5_bcefg/robot_state.eval.json index ef3944f..a676290 100644 --- a/data/camera_study/Scene11/k5_bcefg/robot_state.eval.json +++ b/data/camera_study/Scene11/k5_bcefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 4.314299202446108, "mean_abs_mm": 3.0598610728367355, "max_abs_mm": 4.255878644268371, - "finger_error_mm": 2.7421826633981925 + "n_unobservable": 0, + "wrist_error_mm": 2.296650502872648, + "finger_error_mm": 4.625116015603747 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k5_bcefg/robot_state.json b/data/camera_study/Scene11/k5_bcefg/robot_state.json index 0026d16..e678b3d 100644 --- a/data/camera_study/Scene11/k5_bcefg/robot_state.json +++ b/data/camera_study/Scene11/k5_bcefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:26:05Z", + "created_utc": "2026-06-02T22:42:15Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k6_abcdef/aruco_marker_poses.json b/data/camera_study/Scene11/k6_abcdef/aruco_marker_poses.json index 721fd77..5c41a04 100644 --- a/data/camera_study/Scene11/k6_abcdef/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k6_abcdef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:27:37Z", + "created_utc": "2026-06-02T22:43:54Z", "summary": { "num_cameras": 6, "num_markers": 29 diff --git a/data/camera_study/Scene11/k6_abcdef/aruco_positions_initial.json b/data/camera_study/Scene11/k6_abcdef/aruco_positions_initial.json index 782e62b..0046b25 100644 --- a/data/camera_study/Scene11/k6_abcdef/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k6_abcdef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:27:34Z", + "created_utc": "2026-06-02T22:43:51Z", "summary": { "num_cameras": 6, "num_markers": 29, diff --git a/data/camera_study/Scene11/k6_abcdef/aruco_positions_optimized.json b/data/camera_study/Scene11/k6_abcdef/aruco_positions_optimized.json index 073da3b..df43311 100644 --- a/data/camera_study/Scene11/k6_abcdef/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k6_abcdef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:27:36Z", + "created_utc": "2026-06-02T22:43:54Z", "summary": { "num_cameras": 6, "num_markers": 29, diff --git a/data/camera_study/Scene11/k6_abcdef/render_a_aruco_detection.json b/data/camera_study/Scene11/k6_abcdef/render_a_aruco_detection.json index 4634a8f..d8d6c8b 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:30Z", + "created_utc": "2026-06-02T22:43:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "848251f6-95ac-4c80-956b-493f16754bb0", + "observation_id": "12bab65f-2bf5-4bfc-9b2b-ca3d6727e7c0", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "06b04424-e6c5-424f-96b4-41fd5fadda1d", + "observation_id": "6943bbf8-9c14-4337-987f-0238506db2f8", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "ede1d37a-c189-454c-a55d-376c20cf5093", + "observation_id": "8694b99f-0153-4514-a624-d776ba261bb1", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "8d20697d-10b0-4663-b3dd-97778efffd36", + "observation_id": "c257aec1-62b4-4d5b-8fba-c9ea145c5b81", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "7be71943-222f-4f89-a5b2-4ce96298298d", + "observation_id": "c71a679e-3541-4563-a2db-47551691c5ff", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "9ec71a6f-6ffd-43c7-81e1-34c4fb621b11", + "observation_id": "cdd607a0-1f62-49ae-b23f-46d2f461426b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "29aa9e3f-8236-47fc-9688-e3daa7bde977", + "observation_id": "d2591473-c439-4af9-81b4-7d76ead035bb", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "7473c637-69f4-4e8e-b161-eb9b5b38d967", + "observation_id": "dd2b0292-443c-45b4-a352-010bd15489e8", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "93a4105c-09f8-493c-8303-a369c946bd7d", + "observation_id": "a9b9c88f-4f1c-4898-8b83-238d9cfe87c8", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "2f492a9e-624b-4936-a3b0-bb31896446e5", + "observation_id": "91d6d1df-6b56-4941-badf-fab230e94653", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "dbe9ed74-51fe-4bbe-beb9-66a6256d34bb", + "observation_id": "decefa3c-2fd2-4010-a253-dcbdd015d5d4", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "f60b0b37-64cb-45b3-97fb-a2d488355240", + "observation_id": "bab23cd7-23ba-4af5-b01d-ee9a134ff972", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "8dddf501-8a22-4c42-9202-4e0626882699", + "observation_id": "18202b69-4d1d-48e8-bfe3-0fa8cbb5cd14", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "e7a8a776-fdd5-4bd0-9367-96945f1c2878", + "observation_id": "5dd6a164-c799-4b9c-8236-180b45e23125", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "89055d73-6de8-420d-9eaf-3025296d62ae", + "observation_id": "055e3658-71ee-4213-b96d-c4494ffb128e", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "1afa606c-88eb-4214-9a9b-05769f2265b5", + "observation_id": "629bc1a0-4197-4498-a01c-72b9aee7a580", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdef/render_a_camera_pose.json b/data/camera_study/Scene11/k6_abcdef/render_a_camera_pose.json index a500a35..ae6f9f9 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:33Z", + "created_utc": "2026-06-02T22:43:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdef/render_b_aruco_detection.json b/data/camera_study/Scene11/k6_abcdef/render_b_aruco_detection.json index d5a04b6..c8c5d71 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:31Z", + "created_utc": "2026-06-02T22:43:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "45553c50-f7ee-4043-986d-d8e776f93f6a", + "observation_id": "826696e2-b206-44a7-a3f1-28b0ded37d56", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "fb57193d-4a7d-4340-bcb5-20e32a0e6d9d", + "observation_id": "1fbeedda-d1ba-4d3a-9b5a-1a217512111d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "589567dd-db3a-4900-addb-3e87ec3f1868", + "observation_id": "14b27bd6-2d2b-4e89-9428-b8c83a19a252", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "cc90b2d5-ae35-4f2a-8724-53971ede3528", + "observation_id": "1e3bac17-d309-4a00-a9e7-4653e78be068", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "56e6009c-82e4-47f4-9daa-453caed2ac7b", + "observation_id": "066803da-c67b-4980-807a-b6c02079e150", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "a357077f-ecd4-43f6-9624-1b96a3325b20", + "observation_id": "52e8ec76-8322-467c-8668-3b9ac43c29a1", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "115f7fde-b4c6-4ddb-a0c2-bdf907efa0f7", + "observation_id": "7e7658a2-a694-43de-98cb-5e76597442b9", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "9a42ba8a-bda1-4369-8b78-80d2407c2578", + "observation_id": "8632e36f-ecd6-42bc-bb55-c3eeb412cefc", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "05b94823-f8d8-4adc-bdf1-f0ca1241339a", + "observation_id": "ca8fc3e4-537b-4585-a7c4-b7b9048fa953", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "5ea6d2ee-6d13-40f3-a150-2a86f58d4788", + "observation_id": "d5773ac0-b340-47f7-a115-e04c21b2ee67", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "37ca1339-f922-4329-a411-0f56836451f4", + "observation_id": "296ce2a8-ffe6-4651-9465-409625bceb45", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "5e19f773-4fc0-477e-9c20-a7c810a90a12", + "observation_id": "b48238f0-549b-4dc7-81d8-af8eeceb457f", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "50b90413-cc5d-400e-b02f-b0911ed8856e", + "observation_id": "4fab3d13-9868-4518-8207-c6568ce51a8e", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "81aea922-dd17-4aee-bc48-353bc49165d2", + "observation_id": "eeaeddbc-32be-4f13-a2f6-0d844a9d3896", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "f873a6bc-90ef-46b2-b19f-156cfece099b", + "observation_id": "9e9c7b0d-26a3-4ed4-a9de-2b3c573c701f", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "f65a92eb-3f2c-439c-8444-f5ff179eda76", + "observation_id": "54f8b804-3f8e-48df-94c7-f0824ea28c52", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "e9d98166-feb8-4d39-805f-931ed85e0ef5", + "observation_id": "ea8908f7-1e16-4196-9815-edb36d3a5962", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "73e52b0d-6c1f-44ca-b3eb-10b644a7dc87", + "observation_id": "ac3dd3e9-7f04-472a-b00d-1d7d69e65cfd", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "07734a94-25f6-42b5-b2af-797a9b8f0a54", + "observation_id": "c88b48ca-2fd5-454d-a7fb-a0705bf64a1c", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "e2d33cee-5d01-4e1d-ad71-e9c99e30f389", + "observation_id": "daa41048-2ab2-4229-96cb-6813b48c042f", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "ef9ae1db-3aea-4fbb-801e-85132a600b31", + "observation_id": "26a603db-18ea-4548-bbfa-5e80d0519706", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdef/render_b_camera_pose.json b/data/camera_study/Scene11/k6_abcdef/render_b_camera_pose.json index 3287926..7bad77d 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:33Z", + "created_utc": "2026-06-02T22:43:50Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdef/render_c_aruco_detection.json b/data/camera_study/Scene11/k6_abcdef/render_c_aruco_detection.json index 1c13acb..16d6544 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdef/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:31Z", + "created_utc": "2026-06-02T22:43:48Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "68472eda-ac95-48cf-8220-06c24a6a9ed7", + "observation_id": "719fa0b0-f099-42a4-8dc1-eb39300fd425", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "bc10348f-d690-4300-8a12-759603b3d464", + "observation_id": "603de082-5c89-4593-b052-97996d7071a8", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "68b5ee25-aa6b-4277-9cca-dbc3078b0425", + "observation_id": "ca404abf-a003-428b-98bf-9271de0f9d6d", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "3cc8321b-c79b-4241-9028-8a03b8814611", + "observation_id": "7a70c9da-965f-4e25-933d-a049a895411c", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "b0421e54-39f8-4ffd-a9fe-0caf4bb3a38a", + "observation_id": "9dff36df-9467-451c-b065-a71670296834", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "f81677a6-314a-48d2-b060-2837dc8ed45d", + "observation_id": "13d6c9b8-4cef-4f9c-8f62-075f3dc6b204", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "34b0b58b-1672-4666-b92d-9fc4d5106e66", + "observation_id": "7ea8c19d-a953-43d1-b730-cfa295f448e8", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "9079c793-33fd-4421-aff6-eb698a7e2559", + "observation_id": "cc51b00f-5afb-42e6-8d9a-e215b8bb83ed", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "2a4ea085-cdeb-42db-83d9-d9a867e1c336", + "observation_id": "47e053c0-467a-4c39-9b4b-08917a0464e0", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "d5718d3d-9222-4458-ad94-6ec20933fb6b", + "observation_id": "de7ba621-1599-453d-9fba-34b927d45feb", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdef/render_c_camera_pose.json b/data/camera_study/Scene11/k6_abcdef/render_c_camera_pose.json index e3d3a09..4621c22 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdef/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:33Z", + "created_utc": "2026-06-02T22:43:50Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdef\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdef/render_d_aruco_detection.json b/data/camera_study/Scene11/k6_abcdef/render_d_aruco_detection.json index d3b88e1..a19eb14 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdef/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:31Z", + "created_utc": "2026-06-02T22:43:48Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b32a66bc-5b49-4881-b97a-e2ff014a346a", + "observation_id": "63be94e1-7fcf-428c-be43-bc7d15bb40e6", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "33d76151-41ff-40cf-aebf-5855da942d22", + "observation_id": "a1d02e31-e6dc-4f32-a753-c00aaf949d36", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "5d2a1504-3b79-4e27-9105-079fa2323dc4", + "observation_id": "47b5cfa5-b6ad-4f0f-986a-33643de00320", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "02cbeecc-bb92-406a-bde0-d171c05fdb53", + "observation_id": "6f5cf234-a6c4-46cc-9c03-2397d0eab63e", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "c520ce3b-d2a1-493d-852a-55ca5a3319a6", + "observation_id": "da9cdd91-f781-4731-9441-e3922814c94d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "615110d2-00dc-4e6e-97e6-eb8d9d9574e2", + "observation_id": "c22e0893-fea1-4b31-b146-f9b601606b03", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "db4b0d1f-3eb2-4c82-a3ca-9cfd4199ee62", + "observation_id": "b1e6940d-0a38-4052-a5f0-8cbd230febc0", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "7c5c524e-26ed-46f5-9f3c-ce800d675d4d", + "observation_id": "7c61d745-7808-4d06-a2b4-20f717a5999e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "376e294d-6565-4ddb-9113-1d7d53815197", + "observation_id": "753a983d-96b7-492f-9bf6-bc1d3f0cebeb", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "1f7ef70c-d2d0-4956-b69a-87e4ca7c0e82", + "observation_id": "d3dad91c-aba7-45b9-bc3b-5e526dc2db2d", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "ff999865-766d-498c-9d4e-5c70a8b5ddb3", + "observation_id": "d69cd5b0-bf1a-4b20-b414-71d54570643d", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "704f5670-130c-4331-bd7e-c4e7fa7e17b8", + "observation_id": "69981923-1f07-44e3-80b6-66e37edea4b8", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "db0ad032-4b9f-4900-aac0-091353ced6da", + "observation_id": "e2a9c55f-e1b6-4b34-9737-10d82125964b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "80844bae-1cb6-4fdd-a8df-b979ab3cd417", + "observation_id": "694ffb95-b2e5-44ff-962b-7db1dbd1a201", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "127171a8-6353-408a-8fab-501d62a64a85", + "observation_id": "701a7a46-7126-4082-b671-e4767878f2fb", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "23dd5d78-e9a7-4247-8229-8fdd43b8b7d1", + "observation_id": "38b178b2-5617-418b-a255-076473ca637c", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdef/render_d_camera_pose.json b/data/camera_study/Scene11/k6_abcdef/render_d_camera_pose.json index 4b040e9..30b17eb 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdef/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:33Z", + "created_utc": "2026-06-02T22:43:50Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdef\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdef/render_e_aruco_detection.json b/data/camera_study/Scene11/k6_abcdef/render_e_aruco_detection.json index bc23ad0..9618bef 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:32Z", + "created_utc": "2026-06-02T22:43:49Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "af46afbd-5224-40c8-9930-ed3f773df091", + "observation_id": "04cbecb6-58de-406b-86b7-adff0a8207a6", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "46dbcd23-4cec-40e9-91f7-480069b62e5f", + "observation_id": "b3619dcf-1c63-4187-8bd3-53addeeba0ed", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "2c36df2d-856b-4bb9-af94-a8a63759392d", + "observation_id": "5f343d15-b9d0-4cbc-bf10-b4e05220826d", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "a4083739-e3d2-4880-bb27-f91bfdbb0e5d", + "observation_id": "957686f6-9b6e-4091-b328-92fc126df60c", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "40d70418-8ba1-45c6-bfc5-39724d147fde", + "observation_id": "2afbadee-28b9-40be-bcd3-e4114b7d1b68", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "28e79024-8952-42f1-839c-7593178074a3", + "observation_id": "863a5884-481e-4ae6-ab71-894b99949cd6", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "ef420db9-b04f-4d6f-9e67-5f4a30b55cc3", + "observation_id": "039b272b-914e-4a81-8110-e083f86a0c24", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "61f07466-59fe-4f3b-b393-5c73c07f639c", + "observation_id": "473b4ecd-0a06-4c97-a1ff-a404cdcb120c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "72f93843-e8b2-4255-ade1-e662a87ac9e4", + "observation_id": "332e3c7d-8d9d-4a58-96da-818964728fe6", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "4bfafec1-522f-4b33-a7ff-4d1420e7eda6", + "observation_id": "c98c5438-c554-4868-a29c-0d26a4507d1e", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "50946109-2b60-4798-a21b-8ce4cf8dd48f", + "observation_id": "0419a74d-3539-4cde-b056-d0c015586130", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "2fbc4216-fdf8-4410-be7e-de026b2f2ec7", + "observation_id": "a92f6ee8-ba32-42ee-90cf-43375d53edeb", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "2c333026-a225-45b0-8fd0-297ddcade987", + "observation_id": "be9b8ded-b9a7-4541-b4d8-5801e81396cd", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "4439e1eb-74a3-470b-b200-22596d2bfb04", + "observation_id": "ec96a318-e9bd-4e51-bc27-573e1ca53fa3", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "1d7230eb-d093-44b1-a47d-c020fd2fbd0a", + "observation_id": "06dee881-da03-4319-893a-0f65f778dd68", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "e095a24a-9dde-440f-ac02-ac52093fe4e2", + "observation_id": "47378164-fe24-403c-a067-5800d30bca5b", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "f0a06dc2-7efe-4833-9141-f9b40d83c0be", + "observation_id": "28e1061c-6f77-4332-849d-c687812e4643", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "bf3956f7-02ca-48b8-b2d7-759c0c51c021", + "observation_id": "a0b5022b-be99-4517-a7b2-f18c43b95f87", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "e40a2f32-2277-4c5d-89cf-9c204086dd34", + "observation_id": "19d4bf84-5072-442e-bfc3-8b8f172808db", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "351bb7fc-c0a1-482a-9c28-6a7842836ad7", + "observation_id": "f504aceb-5914-4e0b-91f7-2cf6f6546db2", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "91e34a73-0a91-4ec4-85de-138afdbfdaa4", + "observation_id": "f763e167-654a-4584-8e46-0b4770385e0d", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "a8faa333-8ccd-4cbe-ba23-c86ea7fb4472", + "observation_id": "a6078b45-8f2d-4c0c-b192-71f45e82f8c6", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdef/render_e_camera_pose.json b/data/camera_study/Scene11/k6_abcdef/render_e_camera_pose.json index f0556a5..94b7e84 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:34Z", + "created_utc": "2026-06-02T22:43:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdef/render_f_aruco_detection.json b/data/camera_study/Scene11/k6_abcdef/render_f_aruco_detection.json index f3dbe27..e5da8f0 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:32Z", + "created_utc": "2026-06-02T22:43:49Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d17a85ca-77e7-4faa-a404-ff0c81726ebf", + "observation_id": "2e648fa0-2dca-4ce7-b135-d78d43fda08c", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "1ed2a03e-17db-462e-9fd1-49297cb9cb63", + "observation_id": "0f94be5f-2d7c-43ee-8538-4b8368eac93d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "68956c67-6273-4df3-a88d-2a74a51728a2", + "observation_id": "ee01c520-67ec-433f-a8d3-5917be72b5e0", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "e1d2d9d3-5890-486c-b115-d9401ed1f9ae", + "observation_id": "243b4398-f8bd-4d5c-9d5c-cade3af98c56", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "d18b2fa9-463b-4978-9368-1e6c8fb57211", + "observation_id": "dc308b04-d4e5-4d86-93ca-0e8399b28336", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "68c2419b-1835-4237-bf21-e4619317a3ea", + "observation_id": "276426b7-60f9-475e-a7fe-339eff7bee06", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "fe9dab07-0a45-491d-942d-2208f65cffb2", + "observation_id": "3388e468-d304-4c46-a05c-2bdea00e878d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "9af7f22c-da2f-4b51-944c-ee74d3049a8a", + "observation_id": "d9c40d0d-f828-4ab1-acda-486244405098", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "7345d108-5034-4eef-8800-fc083122abf2", + "observation_id": "4c805585-9e68-42ec-9184-665097b1bc43", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "0c69225e-eb54-4b4b-b7f7-41bcd2c1ec43", + "observation_id": "8c068024-c1e6-42d7-b6ee-7536ed08b16c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "088c30cb-3341-483f-87fd-02a4c2e33e96", + "observation_id": "63886ed5-edc3-4ce8-bfb3-97abcb009935", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "f91d966c-1720-4bf3-928a-85dc11d29c7e", + "observation_id": "cbdbadb8-8196-473e-bc07-fedab27f2f4c", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "c9e8ec98-eb89-409c-ace1-ac712ee6a786", + "observation_id": "1cfbc3f7-faa8-4434-a5d4-05c58ce6e942", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "0ef479d9-98c2-42cd-947e-b4a75296f71f", + "observation_id": "621f5c90-9ab2-4a95-abb0-e1b5c4fbb866", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "c5b01006-e4ab-422a-b3c2-02c335428f34", + "observation_id": "5bbb6776-db7f-4c6a-874b-1f226112cb3d", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "cb621cb8-4a14-4f80-a5a6-d83aa416a5d6", + "observation_id": "99d7ba6a-8f53-4007-bac1-92b35409cf74", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdef/render_f_camera_pose.json b/data/camera_study/Scene11/k6_abcdef/render_f_camera_pose.json index 0a92ba1..4fc22c3 100644 --- a/data/camera_study/Scene11/k6_abcdef/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:34Z", + "created_utc": "2026-06-02T22:43:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdef/robot_state.eval.json b/data/camera_study/Scene11/k6_abcdef/robot_state.eval.json index 6f3f291..421921e 100644 --- a/data/camera_study/Scene11/k6_abcdef/robot_state.eval.json +++ b/data/camera_study/Scene11/k6_abcdef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.7181077207426938, "mean_abs_mm": 0.4690436179310953, "max_abs_mm": 0.5753051990922984, - "finger_error_mm": 1.1080123841209328 + "n_unobservable": 0, + "wrist_error_mm": 0.6247504658414771, + "finger_error_mm": 1.3767299568170683 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k6_abcdef/robot_state.json b/data/camera_study/Scene11/k6_abcdef/robot_state.json index 4606fe2..9474b88 100644 --- a/data/camera_study/Scene11/k6_abcdef/robot_state.json +++ b/data/camera_study/Scene11/k6_abcdef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:38Z", + "created_utc": "2026-06-02T22:43:56Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k6_abcdeg/aruco_marker_poses.json b/data/camera_study/Scene11/k6_abcdeg/aruco_marker_poses.json index dcf6141..a62a6f3 100644 --- a/data/camera_study/Scene11/k6_abcdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k6_abcdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:28:26Z", + "created_utc": "2026-06-02T22:44:43Z", "summary": { "num_cameras": 6, "num_markers": 35 diff --git a/data/camera_study/Scene11/k6_abcdeg/aruco_positions_initial.json b/data/camera_study/Scene11/k6_abcdeg/aruco_positions_initial.json index 255f6fd..a8b74f0 100644 --- a/data/camera_study/Scene11/k6_abcdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k6_abcdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:28:14Z", + "created_utc": "2026-06-02T22:44:32Z", "summary": { "num_cameras": 6, "num_markers": 35, diff --git a/data/camera_study/Scene11/k6_abcdeg/aruco_positions_optimized.json b/data/camera_study/Scene11/k6_abcdeg/aruco_positions_optimized.json index 9565476..35356f0 100644 --- a/data/camera_study/Scene11/k6_abcdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k6_abcdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:28:25Z", + "created_utc": "2026-06-02T22:44:43Z", "summary": { "num_cameras": 6, "num_markers": 35, diff --git a/data/camera_study/Scene11/k6_abcdeg/render_a_aruco_detection.json b/data/camera_study/Scene11/k6_abcdeg/render_a_aruco_detection.json index 479c4a9..451b6b2 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:11Z", + "created_utc": "2026-06-02T22:44:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9a075f0f-e4ba-4798-8433-9034e152468e", + "observation_id": "403d3995-5fd9-4bed-ab91-bdc9e535ad9d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "f0bfea4b-0561-4b68-9a51-2ad0869fa17f", + "observation_id": "14c30e7d-37c1-4945-8a1a-66bc4cd41cad", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "0139aecf-c631-4046-9066-3179cb5ce315", + "observation_id": "25227ad9-a203-45a2-9447-473cca16e939", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "15e97e05-5ac1-4e78-a6a1-e0b127974f98", + "observation_id": "2c854055-50fb-47b4-b04e-78fb2247e1a9", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "b212034b-46a5-4755-9bdc-191358c63df2", + "observation_id": "5a0e5ef9-5032-428e-b3bf-a63db07dc017", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "1849c21d-352e-4cb5-b791-69589139af54", + "observation_id": "f9e0c7df-17a1-4443-83ab-bf0a47d5cca2", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "d682de39-af08-47c1-a2dc-7e9f7594bf05", + "observation_id": "7867f300-f07d-4005-990d-c08cd2fd24a3", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "fc642d6d-d8cd-4ffd-b008-3774e2423a65", + "observation_id": "53f1b90e-b3b5-4959-8039-535b973663f8", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "14c8b06b-e4f2-442c-941d-b4d889b6246f", + "observation_id": "d73470f2-b9fb-47c2-af5c-19b5c627f656", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "d4aa10bf-bbc6-4968-9453-f8a873de0476", + "observation_id": "5e96ced3-bc9b-4549-8a71-a6179be98ce0", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "9512ad91-a68d-4fba-8dad-c51694ccce25", + "observation_id": "72816e77-7d65-4b4d-8fe4-96b11c4c4f64", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "ba79aff8-97c9-42e1-a2ed-e4b83038791a", + "observation_id": "b4324d4d-a061-41be-911c-5db337458171", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "fba322f9-f9cb-4805-b103-2677d00c618e", + "observation_id": "5ea800f5-acbd-4ed8-82b7-8a9271fadcf5", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "eccc161d-becb-48d3-b50c-00fa38fedf60", + "observation_id": "9dfd4a7f-2f62-4d4e-8b64-52a8a65e2c0a", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "7dfab61b-ffcb-422c-b92e-a7101f975aff", + "observation_id": "960d358e-c88e-42db-a62e-3ca2b0052280", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "dbebcd1b-d283-4685-8323-23542cc2a1b0", + "observation_id": "fed9af9c-af53-4648-8641-215d60ea60dd", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdeg/render_a_camera_pose.json b/data/camera_study/Scene11/k6_abcdeg/render_a_camera_pose.json index 2437c53..b532971 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:13Z", + "created_utc": "2026-06-02T22:44:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdeg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdeg/render_b_aruco_detection.json b/data/camera_study/Scene11/k6_abcdeg/render_b_aruco_detection.json index e65d2ef..4ff879b 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:11Z", + "created_utc": "2026-06-02T22:44:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0c7b2490-9093-48a7-af44-047ea29bcde8", + "observation_id": "56ebf18c-4679-4d46-aada-afd408dfa61f", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "d9d84165-1154-4426-a2b8-e38c937fdf89", + "observation_id": "4c452c05-1c59-4f2d-825c-dfcd3d300742", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "ab7cea54-71d5-43db-8c4a-9fb7dcd02338", + "observation_id": "eabf48da-ec13-4cd5-8eec-0530c7a1f7c0", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "d9fae937-6dff-460d-9982-4afbd03bc753", + "observation_id": "19b7f424-8167-4a76-967c-19b8ac03a143", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "c65c42c4-4c14-4583-954f-664e416d71b7", + "observation_id": "77d51be0-eb6f-4279-91ca-0bf7f52a5d02", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "3fafeb15-b7c2-403b-aed0-6f84975b489a", + "observation_id": "0be3c7e7-1bb8-43be-952a-a4893b9517ac", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "7191b3e6-4117-4c2c-b0f3-198bbe65641d", + "observation_id": "d69fe029-763f-4140-b3be-867ee1319fe7", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "aed038eb-e67f-475f-b053-84dd568c4224", + "observation_id": "8eef91ec-3c93-453c-b2b1-57921dba0b63", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "145411b9-0af2-4f58-a8e6-762d5c673e8d", + "observation_id": "d4eee7c2-491d-4116-bf8d-8d9beb81c87d", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "90183eaf-a597-4dec-b7b0-4520a079f48d", + "observation_id": "21a47e3f-12cc-4c43-8836-98c0187a66c1", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "3ebd6869-1a74-4819-afac-d69a7707ab11", + "observation_id": "24796175-7bd5-4e08-a9e7-a5dd5aa634a1", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "d32980f6-afc6-4932-8298-604e68826b2b", + "observation_id": "e2d59033-aaea-45d0-a3e6-35750b7f3f6d", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "0f66735a-ddc7-497b-bfcd-93a2f8f53306", + "observation_id": "51267e30-4bc0-46eb-b469-ae40300ca56c", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "6489d7fe-137a-486d-80da-c6dd5f882337", + "observation_id": "47c9399f-7ded-42f9-8992-0913470b62c6", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "9434d83a-d7c6-4820-8f23-05384e872423", + "observation_id": "936cec7f-9245-4359-970c-13e5e254e08a", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "4cf2a695-93f6-4f4c-90a5-70a150a66e87", + "observation_id": "5347dfaf-894c-4a4f-8d13-1e50d89ff956", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "156b79ef-7b16-4dc5-88b0-ac1d7dc2dbf6", + "observation_id": "5bcf58a2-b587-4482-92d1-db7cc1bfa062", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "13b283c6-effe-47e0-a8ac-34fbc99a72b0", + "observation_id": "d933c96a-5486-4814-9f75-6db18d24c95c", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "863119a1-530c-4bfc-b33d-6a2be3107519", + "observation_id": "e147384c-6d76-413c-bc7b-6ad57221e2c4", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "3e4d1ab0-9cd9-4993-bbf6-65133927c454", + "observation_id": "a1399b8b-e83a-4e3f-a3d7-a6b5a7f9a329", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "4a858c5e-ea9b-465d-80f8-d6f40ddd94b8", + "observation_id": "2e009665-1ff3-46b7-a810-6e0a2f2585ab", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdeg/render_b_camera_pose.json b/data/camera_study/Scene11/k6_abcdeg/render_b_camera_pose.json index 7d4af9a..3585214 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:13Z", + "created_utc": "2026-06-02T22:44:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdeg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdeg/render_c_aruco_detection.json b/data/camera_study/Scene11/k6_abcdeg/render_c_aruco_detection.json index ea06469..ab67ae9 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:11Z", + "created_utc": "2026-06-02T22:44:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c33b075f-f40c-43f3-8a73-5ef77896cbdc", + "observation_id": "ca696d07-cc21-41b8-bf05-f14d0c0e9c5e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "e12411b2-6bf1-497d-a744-767ef9b55efe", + "observation_id": "2b954736-2866-4454-a12b-70bad90ade64", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "a952681a-925d-4b6b-a6d3-366a582baf5e", + "observation_id": "0027e207-97b6-47d7-a7f0-c2820442dc2b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "df6b3e5c-56b8-46b2-b955-071105090515", + "observation_id": "e7822d8f-bef1-46b7-b4b0-31c504a55a5f", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "1bbe449d-b5fb-4100-924f-374a36024450", + "observation_id": "04018453-607f-4d65-81cf-b24a112923c9", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "aa1f9e24-2f76-4f5f-a633-0f6200170a98", + "observation_id": "4330cbf0-6039-4b9c-801e-6c27ec884a74", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "ead35f25-eb36-44fa-a616-0ba3cf91fdde", + "observation_id": "0fdb970c-9e34-497e-881f-36e2be4f9ba9", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "297daed7-6e02-4a5c-b381-c015cd319038", + "observation_id": "8aef7087-d392-4a88-9d3f-7e25d5e880b4", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "ff822cc6-307b-412d-8687-ae635109ee4d", + "observation_id": "240c7896-a6bb-41c8-9d15-9ad29578fc3c", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "2636005f-71a7-46e3-a075-da928e5ff13e", + "observation_id": "c8ffc9c8-9eb0-4484-8cd5-d3f4d7a43bc9", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdeg/render_c_camera_pose.json b/data/camera_study/Scene11/k6_abcdeg/render_c_camera_pose.json index 40126c6..9a1636d 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:13Z", + "created_utc": "2026-06-02T22:44:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdeg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdeg/render_d_aruco_detection.json b/data/camera_study/Scene11/k6_abcdeg/render_d_aruco_detection.json index 4a0f734..911e392 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:12Z", + "created_utc": "2026-06-02T22:44:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "59453cbc-a8e0-42c3-8dad-7b2adcae9c0e", + "observation_id": "b4c0bba0-a449-4fc4-88aa-9ff607a985bf", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "33f89196-da40-44ba-b3d8-7bc012204551", + "observation_id": "99be470f-2cb5-419a-8dee-20caeed44f90", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "6f29911e-7685-45d7-b073-0c8ab79328c1", + "observation_id": "8a2e0129-2de0-4014-9340-6fee346133af", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "15d940bd-25da-42f1-8be5-503148c21981", + "observation_id": "958572e2-a874-4903-9af7-3948b60bcaab", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "92ba46cb-9b49-47a6-9598-7a29a72048d4", + "observation_id": "54ab3032-1f70-4d7c-a12c-7c2eb8baef87", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "908f884f-4519-4cf8-b99d-5a61b665b676", + "observation_id": "752195e5-fcf8-4463-b16a-c9b9fa2013e5", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "33582045-efcb-44f9-a170-b8cf1b8ea606", + "observation_id": "b171c76c-ff13-4c9c-9d61-0f43241b6307", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "dd951a7c-1522-4be7-a569-6c52bb8b3922", + "observation_id": "c03aa2ee-f046-4c40-8c5a-f7347972499e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "d712f214-e5e2-49a8-abed-32bd501b1e90", + "observation_id": "41d459a3-a280-4079-826f-bf79ee703b6f", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "0dc1266f-040b-4d6c-ab83-1d709087f11f", + "observation_id": "a21d05c4-e378-49ae-a0f9-abd66af878df", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "c4d1d342-91e2-447b-a64e-6106fad01c96", + "observation_id": "1524883d-0e08-4647-99a6-55e93125676d", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "b1ccfb8f-1fa9-4fd6-a531-0da8a30ea1ee", + "observation_id": "6f8b5063-9ee6-4fe6-bf35-22ce3c673c17", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "79e57132-3b15-4d70-a7ac-54915240e86c", + "observation_id": "659d68b2-d5c2-4177-a5fe-ad7f46a8b5de", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "cd92ef3b-15b7-428b-b4a3-20497c8ffcb3", + "observation_id": "f90bb2ac-7908-460e-ae55-0495a36537c4", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "3df70198-dbbd-473a-ae89-41b21cce6e2a", + "observation_id": "1661d1f8-93cc-4803-a15d-b7ac4b678a43", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "5fbb6b4d-f8f2-4537-bb70-98dacb5adeb4", + "observation_id": "42eda573-6906-4e18-a568-72d32e921026", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdeg/render_d_camera_pose.json b/data/camera_study/Scene11/k6_abcdeg/render_d_camera_pose.json index e886822..ab59ee1 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:14Z", + "created_utc": "2026-06-02T22:44:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdeg/render_e_aruco_detection.json b/data/camera_study/Scene11/k6_abcdeg/render_e_aruco_detection.json index 82dc380..ffdeebb 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:12Z", + "created_utc": "2026-06-02T22:44:29Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "328b3a9d-5e13-46f3-8482-623a51af3a44", + "observation_id": "6d716544-c696-4779-b33b-32b95314e2fd", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "3b0c06ba-c964-43bc-b1f2-0bc1c96eb942", + "observation_id": "3d9b53ef-033e-488d-ad05-afeba2ab5e44", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "2ed3f1aa-4942-47b1-8ae6-353a01246874", + "observation_id": "6bb28bb1-ced5-4b4c-9375-d7e1b77b0379", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "f165e014-a6d6-43ff-99cb-db45a0cf60a8", + "observation_id": "e535c155-4494-46b4-9dbc-45dac45a9547", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "429cf827-17a5-4128-9045-defea4adec8d", + "observation_id": "5326f654-f536-48b2-b3ef-cac6475b8751", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "6ee24b02-8279-42b5-92d1-79603a4ccbd0", + "observation_id": "c3626325-82e3-4aac-92e8-cea0f9381ec5", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "fb512dc2-0702-41c4-8f96-d02a64a34b55", + "observation_id": "98839577-fe97-4d58-b445-5286aa145e76", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "1db27888-0276-4bb8-9ba9-372ffcbb1440", + "observation_id": "90de48e8-d485-4835-a934-a885ae60777f", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "bbbefbb7-e9a7-41c1-b53b-d0a433dfb462", + "observation_id": "533cfe00-bc11-45d9-aca3-84b83df18cef", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "389b3798-3ac1-440e-95e5-625d1cd4eaed", + "observation_id": "fa65cd15-a315-4e22-99d7-783c859decb6", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "1b3b1bb7-275b-46f0-bbfb-2ca86acc2452", + "observation_id": "aaf18a7f-dc2c-47e3-a53a-6cbd3d57503b", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "51cb33eb-13df-4574-8977-10450302d1e1", + "observation_id": "610a8dc5-ec1d-477a-82b3-d71ebe114377", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "c7528e70-166c-4a3a-b361-10bedbed2817", + "observation_id": "1bece3ad-3211-4274-b072-a8fcdcead5d3", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "a480e513-e65a-45d5-bcc3-23c708d430de", + "observation_id": "6d62bf77-0778-4ca8-bfd0-1b122564c4a7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "bce86546-0a6d-445d-95ad-586f2f8dbd6d", + "observation_id": "5e673928-06d1-4af9-b2f8-cf37f0c965a9", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "7b2cdcbe-6fa7-4b53-aece-e7d702dfc0c7", + "observation_id": "537e17ad-0e7e-4070-b1e7-541edaffbb72", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "91889f69-36c8-4b03-a1a9-22f27ad6d1ad", + "observation_id": "cd754180-e1b0-47de-a21b-e79c3347d0d4", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "f0215853-1a11-49b7-83b7-78f585ba661c", + "observation_id": "5d00f4f1-4e1c-43f4-ba83-e85dfded4ce5", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "803fda06-c307-4b45-9d16-f6de40bc9230", + "observation_id": "606e4f48-b5ea-4559-856b-d9b42f2e6cd3", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "542c5210-e696-4578-99d9-83ff9bdb7d8a", + "observation_id": "56f3f44d-5c4f-4d37-b509-d7ccd9931d44", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "b62f52d3-f83f-4093-84d6-57ba2b81f2d5", + "observation_id": "957cf0ce-6252-4fa4-836d-a501069b28f9", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "36e96588-8b09-4b2d-929d-ec878346ba61", + "observation_id": "d47d379a-18c8-47ee-8f1b-f19734f11b12", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdeg/render_e_camera_pose.json b/data/camera_study/Scene11/k6_abcdeg/render_e_camera_pose.json index 3ed55ba..6e5214b 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:14Z", + "created_utc": "2026-06-02T22:44:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdeg/render_g_aruco_detection.json b/data/camera_study/Scene11/k6_abcdeg/render_g_aruco_detection.json index 651488d..f3e43de 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:13Z", + "created_utc": "2026-06-02T22:44:30Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2e8c5175-38d7-4168-8d76-13d8d3ae4441", + "observation_id": "a274d66d-e49d-4095-aa56-b37d5ea0d044", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "83a253a1-a973-4bf8-aeee-641aa229b27b", + "observation_id": "bc897227-fb5b-45b0-9341-06e0213c48cd", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "c03b2c99-b992-49c1-84f4-a2a7dcc6a3a4", + "observation_id": "2c75292a-6358-4a5a-ac88-40184005256a", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "487e8c8e-ecd3-443f-acb8-63c445722edc", + "observation_id": "685de0fc-e87e-4e52-aa25-aea2c4b0e84d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "7df07fc9-b030-42e2-9f8a-d25a70cd1f53", + "observation_id": "fd00b831-3c83-4d2e-8a6c-2dc5819d7ed6", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "ae8b0f47-7f5f-4178-84b8-c41357c245d0", + "observation_id": "dac79af9-b456-4da7-ae2d-1994afef3312", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - 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"observation_id": "11490a3a-7648-4272-9312-6f756d9c2a98", + "observation_id": "aa94498d-628d-439a-a92c-d001dd901497", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "182d8d3e-7e9f-4a4e-a589-479671ff831b", + "observation_id": "d0fa9fc1-badf-4e74-a0ea-21f710b8c07a", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "21db7aac-7c3f-4917-8965-ca9ee066f0fe", + "observation_id": "7a3a4656-f759-4b79-a291-e3be3e72f4dd", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "0ed24809-713e-48d6-a385-abec67c28ad5", + "observation_id": "dbe89f6d-e783-4f7e-a5e5-401d319af476", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "f858e31e-1118-40b8-8726-afb237565100", + "observation_id": "fb1467b0-68a0-480a-acee-8e3e2b27cb88", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "a7c7d2a9-6569-47ce-9995-5a5b65fe98f7", + "observation_id": "1aa90f62-62ec-43b9-aa9c-3d1f6e89504e", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "ff132773-ff5c-4e7a-8084-44abfcf4159b", + "observation_id": "73b3e92d-1b4f-4154-8229-1c33081e58e5", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "196e5251-d32b-4bc2-a251-daa56ea72d71", + "observation_id": "9083690d-b492-4c1e-ac05-650be12acae1", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "a3da0061-a4cb-41ff-a3f2-0d4469ed0c2a", + "observation_id": "4dbc353a-2fd8-43f2-808b-2b80d1c98474", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "df43f8a8-548a-426a-8a6f-3c4cd5e9b886", + "observation_id": "733dd07d-39f8-4c88-a988-b992e62fae43", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "1f7815cd-567a-4ff6-a028-678a5402b07e", + "observation_id": "530f8f51-d192-4b6e-b41e-a5e7ec28e2b8", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "2036cd6f-3ac7-4cca-9735-1ce3c2080d98", + "observation_id": "b3de31f4-2295-457b-9b74-9b6dba37ab1b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "fc1d8db9-6620-4a97-a69a-42e439f505b2", + "observation_id": "a90c3e34-7b9e-4992-bad0-393e73e8f472", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "a14e1587-96e8-4edb-8b33-ee5f251623be", + "observation_id": "0f8d7ac0-dc03-485b-9a0d-d4e750a364b0", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "0af60628-a9f3-4cb8-b079-3ec8c5a2b552", + "observation_id": "4af0d7b3-4f20-40d2-ad33-ff4aeecb48a8", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "d73708a9-a188-4e17-a56d-fe6086c511d3", + "observation_id": "30a50563-6047-43f7-9a2c-347891d04529", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "7e752bc4-7925-4d6c-a613-21ae12a61ad2", + "observation_id": "84361855-988b-4ee4-b64a-9233934d5be0", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "7ef208f3-5268-44fa-ab12-a9515096d75a", + "observation_id": "a02fb713-8dd9-46a1-8e8e-6887db05a021", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "b5ff64aa-809f-4417-ab7c-01835fb2e80a", + "observation_id": "a3b6165b-9a02-43e3-af1b-af9412851a40", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdeg/render_g_camera_pose.json b/data/camera_study/Scene11/k6_abcdeg/render_g_camera_pose.json index 3c236d7..383cd3e 100644 --- a/data/camera_study/Scene11/k6_abcdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:14Z", + "created_utc": "2026-06-02T22:44:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdeg/robot_state.eval.json b/data/camera_study/Scene11/k6_abcdeg/robot_state.eval.json index 3105d4b..12bf1f7 100644 --- a/data/camera_study/Scene11/k6_abcdeg/robot_state.eval.json +++ b/data/camera_study/Scene11/k6_abcdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.8733505508876647, "mean_abs_mm": 0.4176102162329989, "max_abs_mm": 0.4592819172517508, - "finger_error_mm": 1.5681837768256133 + "n_unobservable": 0, + "wrist_error_mm": 1.4350961443395636, + "finger_error_mm": 1.8100617811260749 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k6_abcdeg/robot_state.json b/data/camera_study/Scene11/k6_abcdeg/robot_state.json index cf1dbd2..a3f5b41 100644 --- a/data/camera_study/Scene11/k6_abcdeg/robot_state.json +++ b/data/camera_study/Scene11/k6_abcdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:27Z", + "created_utc": "2026-06-02T22:44:45Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k6_abcdfg/aruco_marker_poses.json b/data/camera_study/Scene11/k6_abcdfg/aruco_marker_poses.json index 795be5e..9af9ffa 100644 --- a/data/camera_study/Scene11/k6_abcdfg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k6_abcdfg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:28:09Z", + "created_utc": "2026-06-02T22:44:25Z", "summary": { "num_cameras": 6, "num_markers": 29 diff --git a/data/camera_study/Scene11/k6_abcdfg/aruco_positions_initial.json b/data/camera_study/Scene11/k6_abcdfg/aruco_positions_initial.json index 1c818c6..b2ad7d7 100644 --- a/data/camera_study/Scene11/k6_abcdfg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k6_abcdfg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:28:00Z", + "created_utc": "2026-06-02T22:44:16Z", "summary": { "num_cameras": 6, "num_markers": 29, diff --git a/data/camera_study/Scene11/k6_abcdfg/aruco_positions_optimized.json b/data/camera_study/Scene11/k6_abcdfg/aruco_positions_optimized.json index 1f88fca..b85e8a0 100644 --- a/data/camera_study/Scene11/k6_abcdfg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k6_abcdfg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:28:08Z", + "created_utc": "2026-06-02T22:44:25Z", "summary": { "num_cameras": 6, "num_markers": 29, diff --git a/data/camera_study/Scene11/k6_abcdfg/render_a_aruco_detection.json b/data/camera_study/Scene11/k6_abcdfg/render_a_aruco_detection.json index b6e98ca..af4e6fd 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:56Z", + "created_utc": "2026-06-02T22:44:12Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "11599c7e-ff67-4a69-b1c9-4ef95cc1b354", + "observation_id": "0d601e7c-dcc4-4c73-af59-4bbf65eb6b23", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "08c914f8-5ae3-4b2a-9881-6acd4f55069c", + "observation_id": "a988cf23-8fe3-42e2-8604-2ca80921706f", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "2c97fb1a-0d89-4f8f-873d-69dae53f5216", + "observation_id": "4cbd868c-f679-4430-bd1e-1daf1662d2b2", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "946d8372-9239-4835-b08a-00ca9865e424", + "observation_id": "bc934c46-3543-40d0-b965-9652581dc0b1", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "447571c1-0bd9-4f0a-8ea2-01e817ca4e74", + "observation_id": "41132d1e-185b-49e1-b561-5e079c7cd80a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "e4e8cb65-76af-45be-9ad4-637362b3e8e1", + "observation_id": "9750d7ff-28d0-4b70-9f36-c33ac00a2dc3", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "83b37230-4579-400f-ab11-a33b4a649f72", + "observation_id": "cfb05891-1083-490d-90e5-6aeb7a1b97e1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "fee66943-fff1-45fd-85f2-bba8b33137d1", + "observation_id": "efc5a542-a17c-45b1-8f1c-cca7c948f41b", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "0bfcc867-76de-46f6-a7a3-e8f047c91505", + "observation_id": "c5392658-dca1-4412-a3cb-3115e0c01bde", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "234a4767-6fad-4089-b279-999238a3f19e", + "observation_id": "14eb542a-0cc8-42fd-a17e-a3e159cdaf37", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "d4b6ce55-5bcf-42e9-af4c-55b820d1e946", + "observation_id": "7d471a95-2f49-48c4-b57d-9501d567a7a0", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "566f55f7-f555-488a-93b5-6e7d2c2191d5", + "observation_id": "10986809-c467-47bd-a4ec-ccd3850f90dd", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "7aff9e16-1964-4651-adb4-452a084d2df3", + "observation_id": "6a878a41-4a9d-4815-b950-5d93bd7ddb5b", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "ef7119ac-cfe4-4a31-b48a-0c89a884c059", + "observation_id": "0c921c5d-549f-4341-ab96-68dd842cc474", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "e8587483-f59a-470e-ab53-7c807c357560", + "observation_id": "efc3fed9-f977-474a-be9a-2bd9c3d4be03", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "4f194fe6-e2bb-4af4-a819-d55fd97fb6c3", + "observation_id": "73be6ddb-e459-4b5c-a0b9-f83480e82b3f", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdfg/render_a_camera_pose.json b/data/camera_study/Scene11/k6_abcdfg/render_a_camera_pose.json index ab4d231..7ba0a9a 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:58Z", + "created_utc": "2026-06-02T22:44:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdfg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdfg/render_b_aruco_detection.json b/data/camera_study/Scene11/k6_abcdfg/render_b_aruco_detection.json index 12d77dc..a375ac7 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:56Z", + "created_utc": "2026-06-02T22:44:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8066ca91-1c1b-41df-87a8-40865da917de", + "observation_id": "10657ac1-e66a-4b50-ae77-62e5221f3bd9", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "40463878-c3bf-4d84-9bf9-c2a624638350", + "observation_id": "47b972ab-f094-4ef4-9d18-b5cf3cf881f6", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "cc50ca12-6a75-4914-a6a2-75250badc760", + "observation_id": "8c4bdbd7-46c3-4889-8bf6-e80b930cecb1", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "0fc9c159-381e-4214-a167-ca762f485a48", + "observation_id": "3246f08d-d81c-46f4-bc8d-78a4ba416dac", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "41527641-fc1a-4fba-b268-62b1e7b92881", + "observation_id": "89145e9f-017b-4ff5-9fff-7b2bd2376f85", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "82589d7e-add2-4e4f-91af-20f694469cb3", + "observation_id": "648b6a0a-ef05-4d26-9062-862aaeb91e7b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "64c4054f-be01-41a1-8dad-76cdd891becc", + "observation_id": "f424ff32-55b0-4712-93ad-3fc70cdb311b", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "c0f351a8-b83b-443e-b9f1-b086e6ee3c51", + "observation_id": "3946197d-e055-4f81-9707-fc9b5819cd93", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "3a48ed52-04e8-44fd-a2a2-c59c18d292f5", + "observation_id": "09695083-0f28-40b9-baa7-473a93e5d52f", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "1b8f0e62-e776-4c36-beb8-560442c5b546", + "observation_id": "b67b206e-0864-4921-99f0-ce3c3b36e79a", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "02a8118e-60d0-4898-ba91-60b39bc27300", + "observation_id": "4cd4c31a-53e1-4a1c-90e3-d75f0623cf3a", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "db659b2c-d219-432c-914e-1cccfdce6664", + "observation_id": "fd8ae149-dd43-46a4-b371-26b99c0aed76", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "b9eda487-8f91-4fff-8b98-6d14fae4807b", + "observation_id": "4c289ab8-caea-4750-a325-789b4f9b6b84", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "66e7adf7-e541-48cc-99fd-33bcd4aaad52", + "observation_id": "cdfdcbbb-63ad-4a1b-afd2-f1afede31a42", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "0d12ceb5-abb0-453e-aa60-c7d6a5442de1", + "observation_id": "46f42c19-b741-4f8a-9c6e-c0c568060709", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "a6afadc9-e6e4-4c34-9ea1-ae8811cb531d", + "observation_id": "e21e8b82-cae9-425a-8af1-b2a9b0b258eb", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "58e0211d-2a6e-46c1-aaa2-a3e67d6d35cf", + "observation_id": "4b5428d0-c9f2-4da4-a332-7783a19e88ac", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "ddc06657-a17d-40e7-a3b5-f3fa15f7b7fc", + "observation_id": "be8e6d6f-5473-43dd-9aa5-49ce1acf73a8", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "107063f4-84ef-4a2a-bf0b-68de5d8d4ec6", + "observation_id": "d43d1fb0-a59e-4bf3-9e31-7f0b674f4df3", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "6cfd6512-7aee-4688-837b-8958e55ca900", + "observation_id": "498300fe-e114-467a-87f9-2eb38ed7a6f3", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "e8e4863d-7a05-459a-a33f-2cbde5bae176", + "observation_id": "6d522577-965a-4268-bdd7-bf70c16344b1", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdfg/render_b_camera_pose.json b/data/camera_study/Scene11/k6_abcdfg/render_b_camera_pose.json index 18aa606..ebff3b1 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:58Z", + "created_utc": "2026-06-02T22:44:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdfg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdfg/render_c_aruco_detection.json b/data/camera_study/Scene11/k6_abcdfg/render_c_aruco_detection.json index b6c8210..1bd0e51 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:56Z", + "created_utc": "2026-06-02T22:44:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "963fd8ce-6a19-40e1-88e3-7c367b167e52", + "observation_id": "a4cb4ad6-0264-4747-8745-5b3f6d3048da", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "cdbc4ce1-539e-44e2-b8ed-666bd0410acc", + "observation_id": "80fbe6cc-0609-4b4d-982a-62c1553f4681", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "83e4c713-dd06-4db6-b62a-8dc442674b67", + "observation_id": "a6c4e1d8-fa5e-4c1a-94cc-c10a5d7a8c84", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "da2dcfa6-57f3-40e0-a2bb-bf017a9e37e5", + "observation_id": "16cff6aa-2fbf-4520-8381-6496aaa2169b", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "2a94b1a5-e8bc-4fe6-b344-170e8a1a3633", + "observation_id": "bb8e77bf-fb86-499f-a163-921236cab9e0", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "b8ffc7a0-4cbd-46ca-a0f5-b1b5dd9bc200", + "observation_id": "4f831433-d652-4b01-a54d-12f7b0d96efc", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "dbadb3eb-d01e-41ff-b7d4-6f895abaadcd", + "observation_id": "f356f960-5612-47e5-972e-ee980bd5f8be", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "a0202151-558a-4500-9cac-c47e41df17f1", + "observation_id": "3221e969-54fb-430d-998f-2d1bcd90791f", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "10f021a0-7233-4f58-92b8-63b1ba9d1f50", + "observation_id": "615a7f6a-6078-45a0-8d83-44f6056198d2", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "6600f389-4a2d-44d5-9177-8eb8460bdd07", + "observation_id": "b8719ca8-615f-45b5-bf29-b182d115b6c6", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdfg/render_c_camera_pose.json b/data/camera_study/Scene11/k6_abcdfg/render_c_camera_pose.json index a40bc06..9e73fee 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:58Z", + "created_utc": "2026-06-02T22:44:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdfg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdfg/render_d_aruco_detection.json b/data/camera_study/Scene11/k6_abcdfg/render_d_aruco_detection.json index a5bb281..a7edcfe 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:57Z", + "created_utc": "2026-06-02T22:44:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "84008cab-b65b-4e70-a357-cc5cd46ed72c", + "observation_id": "00f056f3-3e00-4fc4-9466-6146c1819537", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "0538b913-2aba-43cf-9620-fb1b03042c1f", + "observation_id": "ce2e86c5-d114-49e6-ae89-75583d81b431", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "30c75b05-f7a2-41f1-811a-f20ae9ba320a", + "observation_id": "a6ef6754-c510-47d2-a903-c82d56add6e0", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "75e5bd80-109c-406e-8906-cf56be8ca56c", + "observation_id": "7e3fa4e8-cefc-4e00-92ff-80f7b2564f0c", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "80c047f0-01fe-4c38-8e29-df853dc5500c", + "observation_id": "d6d0bddc-be23-49a2-af80-af8266f39917", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "68afb937-d8c9-4496-8688-742ae236e15e", + "observation_id": "b20b2de6-25a6-4bbe-9955-25dca462143c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "e03e6cfc-054a-4cc6-b905-8a4f1b5b244e", + "observation_id": "469b2768-c874-4c3e-85fc-8092df3144ae", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "26fb3130-150b-4fc9-acf7-e151d6f4f327", + "observation_id": "6f52e623-5804-43cc-b6a0-de9438bb18fd", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "21d87b0b-b87e-4b41-a8bf-33697aeebcc0", + "observation_id": "a80111c8-46e3-421b-b496-18ed6d914aeb", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "20545359-75f2-4812-b17b-cd3f52161cad", + "observation_id": "013f0217-719a-4afe-b19f-bd080ca0271b", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "6da1dbbf-55f6-4613-b37b-b5375a48785d", + "observation_id": "31232408-3b5f-4432-b80d-85f3178d64e1", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "b137edb0-29f6-45e5-885b-c9e8c2c62271", + "observation_id": "997d9755-07e8-4db4-bb75-dde771e6ba50", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "134a0f3e-1aa0-4bb8-8216-c3bfb7ad19ca", + "observation_id": "9f089e47-43ae-47ea-be99-33a05376d02f", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "eac9f07e-7893-46f9-b023-9a7b114b0881", + "observation_id": "219c0178-a2c8-4ffc-9bfe-aa71a5e14cd1", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "fb44834b-3b42-4b41-8c90-e8c56d97419c", + "observation_id": "319b7ae2-42e0-4af0-b981-14db7df3b3f0", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "1f1efe79-820e-4788-8743-a4e1558f7746", + "observation_id": "de44d6f7-581b-4f22-953d-c05d78bd954f", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdfg/render_d_camera_pose.json b/data/camera_study/Scene11/k6_abcdfg/render_d_camera_pose.json index 06c1f9c..7aa9ac7 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:59Z", + "created_utc": "2026-06-02T22:44:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdfg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdfg/render_f_aruco_detection.json b/data/camera_study/Scene11/k6_abcdfg/render_f_aruco_detection.json index 13f2ac3..8ce5015 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:57Z", + "created_utc": "2026-06-02T22:44:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "fa55d6b9-459b-40d3-8117-b679bd42971f", + "observation_id": "ac0a46e8-f623-48ce-86b2-7f17bead10f4", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "75aeffed-e597-4023-a30b-22b11d9d1e4e", + "observation_id": "7163463d-0de7-406e-b4f3-a18b80cddb39", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "7502d0e1-7ed3-4c61-838a-6b25deeb87f4", + "observation_id": "5977332a-3718-44ec-9c8c-bd1134f31f70", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "f716c04c-98cc-4aa6-830c-271c5f75d342", + "observation_id": "40ee0a8a-7623-49ce-b55f-da0339b58c6f", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "cfc0612f-9e6c-45ce-bb40-31075f6ab0fa", + "observation_id": "d79f8977-6674-46ba-9841-800e0542f865", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "cea562fa-44ba-4b7f-a76b-d35a75be2a6f", + "observation_id": "77fb31a5-2602-4f81-9d44-81bed82454cc", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "e91e7e65-0363-47df-ac1b-20383234b1ab", + "observation_id": "7f6320a8-2a3a-4808-a6b8-e7ea1f8676c3", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "f7eea471-2a2f-4797-829a-f9d131c2ddfb", + "observation_id": "4b9a8716-cb19-48b8-b91b-3cfca6e620f6", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "833da57f-a1d9-4f14-9254-a1e0b438de10", + "observation_id": "c3ba4292-57c9-4cd9-9641-d6baede44a82", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "f9708ed2-3267-406b-9446-6ed1cc2daf4d", + "observation_id": "615cd147-7495-44c2-a6bc-de7b245f2099", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "922614eb-4794-4925-9db6-15a2f66c2f0b", + "observation_id": "04c8dfc9-b7bd-428f-a53b-0ac0fe93809e", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "1134575c-9183-4438-bdd5-6158f991df09", + "observation_id": "dcd72628-e747-4bec-8afb-b11702d3dac5", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "fb92838c-1f5f-4f0d-a9e0-fe1978205817", + "observation_id": "09566bce-0e6b-40d3-8577-23f70ca3a2a8", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "47ba0c49-c2b0-4ea2-95bf-e72204ebd3aa", + "observation_id": "7dcdf198-4627-42e5-8c4e-802bf9e29d94", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "ad17e612-63e0-4429-ad9c-48804af2bd7f", + "observation_id": "d2eda4e9-c15f-41a6-8ef6-d8b09b175ec1", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "cf036f5d-6f09-452b-b694-eded28bc160b", + "observation_id": "00e954b5-0419-4458-8e35-5dcbf74e0fc6", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdfg/render_f_camera_pose.json b/data/camera_study/Scene11/k6_abcdfg/render_f_camera_pose.json index a61d7d2..8a41e6b 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:59Z", + "created_utc": "2026-06-02T22:44:16Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdfg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdfg/render_g_aruco_detection.json b/data/camera_study/Scene11/k6_abcdfg/render_g_aruco_detection.json index 5287a63..3f987c8 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:58Z", + "created_utc": "2026-06-02T22:44:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b3274d02-38f5-4870-8dd7-308ed83810ab", + "observation_id": "a599b516-dc07-4cf0-b916-47e7675c46ba", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "acd4000a-9c05-44a5-9843-213fd4be4b81", + "observation_id": "a7ea6481-980d-4084-acd4-d2939eacc520", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "08fdde2b-82c9-4733-a247-abe559347c48", + "observation_id": "b008406e-d7c1-4b7c-af96-f4124a4bcb4d", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "19da8346-23fb-440d-aae0-b6c2139802e1", + "observation_id": "a8bd980d-d020-4e28-9707-4ac780609c01", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "5a533668-67a0-4a75-97ab-0e69fdda4e53", + "observation_id": "1e8ff683-fc28-4bb9-a4f0-6dfb8f4c3eb7", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "1f7a9c92-2893-4227-81f6-0de6371c37a8", + "observation_id": "691460a1-91eb-429c-ab61-6442d2e7cc05", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "47d66cb5-a701-4ddd-9c5c-c7f926dfd587", + "observation_id": "71a413e3-fc0c-417c-b9ac-2ca50d63d9e5", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "1a252157-610c-46eb-95c5-27865d3b6c1f", + "observation_id": "0315c96d-09e2-42ff-a9d5-b0656ccbebeb", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "53680663-440a-4e26-ae6f-70ba58fa8f1b", + "observation_id": "a506c885-b2ab-4b2e-9596-dae179ead45b", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "457945ab-df74-4478-9c7d-497b1679c662", + "observation_id": "1f56f6ec-304f-4ea9-b1fd-d58b511be61c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "30d58e90-46c5-42ff-8946-fde543a0b766", + "observation_id": "86c99911-f10b-41fa-8371-fd2b08690186", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "f4bde269-e6ae-48d8-bb58-ea01aaef5ba8", + "observation_id": "0ee385a9-63c2-4332-8115-ec35dbf147e6", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "26369344-63e9-41e9-b673-224ef55e6ad4", + "observation_id": "47fc3579-9a61-4b5a-99db-d9141dacd2f5", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "793d4b1a-89f3-4472-a5b1-7dbb9d6d1bb1", + "observation_id": "970da71f-5a4c-4c62-bbaa-ceaa43d617d9", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "0795ea89-6d83-4735-9500-1e29c26c318b", + "observation_id": "2cee8dc8-1110-49c8-b6de-4fd977c3a00f", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "590c7838-1b8a-4ab7-a86b-8256410fa4a6", + "observation_id": "d0c42e53-6c6d-4dc8-a772-c7fefeb7f803", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "1da79977-6acd-4a57-8c6e-bfc5ce20b9f4", + "observation_id": "c176be2c-f077-4f53-b994-e2146197ab5d", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "f664db4a-f510-4fae-a075-3e597991500b", + "observation_id": "e20c004c-0bfb-495d-9cd2-6e4a55dba0d2", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "b6478433-818e-4120-b251-dccc14ce31dd", + "observation_id": "9a3b6d2d-e5f2-418e-8380-b371088283e9", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "eb5c8a2d-163c-42f8-a20b-5b5d897dee7c", + "observation_id": "26893910-bf9f-49f5-85fb-225826b55897", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "9f2faaf9-6350-41c6-be04-a65827fa8cf7", + "observation_id": "f100327c-b409-4dbe-b4de-3299b80ce046", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "3ce9d0f3-d0ce-49ec-bf69-a0dc1c6d859c", + "observation_id": "1b87af20-cbc8-4667-b65d-c42592af39e2", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "8fb37866-86d2-440b-a8f9-101c621f9492", + "observation_id": "229a435d-a189-4c77-9419-a37bf3287a44", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "2380f69a-7126-47b8-bb30-fbf41c839256", + "observation_id": "b7ed5e69-5fc6-446f-b9c2-76066d3bc11c", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "7f4dec61-ecaa-40af-ae1b-66772cc69ec3", + "observation_id": "a75298c2-217f-4e51-91c1-2d4bcd68f0c4", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "e00bce52-3488-42c6-bf2d-a3869708ebef", + "observation_id": "84a95344-218a-40de-8070-5513acf71cc4", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "82e98127-c0a7-4c73-8ecb-fa7855737f87", + "observation_id": "4dcdcbc4-33c5-4f75-883e-1c605600f922", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "1eb24d96-02b6-40be-9a6d-d363e18e5c84", + "observation_id": "9e172a85-b2dd-4f73-ab9b-dd301b96d79b", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "a7ab6068-45c6-466b-8ddc-3c741555ca01", + "observation_id": "e14bbe6e-f920-4e79-a033-d443d664c6f5", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "6166fc96-9143-441e-a745-c99816ec2243", + "observation_id": "c0d6ba85-a4b3-402c-a30c-11a22f771c1f", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcdfg/render_g_camera_pose.json b/data/camera_study/Scene11/k6_abcdfg/render_g_camera_pose.json index 1269252..43b927c 100644 --- a/data/camera_study/Scene11/k6_abcdfg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcdfg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:59Z", + "created_utc": "2026-06-02T22:44:16Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcdfg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcdfg/robot_state.eval.json b/data/camera_study/Scene11/k6_abcdfg/robot_state.eval.json index f20ac21..79878f1 100644 --- a/data/camera_study/Scene11/k6_abcdfg/robot_state.eval.json +++ b/data/camera_study/Scene11/k6_abcdfg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.7862749553345623, "mean_abs_mm": 0.8119346988759961, "max_abs_mm": 1.1006058485561994, - "finger_error_mm": 2.470889608558527 + "n_unobservable": 0, + "wrist_error_mm": 2.5367247626511755, + "finger_error_mm": 2.432683622168515 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k6_abcdfg/robot_state.json b/data/camera_study/Scene11/k6_abcdfg/robot_state.json index 6c0c616..cda2942 100644 --- a/data/camera_study/Scene11/k6_abcdfg/robot_state.json +++ b/data/camera_study/Scene11/k6_abcdfg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:10Z", + "created_utc": "2026-06-02T22:44:27Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k6_abcefg/aruco_marker_poses.json b/data/camera_study/Scene11/k6_abcefg/aruco_marker_poses.json index 5c287e6..460639e 100644 --- a/data/camera_study/Scene11/k6_abcefg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k6_abcefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:27:53Z", + "created_utc": "2026-06-02T22:44:10Z", "summary": { "num_cameras": 6, "num_markers": 33 diff --git a/data/camera_study/Scene11/k6_abcefg/aruco_positions_initial.json b/data/camera_study/Scene11/k6_abcefg/aruco_positions_initial.json index 2c51ee5..23d0f07 100644 --- a/data/camera_study/Scene11/k6_abcefg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k6_abcefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:27:43Z", + "created_utc": "2026-06-02T22:44:01Z", "summary": { "num_cameras": 6, "num_markers": 33, diff --git a/data/camera_study/Scene11/k6_abcefg/aruco_positions_optimized.json b/data/camera_study/Scene11/k6_abcefg/aruco_positions_optimized.json index 22445b1..8ee9f0d 100644 --- a/data/camera_study/Scene11/k6_abcefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k6_abcefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:27:53Z", + "created_utc": "2026-06-02T22:44:10Z", "summary": { "num_cameras": 6, "num_markers": 33, diff --git a/data/camera_study/Scene11/k6_abcefg/render_a_aruco_detection.json b/data/camera_study/Scene11/k6_abcefg/render_a_aruco_detection.json index a0d54a1..a06f41a 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:39Z", + "created_utc": "2026-06-02T22:43:56Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "cdcba53b-521c-4fc4-8644-83aef536b71f", + "observation_id": "ad3f09a6-ecd8-4b49-ad9b-0de2630aa93f", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "a3fae7b6-7eb4-40c7-9bc6-04cfed88ee01", + "observation_id": "ffe94f8c-c176-4672-89cf-d3eef6203dda", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "0e8c2793-ac55-4846-ae0a-5cc44dd2fc26", + "observation_id": "90f3d359-2ff8-48d7-b5ba-5daec43fd215", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "8f01fdc5-a13a-4e81-abda-a8bd098deb35", + "observation_id": "3d583122-87d2-4154-ac74-5dd86d614eb7", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "b0c26866-1547-48e1-93df-c5ed969afbeb", + "observation_id": "967ff9a5-f4fe-486e-ac4b-07754d8f2c87", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "a6d3a9b5-a0e6-40c1-bfce-8a41e523852f", + "observation_id": "5c291a0e-e234-4ab8-add6-cf6e279a5e32", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "a1b90647-6fe9-4121-b24c-1a23c9c7710a", + "observation_id": "7eeeb74d-fac5-4156-a1e2-6b67794f2e75", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "ffeba675-5c82-4fc3-98ee-1c1113d34f64", + "observation_id": "84c90afa-86f4-448c-bf68-2b115938b4b5", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "049d3df3-59f6-4d32-9b0b-77e5a061adf9", + "observation_id": "1efc4a01-adf3-433b-b426-85f9c97e781a", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "39274cfd-9b9b-491d-80ae-43cff9f17957", + "observation_id": "174c4119-ac2a-4c2d-93dc-6d8e727150e1", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "4d2dae30-c8e4-493a-ae18-4be5bf4d66df", + "observation_id": "a675d095-3ac5-446e-846e-17e92e2af8df", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "cd24faeb-3070-4673-8435-6d6d85007cea", + "observation_id": "033438dc-b17a-44a3-a150-d981df11034e", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "9ec7dc71-5ce7-4202-9ec5-eec8f97925e0", + "observation_id": "6f96cfbc-8dfc-4686-aa53-4b33146e90aa", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "0963b40b-742a-428b-bddf-66473f6c843b", + "observation_id": "1f9dfa89-55cf-4ae5-b9a7-c6586566b609", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "bb3d6676-edbe-4caf-98f1-39826597485f", + "observation_id": "cbe564ed-ac52-4e13-b4e4-ae55fcb7d922", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "8505dd2b-c801-4f4b-9da4-e90f8f3af599", + "observation_id": "b45f003a-a461-4142-8665-f118b9268e27", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcefg/render_a_camera_pose.json b/data/camera_study/Scene11/k6_abcefg/render_a_camera_pose.json index 3950876..371bb97 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:41Z", + "created_utc": "2026-06-02T22:43:59Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcefg/render_b_aruco_detection.json b/data/camera_study/Scene11/k6_abcefg/render_b_aruco_detection.json index 6a09e22..4516dfa 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:39Z", + "created_utc": "2026-06-02T22:43:57Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "6ce29821-4d26-4746-af75-da1dc1cb38da", + "observation_id": "d4aad909-15ac-411f-81d2-17979fa2f8f1", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "d1d0d741-4e0e-4ee1-9289-e8e4df8d189b", + "observation_id": "ddf935f5-606e-499a-9f5d-d137bddc1fcb", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "9e2a2ba9-1772-4af7-9d81-c896b513bc23", + "observation_id": "c63975be-1fb6-4e4c-8564-b24549f6e83f", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "76feeb24-8db1-4755-a557-b6b97fa5e80e", + "observation_id": "7ad0a296-862a-43ea-856b-cefa76d1bb26", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "5673cc86-8e88-439e-a063-b6122af879b4", + "observation_id": "e87c1eb7-b893-43c7-9448-d33e138f74c1", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "b6e99644-777f-43a1-a42b-22c14804831c", + "observation_id": "0eacfb5a-aa42-4a2f-ba03-1dec3e5ea345", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "465112ac-22d5-4a4c-b8f4-b4f668a17bb9", + "observation_id": "9145316b-2553-454a-89bf-5364c3a70d63", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "c8cf391f-c01b-4c3a-9b62-cbc6840d04d6", + "observation_id": "40b20a2e-271d-4e14-bd6c-d2e92f9dbb03", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "eadfb57b-2fcb-4619-a670-6c518278c515", + "observation_id": "15f6bf17-d4bf-494e-8941-099289803a44", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "a6bc4056-00b2-4800-ba6e-540496c7f69a", + "observation_id": "959b5a15-2057-4fdc-aeda-bd243cf8e5e8", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "64394e50-f7e6-4be3-a4bc-990ace43393d", + "observation_id": "95994083-345f-489b-9f7c-bdb93e57cb1a", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "c6fad464-7a1f-496a-806e-af0acc583852", + "observation_id": "6234fc63-eac1-4ec3-ac32-21da401ba6e7", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "9cd91527-4db5-4288-922e-231d751cc449", + "observation_id": "2aa715a4-6e25-4483-bd83-e39aab96fc88", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "70ce7767-9180-4ea8-a526-8ceb92028ac6", + "observation_id": "c7d9ddf2-c2bb-43eb-ac45-d6cc01de587b", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "72424db1-777b-4b5d-a6fe-8a082921b029", + "observation_id": "88968b2e-4f65-453b-8007-995b4dec2191", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "a7b1f800-5bf0-43d5-8978-99651e05053c", + "observation_id": "bcca15fc-0a82-44a7-beb6-6e3029a5806e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "dc213590-c359-4f2e-9882-44ba2b33d63a", + "observation_id": "b6182299-121f-41e4-ab5c-263f1751b9c0", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "a1585736-a252-4584-a9e5-964bdf4c19a9", + "observation_id": "59abd816-b33a-4747-8995-16cad5c57cbf", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "7238f430-fb03-427a-8134-f75d8b9b9adf", + "observation_id": "d099a9b6-359a-4fc3-bb0f-92ed1cfbe7ce", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "e547736b-12a0-4cdf-9659-952d978a029d", + "observation_id": "3562d9a9-a03f-4a39-bc70-309b936e579e", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "ba22d7db-ec87-4520-881f-06bf39431489", + "observation_id": "8fc240eb-0051-4248-8e49-d00669d527dc", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcefg/render_b_camera_pose.json b/data/camera_study/Scene11/k6_abcefg/render_b_camera_pose.json index 23c60f4..035d2b2 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:42Z", + "created_utc": "2026-06-02T22:43:59Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcefg/render_c_aruco_detection.json b/data/camera_study/Scene11/k6_abcefg/render_c_aruco_detection.json index 12b16f9..eac21d5 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:40Z", + "created_utc": "2026-06-02T22:43:57Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "1bd0e8d4-17bb-4267-afc7-d7e5b6ea4ea5", + "observation_id": "8edeba81-40d7-4d9c-b842-8a5b61a0d357", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "ff279aaa-78df-4c1f-a157-6469d0d9b070", + "observation_id": "f1049e21-c923-44d6-8e64-bbd799b1f2d6", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "08da022c-63ac-4958-818b-6b052adc1acc", + "observation_id": "0e9a178b-5f9d-4189-9ee8-a16315f5042e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "8d7d21f4-1e64-4ec5-9835-bf8da1069e7c", + "observation_id": "348d5aa3-d8c8-427e-bf25-2be9dfd622a1", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "48764663-3894-4571-a5cc-6ba0f41215c9", + "observation_id": "46913277-2183-4ff5-9b6d-172c12e62aab", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "3eaf7e80-862e-4e8f-8894-a43a9b1634ed", + "observation_id": "c22c42d8-6b5c-45b9-9b6b-d279b229cce6", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "193d7bfb-e05a-4700-848e-b26152cc409f", + "observation_id": "30230ef0-ef86-4e83-b09b-2ebd11e26d7e", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "ed27db1f-727e-418b-ae0f-e491183d7f2e", + "observation_id": "ee397206-4ecd-4c3e-ab82-32f00fa50e52", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "eecc74d3-0824-403a-8f79-53ed4b9d2a03", + "observation_id": "806dae35-4608-4a93-a259-ed6b57c6d188", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "e565a454-d19d-44bb-92a6-0c8ad9f13d53", + "observation_id": "0a3b47f1-662a-4898-89c8-d566b7a50063", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcefg/render_c_camera_pose.json b/data/camera_study/Scene11/k6_abcefg/render_c_camera_pose.json index ecd079a..f176116 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:42Z", + "created_utc": "2026-06-02T22:43:59Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcefg/render_e_aruco_detection.json b/data/camera_study/Scene11/k6_abcefg/render_e_aruco_detection.json index 3c98b39..c677f7f 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:40Z", + "created_utc": "2026-06-02T22:43:58Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ed134da0-5e35-4392-b793-7c21486b2266", + "observation_id": "087f4778-4bdc-467b-8191-13d512ef13cd", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "e890a2f6-31a4-4f6f-a60e-98ac5519253d", + "observation_id": "2ad5f8d0-1eba-4f7e-b77c-acc2c8b77619", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "3209b325-f76c-4024-a380-a589aeaa2ccc", + "observation_id": "5b74fe33-f119-46d6-aa6b-b8da361366dd", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "3b6b082c-5082-4aeb-a9e2-9b0f6ad1150f", + "observation_id": "5c4ac5a5-c167-4257-acbc-ac74f517c7f7", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "79ad1569-a766-430e-8d2a-3dbc7fa223c9", + "observation_id": "81aaafa8-3f41-42ef-acd8-80a47135df22", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "c9077a38-8482-4101-9563-89a18fe494a0", + "observation_id": "74ca9813-c4fb-438d-a054-8397309584c5", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "4895a4bb-ebe7-4a58-8004-3fe9764b6452", + "observation_id": "28d8804a-ea58-49bf-9bce-71123e035026", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "5fc5a393-5aa5-4d1e-a5fd-79054678cffb", + "observation_id": "d1ed30cf-1039-4077-a439-f4afb7b632f4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "81d23825-6e77-45d6-a459-f3475380308d", + "observation_id": "5423e37c-e488-4f35-bd48-a8f55969e364", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "9f5a960f-f37e-43d3-a9fe-19393e57efe1", + "observation_id": "ec74de32-a696-4f9c-90d1-51e255e5837a", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "d4b51bd3-6b66-49eb-b935-ebc8564ac61c", + "observation_id": "295c2dcc-403c-43d1-b914-6d01965516b0", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "bbb33d61-fbc7-430e-bbdf-ed196e154a62", + "observation_id": "c095b6f7-685a-4c97-8d44-e93ffaa35449", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "387644e1-f9f3-47d6-b207-77778be33500", + "observation_id": "237eb1f0-5b90-4de1-bc15-c8e0da21cd78", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "614bd6c8-2d51-4de3-8b2d-170a39827c14", + "observation_id": "7ffec42a-5f5b-4537-a31f-d57dca4ccce6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "6a986cdc-4c13-4e92-8fc1-3a2ae87cdaae", + "observation_id": "9360f138-c8a7-4932-b1d4-04ef14133b01", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "008145ef-b213-4a14-bf82-97ced5c1ded9", + "observation_id": "922959ca-958e-4dba-b85f-fa16fbe79405", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "83711872-9d43-4974-b14a-20a98c980b1b", + "observation_id": "7a64056b-8fc1-4a80-874c-255dc43930e2", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "6c0dd3fd-e710-4114-9c8b-901d7d4f7178", + "observation_id": "6287bcaf-e23f-4276-bff7-3f267c3f2ada", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "806426de-2cbf-436d-a130-f5e53678c9ff", + "observation_id": "d03c96ac-4d91-4b91-ab19-5ddc028c8ccb", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "796a47d5-6fda-4818-a4a5-4485b24d78a0", + "observation_id": "14f2b28f-1bf1-4270-9659-f32a7eaf0250", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "3ab07f49-2d46-4a3a-9c2d-5962ca370f96", + "observation_id": "6f97dd52-25ec-4415-8466-008253584d98", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "011fb0e7-471a-4335-8287-b98beb658192", + "observation_id": "720bc2b0-0570-435c-bb62-ad5075ff13e3", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcefg/render_e_camera_pose.json b/data/camera_study/Scene11/k6_abcefg/render_e_camera_pose.json index 9d872b2..777e51a 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:42Z", + "created_utc": "2026-06-02T22:44:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcefg/render_f_aruco_detection.json b/data/camera_study/Scene11/k6_abcefg/render_f_aruco_detection.json index 3b8a32c..f8ffc6c 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:41Z", + "created_utc": "2026-06-02T22:43:58Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f60d7470-a8e4-4499-82c6-9862a3d60d57", + "observation_id": "3c1d3121-e121-4594-ab44-f04032428b3f", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "1418cbcf-011c-4ae1-bdc4-08ab9c0c85ca", + "observation_id": "1bfe6734-abb5-4126-bff5-88ee2e95ec45", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "f7225fe9-6781-49f3-a29e-9c51909662fd", + "observation_id": "d984494d-da55-43d2-92bc-685a0555c7ca", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "1542dd26-9e45-49ab-958a-b0461ac3ff0d", + "observation_id": "2db1035e-62e9-4baa-9fb8-3d1425c7e748", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "75b13c9e-ca51-4b04-85af-cb34a4501163", + "observation_id": "ef935a0f-469e-4106-8af1-80b654a232a7", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "15060a9c-c6e7-4ab0-b8e5-f55242df7285", + "observation_id": "245f4c76-fe1a-43d1-94d3-6e5c58a56d7d", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "5cd50527-44b5-4541-9c06-e02487e28a6e", + "observation_id": "b5126552-586d-4c0f-8c52-30ea61188788", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "3cab01fc-1958-4400-ab7f-42313fb382d5", + "observation_id": "b11417be-d733-4122-be75-fa8287e06243", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "58bf96e7-58e4-4d07-9336-52b3ce443232", + "observation_id": "641cfe77-d8a1-42df-9436-be251594d4c0", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "8dc475e2-a0ea-4ef0-a9a9-f5f289fdfb84", + "observation_id": "4111e247-9039-4d0a-bd7c-189ec8c77d4b", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "4c5c01a6-6797-426f-a94a-28d79935d482", + "observation_id": "be7b5407-7534-433f-b03e-8660ce3d5d9c", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "bcabf4f4-b770-4587-8a83-4864936848bd", + "observation_id": "290e0026-e36c-4749-858c-78d79f8ffab6", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "888af974-56dc-46da-9e87-7b957b43ff3c", + "observation_id": "d9ba6975-50ef-4388-905a-285d4aac3911", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "1998576c-c3fa-4434-b91d-9f4195569626", + "observation_id": "331ef391-8b50-41f4-884c-afa7bb5109e3", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "6d73dd84-28eb-4a06-bc17-c1206b45d4f8", + "observation_id": "940af949-19c0-42e5-b72f-02b3245720d7", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "a685d443-a400-4e79-bba8-21f2f9d44556", + "observation_id": "0c0191d9-f19a-4dbf-b5c8-ac07b0c206b2", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcefg/render_f_camera_pose.json b/data/camera_study/Scene11/k6_abcefg/render_f_camera_pose.json index 19533a4..35358ae 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:43Z", + "created_utc": "2026-06-02T22:44:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcefg/render_g_aruco_detection.json b/data/camera_study/Scene11/k6_abcefg/render_g_aruco_detection.json index 99f61b0..8157fe4 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abcefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:41Z", + "created_utc": "2026-06-02T22:43:58Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "14d3e7f3-2ab0-45f6-8539-cbc03d69f70e", + "observation_id": "1e9a0da9-e760-4db5-b3a6-b82598bc758d", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "7b20511e-cf08-4b26-af05-d5fd3be28bb2", + "observation_id": "eb0a1bc4-2a4a-484f-ad92-55a96ace71a2", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "3057954e-7b09-4f11-9c70-fa79e5578bc9", + "observation_id": "04b41c18-f555-48c4-9fb5-81d40543892c", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "38387d45-f962-48d5-a1b1-e3f1517d3d79", + "observation_id": "a801c419-17c4-419e-9176-c67c87959020", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "c0ae69e0-51e6-4452-bbc1-a80f4566de30", + "observation_id": "40738e44-61b9-48fd-b50c-26e76da79017", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "d2acd6e3-ace6-4c87-b6e8-807c7a9b9c85", + "observation_id": "9aaca435-aed9-4191-bba8-4d79010fea95", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "138a3351-e09b-4034-8e13-06ae7ff171ab", + "observation_id": "18a0c7ec-8782-4edf-93d9-99bf02c9c033", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "99f55849-faf5-4422-85af-aa5369167607", + "observation_id": "3eee592b-48a7-47b7-af30-a6df7868719a", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "7527a9a4-d66e-4bc0-ac63-0c86c7b45d2f", + "observation_id": "7cf4bd87-8b38-45e0-9eb4-2bca98413ada", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "d20b196a-ffd3-4d13-8ebd-72d418fa5ec5", + "observation_id": "1a3b0cde-3997-46f3-b31d-d36243c9e749", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "64613f29-66c8-4690-980a-919b848f365c", + "observation_id": "9ad04323-15b6-4fac-8efd-ccd9581a77a2", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "72a92c02-927e-411e-a8ef-351a2cd2b7a3", + "observation_id": "9ab00f9f-8172-42c4-be5c-289517e1560a", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "43a0e911-46ba-4568-952b-8b4fce87518b", + "observation_id": "71ae2bd2-e0bf-4d1c-8ba1-e42ff616d10d", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "ecb4f9d3-6a6c-4ac8-a96f-b8b976e2d52d", + "observation_id": "ace1d613-ffef-49e2-a323-5c729aaad450", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "25c378b3-be10-4402-8d74-26f27a655a42", + "observation_id": "a9539d9e-3fc9-4bc4-a875-105d6e0e871d", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "2474e0b3-55db-4317-b0e3-8d5053b40036", + "observation_id": "974aa50a-374a-4454-b4a8-0ad256f7db3a", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "6c36bdc1-d8ae-4c23-b0ba-13d677828f2d", + "observation_id": "f63058f8-fbfe-4e3a-9d46-e8861a952349", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "8c694b6e-c1af-4dbf-aef0-c73a7c14f12b", + "observation_id": "619317fd-a93c-4a79-b707-f91aaafc18ed", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "bbd7f63d-45a5-49b8-94f2-84190dadcd16", + "observation_id": "1eb8eecd-fc22-4ebe-883b-80fa7fc1824b", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "d93e8346-0b9b-4e38-80b2-fb0f7c45a671", + "observation_id": "74dd3ed8-909d-4ce6-8b8f-07648024ae6e", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "f9dee154-7eab-4b87-bbf7-8e10fc4186d8", + "observation_id": "9cd16c72-5881-454a-a3e7-28a1acd8703c", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "3fd16661-b988-42cd-944b-e9c6d12bc9c5", + "observation_id": "a8f32d22-0688-424a-8cb2-3ced244b821d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "4d1f9206-3618-4801-b661-ebcd5d166cf3", + "observation_id": "b49e5a49-6123-47a5-a2d1-1078532e5de0", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "5bde01b3-3c4f-478a-b934-189bd3d87b7d", + "observation_id": "316806a8-4486-4df0-99f6-a2d53b0a153f", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "ee6e26a7-e0e2-40ff-8c8a-d1e2a244ef8b", + "observation_id": "959cb747-f704-49ed-848a-4ca9eaf2dd48", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "b7c5a408-7219-4b8a-b4d2-3830051c74d4", + "observation_id": "c65f1015-fee1-400c-bf14-b2b7a50fa8af", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "a8b25ab8-e013-47d7-80fc-94490c801127", + "observation_id": "6b730277-d646-4976-8cbe-e071cc782bbf", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "1ab7941b-f417-46b3-8506-91b91dac2f18", + "observation_id": "f539b9cd-d2dd-4fb6-93a4-09aa252a62ce", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "76d1d81e-b2be-431d-9cc5-858fc00a6395", + "observation_id": "ab6443b1-033d-4c4b-953a-291d240137f5", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "6f9ef0ac-c79b-4454-9529-344ff38153fe", + "observation_id": "970fabf1-0fa2-4765-a1b9-b47df08f3099", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abcefg/render_g_camera_pose.json b/data/camera_study/Scene11/k6_abcefg/render_g_camera_pose.json index 7d8f9d6..23a5d01 100644 --- a/data/camera_study/Scene11/k6_abcefg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k6_abcefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:43Z", + "created_utc": "2026-06-02T22:44:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abcefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abcefg/robot_state.eval.json b/data/camera_study/Scene11/k6_abcefg/robot_state.eval.json index da8b849..fb4ef12 100644 --- a/data/camera_study/Scene11/k6_abcefg/robot_state.eval.json +++ b/data/camera_study/Scene11/k6_abcefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.5149845742593016, "mean_abs_mm": 0.6920235312009897, "max_abs_mm": 1.0557894414364029, - "finger_error_mm": 2.3344176742564056 + "n_unobservable": 0, + "wrist_error_mm": 2.1269743957923, + "finger_error_mm": 2.5884571511225305 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k6_abcefg/robot_state.json b/data/camera_study/Scene11/k6_abcefg/robot_state.json index 9cf5ca3..61137ea 100644 --- a/data/camera_study/Scene11/k6_abcefg/robot_state.json +++ b/data/camera_study/Scene11/k6_abcefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:55Z", + "created_utc": "2026-06-02T22:44:11Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k6_abdefg/aruco_marker_poses.json b/data/camera_study/Scene11/k6_abdefg/aruco_marker_poses.json index 9bbc70e..4f09776 100644 --- a/data/camera_study/Scene11/k6_abdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k6_abdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:28:52Z", + "created_utc": "2026-06-02T22:45:11Z", "summary": { "num_cameras": 6, "num_markers": 38 diff --git a/data/camera_study/Scene11/k6_abdefg/aruco_positions_initial.json b/data/camera_study/Scene11/k6_abdefg/aruco_positions_initial.json index f88917e..4caacce 100644 --- a/data/camera_study/Scene11/k6_abdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k6_abdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:28:32Z", + "created_utc": "2026-06-02T22:44:50Z", "summary": { "num_cameras": 6, "num_markers": 38, diff --git a/data/camera_study/Scene11/k6_abdefg/aruco_positions_optimized.json b/data/camera_study/Scene11/k6_abdefg/aruco_positions_optimized.json index 791a1fc..1e728d5 100644 --- a/data/camera_study/Scene11/k6_abdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k6_abdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:28:51Z", + "created_utc": "2026-06-02T22:45:11Z", "summary": { "num_cameras": 6, "num_markers": 38, diff --git a/data/camera_study/Scene11/k6_abdefg/render_a_aruco_detection.json b/data/camera_study/Scene11/k6_abdefg/render_a_aruco_detection.json index f103104..698c47b 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abdefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:28Z", + "created_utc": "2026-06-02T22:44:45Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "85a30524-24f3-4154-b829-18f5cc733a62", + "observation_id": "272c1e5a-0e1f-444d-aacd-b0fb517c63ec", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "0d482882-db0a-4115-8fd6-5eecfd2e3910", + "observation_id": "0bfff94d-d597-4572-a05c-c45d2f5e40d5", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "aa08dc18-332d-45ae-9cf7-ee9cecc9d337", + "observation_id": "62102a15-7387-42c4-80c8-b96d84062d15", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "5c671268-7c9b-4789-9274-ca8569370741", + "observation_id": "c59749ce-8420-4821-9c7e-7e7939a5602e", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "994f248b-71eb-4e3c-98ad-75d0cd37b581", + "observation_id": "1983aac8-cfb8-4640-9def-f121ef0e9045", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "b41bef62-b1d6-4a34-b2ff-356fda0c194e", + "observation_id": "0320868c-57be-4011-9048-144ef2cb8792", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "8bf6ca8f-851d-4cb2-a22b-42db62774d7c", + "observation_id": "8843435c-bbea-49ad-b3ce-84933bc324ee", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "87cc36e2-6cb7-4f23-92e5-b12d8ee4f474", + "observation_id": "f523648b-f6ba-4665-8982-e4b0207b9c59", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "00cb370a-4503-4f77-86c2-812aaf383b52", + "observation_id": "a107383e-27dd-43c0-a9ae-793bd5407ec7", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "6a3e85ff-abe1-448c-8adf-70bd448f5da4", + "observation_id": "c466b9f7-6533-4d23-b700-890a22cdf33a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "746ee8c6-cd7a-4f7d-aac5-52977493b6fa", + "observation_id": "e884cdea-eaa2-4990-8407-f8523d5d1a53", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "4bb0b67b-0948-4194-88e9-e00f75bd78ca", + "observation_id": "85b305e4-9025-4144-8f6f-82f9a0be0297", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "6269f959-d2c4-4844-9d70-527c508dc49a", + "observation_id": "545430f1-fbb1-4181-841e-e9f52a51b96a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "2b66cba8-7e2e-4981-a140-348629a9b834", + "observation_id": "592f5161-610d-47cf-a724-1b60802e85f5", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "24134263-ff9e-43a8-808e-1fa849e53a42", + "observation_id": "ad2143a4-efb9-484f-8444-4ae3c456c32a", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "df76573e-3170-46ef-92e8-531129ae5810", + "observation_id": "a29dbe4a-ff21-4757-a03c-fc2aaed03953", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abdefg/render_a_camera_pose.json b/data/camera_study/Scene11/k6_abdefg/render_a_camera_pose.json index a112aea..ab81ee8 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k6_abdefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:30Z", + "created_utc": "2026-06-02T22:44:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abdefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abdefg/render_b_aruco_detection.json b/data/camera_study/Scene11/k6_abdefg/render_b_aruco_detection.json index a3672a5..f54cdfb 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abdefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:28Z", + "created_utc": "2026-06-02T22:44:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0f538321-1b2d-47f9-9e49-3ad7185a8c2a", + "observation_id": "0d9da833-53eb-45cc-a2d0-22fbb84a827d", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "f57f1593-9506-4856-ac50-81c7b44b7fd7", + "observation_id": "8ea0ec4b-7708-47e6-89c7-0dedebbf137c", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "916014d5-43be-463e-ac2f-e4a837ba0c2a", + "observation_id": "d3c095b0-2760-45c2-b481-6d473aaaf32b", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "50002b09-f744-46dd-8a86-58cbdec2eb66", + "observation_id": "db628c78-cb3b-4288-bbc0-29f55fe30a04", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "cc288338-670f-4140-9c30-1f55db10cde1", + "observation_id": "047e8556-4197-486d-8900-02f3e50c29ff", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "acdf5b71-ce9b-4472-aee0-99bd4ba8f1d3", + "observation_id": "8d5096b4-9c3c-46d3-b919-ef9541456de7", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "fa5572f1-7141-4d22-8934-d78cd8dcc8a9", + "observation_id": "38049c2a-7df8-4ffd-b11d-a5cf019346de", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "bfd9237c-eb5f-433b-8195-b63a1b9f3f90", + "observation_id": "627bcaf7-d17c-43d6-9b0a-464f36c15c61", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "377bbb04-df1d-40d8-94c5-0df8f7538cb4", + "observation_id": "cd642163-6f15-48d3-9524-53cf0c91b231", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "535c65aa-dcfa-48bb-8010-63076294373d", + "observation_id": "f909dd2d-7ed9-4b53-a5eb-933610f7a74c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "76eaf15b-c543-479c-916b-c9aea6d872fc", + "observation_id": "c1df0062-d031-4037-81aa-af5797704b94", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "8b5fc458-0b18-498a-a5b5-11fa3f25468b", + "observation_id": "397c46d6-a708-480f-b8da-cda6f0d3baf1", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "8cd6b039-dcec-4f65-bb7a-833d8dee785b", + "observation_id": "4136a3ed-9964-4420-ba93-c34f94e9aff6", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "418f2e93-58bd-494d-937c-ea0906532a67", + "observation_id": "40454280-5f1e-4bb9-89c0-f9a809c2f8d3", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "b2a7c4eb-b0b9-4819-b6cb-cde7123c5a90", + "observation_id": "cf7a7be9-b926-4604-8db5-9aa872cc3243", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "3528c781-e078-4666-9dfd-a121fe281c58", + "observation_id": "d153a0b1-f1f0-4497-88e9-9bc0013320ee", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "7e74d846-853a-4aec-9c0a-adaa0220ed84", + "observation_id": "587d8896-0c34-4da4-80f9-f8aafc0552e2", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "193cac36-7058-465c-a0a6-ea9a68689565", + "observation_id": "50839fd4-524d-4f5d-8153-467fc2b4a298", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "59968385-fc52-455c-abf7-5d78e9fb616d", + "observation_id": "922451d3-e4b0-47a8-a92d-97d6aa351351", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "d89fd340-4fae-4390-94b0-12c42a8ddb01", + "observation_id": "675a7ae0-efe1-4633-9eb4-5d5028c05e38", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "c74949ea-9391-4702-af24-824fa1117796", + "observation_id": "687a0e08-a577-437d-acb6-c6157e68e157", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abdefg/render_b_camera_pose.json b/data/camera_study/Scene11/k6_abdefg/render_b_camera_pose.json index 8286c38..cf25dd8 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k6_abdefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:30Z", + "created_utc": "2026-06-02T22:44:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abdefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abdefg/render_d_aruco_detection.json b/data/camera_study/Scene11/k6_abdefg/render_d_aruco_detection.json index 4d9f302..6c53014 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:29Z", + "created_utc": "2026-06-02T22:44:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "87e4d81c-f9ff-4af4-af71-84184949553a", + "observation_id": "e67b18f1-93c0-414c-a388-556dda7e98bc", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "77b9fc40-8849-47ff-a39d-fe0eb7b41a49", + "observation_id": "63093612-c4da-4b83-b8ee-1758f6227bb1", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "3847ed0c-1eb4-40e1-958a-a30e0922a2e4", + "observation_id": "f83813dc-b0d8-4330-9fd2-46f86734a499", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "fc448db9-6c7f-4c1f-822a-53bf3ffda8ed", + "observation_id": "a369d45b-4b7a-4c9b-9f2a-49753e0b47ed", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "6f4a05c2-1e5b-43b3-89e3-2f3c28b71588", + "observation_id": "36b78cec-792b-4ca9-b6b0-4fb3d92414bd", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "d5fe3e3b-ca84-44c9-87b7-045122b9416d", + "observation_id": "68da5387-b95c-45b0-b0c7-0fff2f2d381c", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "f967a024-2cd2-4b24-ad78-3385074380a4", + "observation_id": "f78f6f49-b9f8-415f-ac75-e197cfca87ec", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "31378f2c-3638-48ad-a1c8-0370582e1c7f", + "observation_id": "7bd6c483-ccc1-4f64-aeb2-5f2de8cda090", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "26a1a4cd-f2ae-4c88-b105-cf838f33e350", + "observation_id": "931b1b5c-f7a6-404c-9cd5-2ce56e94da5d", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "eadaf022-6c00-46ea-ba53-e2a8fb7c1dd7", + "observation_id": "1d633e6b-5626-48c0-9761-4b957d2ccd2d", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "60a62051-4bc1-41ec-b903-017cf071c09f", + "observation_id": "b67f8e36-7858-4463-887a-9770861fe959", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "e6d24c05-c601-4ad9-b130-107ae0d635d7", + "observation_id": "77cc2bea-83ce-45d9-978a-f8e9f25af889", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "752f1d54-0222-4b79-82eb-a55da28062a6", + "observation_id": "52eb092a-03fc-45a9-b2d8-91bbf02081bb", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "30596a87-506f-4f0d-80ea-c73b829e28eb", + "observation_id": "060e052c-0009-4bf4-9dbc-40afbd1e0ed7", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "027cf22c-154c-44fb-904f-5ed69ecb7287", + "observation_id": "a17dfef4-7476-4580-bacc-bbe7bd149981", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "7ee5c6cc-6301-4f57-8c0a-df51ba242c4d", + "observation_id": "4d222433-6525-4af1-a380-4c7faf004333", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abdefg/render_d_camera_pose.json b/data/camera_study/Scene11/k6_abdefg/render_d_camera_pose.json index 6d1a1eb..f808ef0 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k6_abdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:31Z", + "created_utc": "2026-06-02T22:44:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abdefg/render_e_aruco_detection.json b/data/camera_study/Scene11/k6_abdefg/render_e_aruco_detection.json index 5f8f119..908c540 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:29Z", + "created_utc": "2026-06-02T22:44:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "6103caca-9f11-4451-84c4-8ef50ad643c6", + "observation_id": "6bacb192-87a8-4bc3-a7fd-b6d15aaee0e1", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "ecd13543-9a87-45c8-a953-21e91d500e58", + "observation_id": "9a492e88-3dc1-441c-a438-44dcbff03f09", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "4df7f74a-bbc6-40af-9e1b-1eada2b0d282", + "observation_id": "1b725435-f384-4e53-bd5c-85e36bfc7582", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "ecc0339d-72a6-449f-ac2e-b2359640921c", + "observation_id": "6bea32b4-df3c-45b7-8bea-4d519a2c6298", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "381e8d91-d9f4-4903-85c1-2d05cd230d5d", + "observation_id": "afedaabd-aaf1-49cb-ab6c-fe2f9df011a5", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "420091cf-ce2c-4adf-a68d-1248f772c62f", + "observation_id": "6924a3ba-48a1-4ca7-9b57-938b2b3215a7", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "af409536-12bb-4f00-ae8c-7bc4ab754f0e", + "observation_id": "11ca5025-7ebb-4069-b913-dcea36e4dc2c", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "b220a025-8015-4e64-bad3-4c5e987d6eb8", + "observation_id": "de121e4a-d290-41c3-9e88-aa489740474e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "80059049-dc9c-481e-b33d-1804da4355a0", + "observation_id": "f47a91d7-285c-4034-9f38-4f409a3cc75f", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "5740e1ec-16f7-49e3-b953-4c05f2153f68", + "observation_id": "e962bb31-7fc6-45af-bbf0-2a6697f8bb03", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "242b3c21-ca14-410c-b2b8-1b370d219457", + "observation_id": "9ee11576-8107-4742-ad95-439116d97348", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "ee9ec63c-2e05-4f1e-b317-51aeeb6ecd79", + "observation_id": "3a512374-53ab-41e2-b2d1-0fae6c5be11a", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "0e33a6a2-c595-4a97-acc7-3806f346f702", + "observation_id": "d425bf2e-3cb1-4922-aa34-9c4bab5d2534", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "770530fe-fafc-4570-8216-2981ed17c01a", + "observation_id": "5054d80e-58fc-41d9-8e4e-55cfda6ac178", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "c5b14ebb-abe4-4591-8b62-8f1a89930a1d", + "observation_id": "730ebbf6-36ae-48be-b956-4682e176868e", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "35fe065b-42a5-4a87-94ce-2810ab35e274", + "observation_id": "c2a766c4-33aa-48a1-831e-e530062acff0", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "08f87786-4a27-427b-9cd9-60d7c3be25fd", + "observation_id": "7ecff29d-e2b5-43e3-ae50-47b05bf320ed", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "7a7157f8-8949-494e-a426-662e8e768a1f", + "observation_id": "15379c65-062d-4dd4-8ea7-77903bc08115", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "8bc37873-dbe4-46f0-a5a1-bd072873b914", + "observation_id": "39726516-2952-4f79-85bd-7a10fa318c77", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "f1c23c39-b81b-48f0-84c6-e529e492ae77", + "observation_id": "694ae7a2-6580-4505-bb79-6f940d2896ab", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "a966253f-04d0-46aa-a4f5-93a694144a10", + "observation_id": "26a20756-ea07-4a3a-868d-9aac4c70e764", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "07ce0185-a01e-4f9e-a5d6-a1fa68a890bd", + "observation_id": "b47e5004-4b43-44ca-8cd8-3191d1e78a68", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abdefg/render_e_camera_pose.json b/data/camera_study/Scene11/k6_abdefg/render_e_camera_pose.json index 8b8a6f1..a9126a8 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k6_abdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:31Z", + "created_utc": "2026-06-02T22:44:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abdefg/render_f_aruco_detection.json b/data/camera_study/Scene11/k6_abdefg/render_f_aruco_detection.json index 22aec0f..e0d5367 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:29Z", + "created_utc": "2026-06-02T22:44:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bc2f4a69-a882-4233-a02f-f329155defd2", + "observation_id": "68e89788-be28-4030-9cf3-54166562e475", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "2dab19c1-9fd6-46ca-be90-050ec12b2213", + "observation_id": "d71f8748-1e94-4b49-8f81-0a2300fad3b6", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "868d9d2c-dc2f-44fb-add2-d7454e615c64", + "observation_id": "de1d4f17-5dfc-405f-bdf3-3b1fdbadde7f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "50b23dfd-ea5d-4f02-9b43-b5a5d046fec9", + "observation_id": "59ac7cb6-7a18-4e33-9fa0-46a1d8a5274c", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "b0f3c58e-ac5a-440e-8d1b-71409eb0d88e", + "observation_id": "c58ba419-52e1-4ff7-8680-b542fd7aaa85", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "eb9743b7-f5fe-422f-9fe7-636e1c831e42", + "observation_id": "4d95664d-62d1-42b8-a5e0-9621c932c5d4", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "70ff47cc-43ba-4ca1-bc30-721f908c90c1", + "observation_id": "5a0174be-3871-433f-be3a-cc5506081c68", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "e757bc07-07ff-47cf-9504-631965bebd09", + "observation_id": "41032712-f040-4189-94d8-141d5167f1ce", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "fa4e4763-38b7-4e47-911c-4a44e682bfd8", + "observation_id": "d8a48e47-7eac-4d04-b3e1-89737bd52d34", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "58d9827a-3622-4126-8394-bb2771554a0d", + "observation_id": "fc6dc0f5-63b3-46a2-999a-d79a2f7765f2", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "15f167ea-7e7d-44bb-b073-a9d15d97473e", + "observation_id": "ddfce43b-75cc-4fc3-b9e1-41806b19c3f6", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "629537c8-5ffe-41bf-be88-02849f691ec8", + "observation_id": "68c2fa37-8a68-49bf-bf78-203a0a8363b0", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "67787b8b-40f5-4b3e-b64c-532e87bc921c", + "observation_id": "f6938b51-ef18-46eb-9b87-dc47c8b4a53a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "281b0271-54a1-42c2-a11a-95eef1156745", + "observation_id": "e6b628e3-39fc-4f43-80b8-4ed24efba1cd", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "9044dab4-8c32-454d-ae31-da9e04f6a846", + "observation_id": "effddb18-3f40-42c0-8596-f79eb0f4d9b5", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "af3e6c4e-da44-4202-8204-fc51910202c1", + "observation_id": "9697ee78-7151-450a-a6a6-3f8170f54325", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abdefg/render_f_camera_pose.json b/data/camera_study/Scene11/k6_abdefg/render_f_camera_pose.json index d7f5f35..c21a2e2 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k6_abdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:31Z", + "created_utc": "2026-06-02T22:44:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abdefg/render_g_aruco_detection.json b/data/camera_study/Scene11/k6_abdefg/render_g_aruco_detection.json index 63962b2..84943e6 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k6_abdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:30Z", + "created_utc": "2026-06-02T22:44:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "660f4a98-c5eb-4d21-95f9-bc8bf1a19e54", + "observation_id": "0677c8e9-9704-4190-8812-4137f51f28b8", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "7f105524-a431-4767-a8b4-9b96be5fcf9a", + "observation_id": "e4d59a35-0c58-4e63-842b-c82c2eb67912", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "9975a417-f398-49a9-9ac9-822a8afdc34c", + "observation_id": "e302f2b8-41a0-48cd-a340-f5fadc5bbd9d", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "87f0db17-f840-4cb6-9fce-435cb4035d0b", + "observation_id": "81b3b7d0-2bd8-42dd-b46d-d3660cdab901", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "3c4f0dee-adbc-4d51-aad4-9e1fba955452", + "observation_id": "245ff0fa-c8ae-436e-853e-dfead2822a0e", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "e6c907bc-7a39-46d7-8beb-92d883ee0da8", + "observation_id": "6c4d9cfd-bb60-46c2-a958-b77c083130cd", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "7e529729-a809-46f4-879a-c4cf53f848e6", + "observation_id": "4806a576-68fb-4c41-afdd-34fd422a51e0", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "3cf397af-4173-4216-8457-84b4de9a836a", + "observation_id": "65fbab83-0f47-489d-b543-6d74040122eb", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "b1d95004-b18b-43ca-b261-ea00869470ec", + "observation_id": "60d607e8-4ff9-429f-b093-00ddcf9429ee", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "5f8c408e-df3f-420c-ad47-9dad9804dc23", + "observation_id": "11bc0c89-4dc1-4edb-b9e2-7451f0b662e3", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "0b320bdf-c840-4931-b8c8-9fc72bf49ab9", + "observation_id": "c4d16bc8-0228-4b76-808c-8f9ba7bc7635", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - 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"observation_id": "f3a8551d-c434-4550-9518-40cce0961699", + "observation_id": "d75565cb-0797-4829-8a96-bdeca9caa00d", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "33587f4e-e08b-41d3-8f86-740ed97d21ab", + "observation_id": "a364d707-0934-4dee-bd79-6ae779f15a8a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "2af995d8-131a-468f-bc9f-b1a8dd3cd31f", + "observation_id": "c4d4dccc-b219-4b02-971b-5f522690f807", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "036dd471-d479-4051-84ca-5c1266835e72", + "observation_id": "c21c6d71-81ed-4922-aeb5-fcceec527fae", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "4621c6ed-4271-4584-9c6d-0f052a0993d6", + "observation_id": "8ea06f66-0da5-405f-b251-77113bb91431", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "1f4bc80a-08dc-4894-a446-e67d795fc930", + "observation_id": "c067dc6b-8a9a-493a-8cb0-a467dbec91fb", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "37656c2d-ae3e-4810-a672-2408d3d9b423", + "observation_id": "cf72007d-0936-43a2-aa80-091b32269bda", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "0096a231-286d-4561-8173-0cf270d8a5cc", + "observation_id": "1af87615-3ffd-46d3-aea8-a5e3ce7b37b9", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "5c79f297-487a-48b8-ac08-f53a3a10b5e6", + "observation_id": "5edfc8e6-479e-45bb-abcf-14c784412425", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "daa6715a-dce6-4ada-9ee0-b8e28a317f79", + "observation_id": "87a99125-f294-4db8-8c40-82856f3bee11", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "80f66c12-856e-44df-a39f-fc6bdd06cdee", + "observation_id": "a30556a3-9864-45fc-b00e-bfd5cd566aca", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "a4459850-782b-4ece-9a69-f4cf6c23aa2c", + "observation_id": "a19adca3-e9dc-439c-b5a5-4e598fa47979", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "0ebb1139-d145-4aff-88a3-5a382aa65346", + "observation_id": "ce00a619-bb04-4621-90c9-3efc1ef06d91", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "fa5b4b7a-7fe3-4d53-b54c-545cc7510ef6", + "observation_id": "5a942ef3-f968-4dcb-a2dc-8dd6b8737975", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_abdefg/render_g_camera_pose.json b/data/camera_study/Scene11/k6_abdefg/render_g_camera_pose.json index f0f16b3..0461d0a 100644 --- a/data/camera_study/Scene11/k6_abdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k6_abdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:31Z", + "created_utc": "2026-06-02T22:44:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_abdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_abdefg/robot_state.eval.json b/data/camera_study/Scene11/k6_abdefg/robot_state.eval.json index a7cc588..95607d5 100644 --- a/data/camera_study/Scene11/k6_abdefg/robot_state.eval.json +++ b/data/camera_study/Scene11/k6_abdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.9522998944104302, "mean_abs_mm": 0.3513306887789991, "max_abs_mm": 0.3862264680718255, - "finger_error_mm": 1.774571016776794 + "n_unobservable": 0, + "wrist_error_mm": 1.677369914383398, + "finger_error_mm": 2.021599884704261 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k6_abdefg/robot_state.json b/data/camera_study/Scene11/k6_abdefg/robot_state.json index 5e9f48c..177a9db 100644 --- a/data/camera_study/Scene11/k6_abdefg/robot_state.json +++ b/data/camera_study/Scene11/k6_abdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:53Z", + "created_utc": "2026-06-02T22:45:13Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k6_acdefg/aruco_marker_poses.json b/data/camera_study/Scene11/k6_acdefg/aruco_marker_poses.json index 26c4243..18dcc8e 100644 --- a/data/camera_study/Scene11/k6_acdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k6_acdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:29:03Z", + "created_utc": "2026-06-02T22:45:23Z", "summary": { "num_cameras": 6, "num_markers": 32 diff --git a/data/camera_study/Scene11/k6_acdefg/aruco_positions_initial.json b/data/camera_study/Scene11/k6_acdefg/aruco_positions_initial.json index 1bd77ae..2cb296f 100644 --- a/data/camera_study/Scene11/k6_acdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k6_acdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:28:58Z", + "created_utc": "2026-06-02T22:45:18Z", "summary": { "num_cameras": 6, "num_markers": 32, diff --git a/data/camera_study/Scene11/k6_acdefg/aruco_positions_optimized.json b/data/camera_study/Scene11/k6_acdefg/aruco_positions_optimized.json index 4b55e46..cd610e2 100644 --- a/data/camera_study/Scene11/k6_acdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k6_acdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:29:02Z", + "created_utc": "2026-06-02T22:45:23Z", "summary": { "num_cameras": 6, "num_markers": 32, diff --git a/data/camera_study/Scene11/k6_acdefg/render_a_aruco_detection.json b/data/camera_study/Scene11/k6_acdefg/render_a_aruco_detection.json index 1a11685..0eb1d41 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k6_acdefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:54Z", + "created_utc": "2026-06-02T22:45:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a68f05c0-e99e-478e-b936-d9443e75a7a6", + "observation_id": "d3a3ffa8-97f1-46b0-b1a7-d640fbeff1bd", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "a597d017-2b06-4ad8-bd0a-a961536e0936", + "observation_id": "69ab61cf-803e-431f-a875-3dd572b1698d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "25c1aee4-283d-4d68-8847-c9cb1f418a0a", + "observation_id": "e47aabd9-326b-4881-a27e-e2027da1e8e6", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "441005ac-e841-4a87-a303-4215ff99d415", + "observation_id": "90253e56-aa12-4e2c-aa72-bde862d303e7", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "95b20138-0e50-4b16-8b26-7c897af3710e", + "observation_id": "f7ca1d6d-fbe1-4d01-8a40-422ccfcec65b", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "01df68c9-f435-4945-8cbb-17daffc50f4a", + "observation_id": "8a89f10a-45c1-4df0-a60a-1136c90b280f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "172df6d8-139b-40d8-a92b-629c4e895d08", + "observation_id": "81dc5a28-6d65-4e54-a66b-874b821cb88d", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "2fe9d2ae-b179-44a4-90cf-e0a37162742e", + "observation_id": "c4a84bc1-2d05-417b-92ec-c0ad36a4d782", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "4cc999bc-8a39-4cac-b627-24043b5b110f", + "observation_id": "40742ac8-a193-49de-bdfa-1a83023fcc5e", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "d2a7e17c-0995-423e-a597-240739beb13f", + "observation_id": "4d15aadd-8dbb-4dde-98c5-1f330d912cd7", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "ae751f1a-54f6-469e-96b7-bf426d26472b", + "observation_id": "e61faf50-fa2e-4b06-a860-18f7d036456a", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "4d7d37ce-64c5-4c09-84dc-5168833800d4", + "observation_id": "5d73d869-cd00-44cf-9885-08a0fe526c93", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "13026d87-9f02-496f-aabd-2dc3b2b0c0ea", + "observation_id": "de8929f7-e89e-4395-a33f-0fce56463a18", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "04f242da-2212-4dcf-a3cf-cf4f390b4e35", + "observation_id": "20ebb1b2-3dd1-4846-a5cb-3bfae24ac228", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "b1da461e-d3c0-41ee-91d5-54ad9db9b076", + "observation_id": "a18548e8-d59b-45b9-abfb-3bc690dbc63f", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "11dfcaa6-5e7b-459e-887e-d3baf66f8a80", + "observation_id": "64e97caf-ac12-493a-ad28-6c592eb6e68d", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_acdefg/render_a_camera_pose.json b/data/camera_study/Scene11/k6_acdefg/render_a_camera_pose.json index c33643b..f13feeb 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k6_acdefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:56Z", + "created_utc": "2026-06-02T22:45:16Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_acdefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_acdefg/render_c_aruco_detection.json b/data/camera_study/Scene11/k6_acdefg/render_c_aruco_detection.json index 1ad2f44..2f96f98 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k6_acdefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:54Z", + "created_utc": "2026-06-02T22:45:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "7e10bcf1-813a-43e7-bd15-c29381cc6fad", + "observation_id": "7929ccdc-545d-48d2-9830-e07ae9dde027", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "c150d158-88b8-41ca-9998-220ec6fca2a6", + "observation_id": "5d8c10e7-9c76-4805-91de-29554f65092f", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "e563c389-bc00-4127-9766-065f0e7f3814", + "observation_id": "982ce1b7-9e8b-4957-94ae-886cdda6e245", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "1589b889-3d16-4812-8bf7-7b82d8d73fbe", + "observation_id": "6c860d3a-8d08-423e-98bc-1dc3d33c0427", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "7970ceba-0ba7-46fc-ae74-1918127c3bb6", + "observation_id": "9a708a33-a6fc-40f4-8cb5-5e2c7e7ca623", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "a4c2793e-e4ef-49cd-bb15-87bbc3c57342", + "observation_id": "4148b2db-2d9b-4fcc-9a6c-921b6fff86b5", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "413af1d7-7fd2-4d45-8e94-ca4350e78ceb", + "observation_id": "a7215ce4-e807-466c-8b12-ad2554823425", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "0ab8df79-ff17-4b0f-aff1-31ea26aa084e", + "observation_id": "2a676b15-e98f-43fc-8666-979bf3c72ea3", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "1876fbd5-7261-448e-9224-ee3a11293f20", + "observation_id": "c1a3f91b-f47a-4876-b28d-1e40c7b4ba5a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "571bc057-2278-41e8-a706-59e1d394b438", + "observation_id": "dc4d6635-6d69-486a-ac69-187ac2301de8", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_acdefg/render_c_camera_pose.json b/data/camera_study/Scene11/k6_acdefg/render_c_camera_pose.json index 2405b5b..78fc4a4 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k6_acdefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:56Z", + "created_utc": "2026-06-02T22:45:16Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_acdefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_acdefg/render_d_aruco_detection.json b/data/camera_study/Scene11/k6_acdefg/render_d_aruco_detection.json index 12f8c21..51291d1 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k6_acdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:54Z", + "created_utc": "2026-06-02T22:45:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "200fc376-2697-485c-b1aa-0ca7a14bcf72", + "observation_id": "d46dd05d-3eab-43a0-a8bb-da4c6e12f735", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "95386f41-cee3-42b5-a41c-bec5b1a18d24", + "observation_id": "307d1268-a386-4a25-837f-f918f4ca792e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "df4da10f-a704-4870-ba0a-4c907625e564", + "observation_id": "bab90ef3-3579-4a98-b853-0097ff4c5df7", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "37889391-3ebc-4865-9d40-5223f6558c71", + "observation_id": "e657b437-6009-464b-be8c-0cbb696081c2", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "cf2dab24-fb7c-4387-9397-c13281a45cac", + "observation_id": "ada28679-c884-4670-ad69-fb23a3c10cfb", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "f007785f-e555-4f51-a8b9-ea765d5dd48c", + "observation_id": "f60c74d1-8745-4103-92e8-7e21415c3b15", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "cf6b0ae0-9923-4144-a5cc-02038ece6a6f", + "observation_id": "1a8cf353-e29e-4eff-a5a9-36b775cdd1cf", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "701cc56b-f7de-436e-afc4-6a8d32e9e9ca", + "observation_id": "f4224ec2-5f45-4bd1-a0b5-60f2e9c6b78f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "b2737522-4335-4e64-bae2-82b30b775d92", + "observation_id": "669acdde-2080-4d18-8aa6-51efce591b91", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "4115f38b-2bda-428b-a8e2-7608bf2cddb8", + "observation_id": "187e089e-dfb2-4ffd-bb7f-316c06d41914", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "d14fe0b1-97e9-4f9a-9ac2-48c1b0ea5905", + "observation_id": "348a1a20-93aa-4031-9e31-588ab65ca8d0", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "4eb6e26f-421b-4f51-8a52-eea443c461ff", + "observation_id": "35294476-4ec1-4a04-a832-442561c5e1e7", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "70295c6a-2d28-4b09-a1ff-288211d96b83", + "observation_id": "63eaa2d8-542b-43bf-9502-009305c68d74", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "eb59b348-152d-4327-ac1a-beba988c1386", + "observation_id": "aeca278e-49ce-49dc-a1a9-c7dbf4ff4461", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "0559bfd1-ba32-40d2-a97b-02a74359d9d2", + "observation_id": "00b71c9e-5bb5-42a2-8b8c-8f8f59b401d0", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "5cbb520e-42a4-44e1-bd1e-25ffa6e9e651", + "observation_id": "25d61ec6-6166-46b2-85b3-81f63dafeb68", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_acdefg/render_d_camera_pose.json b/data/camera_study/Scene11/k6_acdefg/render_d_camera_pose.json index a844bec..15ccee4 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k6_acdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:57Z", + "created_utc": "2026-06-02T22:45:17Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_acdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_acdefg/render_e_aruco_detection.json b/data/camera_study/Scene11/k6_acdefg/render_e_aruco_detection.json index eceebe1..e8e3bb8 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k6_acdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:55Z", + "created_utc": "2026-06-02T22:45:15Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3a59305a-1100-4e0a-9979-026581d70a15", + "observation_id": "2e199161-0632-430e-8634-30dcc4a07d43", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "0098fcfb-b7d5-47a6-9228-3c1d97d5214f", + "observation_id": "1687a388-cf6e-40f1-b57e-0c37bfd7fd27", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "94f3971a-9a7d-4f00-bd77-ec34b7ea7afe", + "observation_id": "4b4e138b-d034-4251-a0c7-e50ed665e9d1", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "13095b83-ab79-4f94-b11d-5cc14d03a7a1", + "observation_id": "40f46798-cccd-49ab-8f89-aa68adb62fdd", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "3d81944b-9bfa-43d3-8c4f-3ba11ac7092c", + "observation_id": "2ee87855-c495-4f0b-9c3f-d858469ee416", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "7baba16b-67bc-4c93-b374-06d344105ad9", + "observation_id": "2057734c-56ab-4f09-8191-360f14dc2b01", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "2fe577d1-28ed-490f-b7bb-bf0ffc2ce059", + "observation_id": "80b8c6f4-03c1-466e-b39d-0ccce2030f9a", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "6e9f9f57-f05a-4b92-8526-dda3bacfa00f", + "observation_id": "e05776cb-8189-4925-9508-8d23c0b71066", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "0a60a7b8-e733-45a0-b532-7a8cee58228b", + "observation_id": "54927609-f383-432c-af7a-e13e67747348", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "b903fa9d-e1f8-4b4d-8aa1-bae8c6792230", + "observation_id": "d362df60-2338-49d9-81e4-59a08cb1c659", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "d0ef3342-478e-4733-97d1-7a6f28040d0e", + "observation_id": "e9b37ceb-b65e-4791-8006-ba32c3fb8f0e", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "7079338c-ca41-48c6-acdf-7edca2c6cd7d", + "observation_id": "7b4ebec0-5e3c-49f7-80b9-257f398c10fb", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "da99e5db-740c-4028-ab15-b0a5ceda0c37", + "observation_id": "8f640e53-ab56-47ce-b0e4-1b297fbaa01b", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "b6b02aef-bf69-49ac-96a8-09ebb64509e1", + "observation_id": "cf634a37-9ded-4cce-9e3a-cdd20649e118", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "0840d572-46c9-448b-be55-36735966f4f8", + "observation_id": "78e9592c-420e-417c-b970-3a002973b575", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "08791d42-3b58-47ad-8f5b-5aa08a61ef95", + "observation_id": "b0199011-b4b8-44be-9238-bc3e0050025f", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "ca01beba-d64e-4aa7-8a7e-56ea0ebd1064", + "observation_id": "54f6b13a-06a2-4edc-a008-359740baae6d", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "8dd8aba0-286f-421e-88d5-b46c8481076f", + "observation_id": "a8676991-6924-418c-be4b-e579ebc1c645", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "ede31832-d378-4e8f-9998-a3c05fb9c6bb", + "observation_id": "80f45766-ce5e-4f1a-b702-94559e672d18", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "36b87cb6-e3dc-4462-92c6-8ff8dcacfc3d", + "observation_id": "5c790fd8-4fc5-4f57-9872-a8f89f69e230", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "7305965a-9a25-4c9e-85a2-171fa29736af", + "observation_id": "6654d619-5d85-4036-8ce2-344e3e9a3a37", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "1b3ebee3-b556-4e19-a3b6-dcc633675a72", + "observation_id": "7a8ae14b-5ae0-4b4f-9cbe-af4acd120c5d", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_acdefg/render_e_camera_pose.json b/data/camera_study/Scene11/k6_acdefg/render_e_camera_pose.json index 3ef3c53..c9f4ef4 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k6_acdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:57Z", + "created_utc": "2026-06-02T22:45:17Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_acdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_acdefg/render_f_aruco_detection.json b/data/camera_study/Scene11/k6_acdefg/render_f_aruco_detection.json index 610d890..48d6b29 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k6_acdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:55Z", + "created_utc": "2026-06-02T22:45:15Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4f32a392-dd25-484a-9c20-f8233b0957c3", + "observation_id": "dd463f8e-28ef-4920-a731-d7e745d22b76", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "fca5cc81-58b3-4c78-a4c5-13efcc29b5c5", + "observation_id": "b3ffba02-ab14-40de-9fb3-f3160bab1545", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "14591d37-b597-4f1f-952e-365b8a6358b1", + "observation_id": "0caa6516-3678-47bb-9dd8-81b0f7d4b655", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "6f4125c2-6b6d-4724-9b41-15fda620cc11", + "observation_id": "ea78a600-5f85-4b02-8156-be87a951a8f2", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "12591cc7-c17c-4c4e-b9f0-d9b079fc6033", + "observation_id": "320d2237-bd97-44f3-a8b4-5315a863aa5c", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "1b916e3d-a089-4b70-9cfa-a6667fbf6792", + "observation_id": "b2e5d3df-4cfa-4715-bf1b-a658e3477f2d", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "58dde8dc-f403-41d3-a447-ad7e04dd860a", + "observation_id": "ff63d540-1b7e-4234-b9e5-a75aae5c299f", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "d1ed25ea-53c2-405e-8201-488978c28fec", + "observation_id": "72c36eec-6266-4cc0-8440-b80521f22ff6", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "05376845-8205-4d84-b1ba-78e196bf7be3", + "observation_id": "435837a4-f995-49f5-a530-b5846abfab09", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "90fc92bf-45f6-4816-a952-ba81cfa57455", + "observation_id": "ce3c3545-8557-48a5-a8e5-11437b812b83", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "ce0904c0-d879-4420-ad84-94a48f687655", + "observation_id": "272566f1-e21b-461b-82af-b712ffb13527", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "f3a67604-5506-4d7a-b4c5-f93d21734855", + "observation_id": "ec33fc81-60a5-4641-a615-354dde1234be", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "12a51016-0d82-480d-81dd-2d51a86673fc", + "observation_id": "cec1f3d4-1340-4d2d-825d-6618aa3b75c2", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "3c293b0d-f2ee-4ea3-aef8-32c7dd9f9e41", + "observation_id": "c2e94089-6636-4c40-b784-7810c7774203", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "76c6d5f9-7f1e-4b64-8aa9-05037210e4b0", + "observation_id": "5e02c081-3bf5-4c5c-b06c-61b5e8492983", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "c67cffaf-6b4c-4d9e-9330-2f72053acc2c", + "observation_id": "24c041b0-be5b-4381-8ca5-31205ea13bc4", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_acdefg/render_f_camera_pose.json b/data/camera_study/Scene11/k6_acdefg/render_f_camera_pose.json index 54674e0..330688b 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k6_acdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:57Z", + "created_utc": "2026-06-02T22:45:17Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_acdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_acdefg/render_g_aruco_detection.json b/data/camera_study/Scene11/k6_acdefg/render_g_aruco_detection.json index e5ce229..4ea536e 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k6_acdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:56Z", + "created_utc": "2026-06-02T22:45:16Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d2a760c6-a8e3-49b0-a55f-77712dd04ac6", + "observation_id": "2f071899-0c6c-46ca-b356-23dc9b61ab15", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "b3498989-9b3e-4abb-bfae-19ffb2956d37", + "observation_id": "c3eae40a-4f10-4f87-91c7-d54445c3af32", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "16980382-d21a-432b-98ed-285e3e01ad46", + "observation_id": "a318f9f6-4741-421c-9124-f5753a84047d", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "7b70252d-2916-4fe6-9227-22ed58e201e9", + "observation_id": "27d574f8-dc4b-4abc-9b7b-b9e92fb483c1", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "9e48bb96-18d2-41b8-871b-b2fe14c8b978", + "observation_id": "d93b9bb3-680e-4a21-bff4-c29e15de4cbd", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "a1a488a6-69a0-446b-b75e-60ecbd0c9e71", + "observation_id": "92cacafd-89f9-4201-8b60-6dc5af6bfcc9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "87462c50-5e61-4fe1-9600-d12c54a966c6", + "observation_id": "492c7f15-0be8-4e80-b4b1-b990a9ed0ca0", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "f6fb7a8f-a638-4a9d-9461-2a43f56b4296", + "observation_id": "72f853e8-bb1f-417c-9fdd-9a700c6b303f", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "64cd0d4d-ae9e-4e7f-aeeb-269f2cd0cd46", + "observation_id": "fd5d7949-e18b-45c8-8585-13e60d6b40f2", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "30b42c23-e826-4e3f-9501-4a21bcdcecaf", + "observation_id": "b8cd4086-ad6f-47f7-be9c-9f953d0fb470", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "9d172aa7-0501-4fa6-ae64-7e01844352df", + "observation_id": "5b3d5836-385f-45bc-ac7f-d987132ee007", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "7aa0b36b-2e04-4fbe-bf21-6752f76c7a6e", + "observation_id": "434dd19e-d764-4189-9ff5-1f0cab04a593", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "b3ddd63b-5532-4f72-b679-7686160f802a", + "observation_id": "7344a40c-b33f-4437-b589-9eaf1c265427", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "00d66aa5-ad7e-4fcb-8b15-4cd2e10ea13d", + "observation_id": "4489a28f-1cbf-45cb-8244-0b913ee2b36d", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "45ea1a9d-47a9-43f9-b9b2-062628923d79", + "observation_id": "7d42c8bc-ac63-4b14-8276-0ca5c54f6ca6", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "b7ea2e6c-051f-4168-a408-9665c5fcd53b", + "observation_id": "fe4b5825-b1e4-472a-8776-66e5ab8fd02e", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "af477b81-48e8-4d22-bdd4-107694e9af1c", + "observation_id": "e8a5fb0e-a14d-46f7-bbe7-f9687199c692", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "a9352bb3-c458-4397-9c57-153ee7e453b3", + "observation_id": "20205f1f-2afd-4912-ab38-691e7bf16e27", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "63ed220c-89c9-4e69-b6ca-43b55de7f66d", + "observation_id": "c1d7fb68-c671-4d87-bdc9-c9eafb52171e", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "13ce5a03-29da-4bfa-b913-83b5b6d1b3f2", + "observation_id": "dff8ba7e-b486-496a-adc8-b347eb8b705c", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "2b778376-16a7-465c-b1b5-2270c86b7376", + "observation_id": "995c5ff1-f42d-4423-9b71-f4f05715087e", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "da1438d7-a486-4c0f-acc8-1a72e3a66067", + "observation_id": "c8b5b6a4-96e6-4cba-a637-fdce5ea38513", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "22faa835-e15e-4153-8f55-bf8c65d71a60", + "observation_id": "4e8db281-b4d8-4ffb-ab54-6a5d1e2acd62", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "ad23d967-6b71-46c7-a774-cebb25c30d86", + "observation_id": "5425b4a3-5839-4630-8b3f-69a771f10c44", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "ca183569-659b-48d9-a21f-bd27ba663064", + "observation_id": "deb8be2c-1260-4a63-a949-b71273b350d3", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "130c234e-556c-46c4-84a8-3136382bad21", + "observation_id": "79fc8d17-9a55-48fb-a8f8-d7f364bedb28", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "d0fc8604-095a-41e2-b522-e7e2d4cc265b", + "observation_id": "ca21741d-4123-4cb2-b1f0-79b1abc0726c", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "054c2301-43af-4d1a-a3f3-678ce4261111", + "observation_id": "0f79aec7-a502-40ab-a41f-776df6010b61", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "6d77653d-30a0-4eb3-a370-43a34ae145b3", + "observation_id": "579b73ad-2283-4032-9d8e-329fda24f3ca", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "65a3d7c3-c59f-4135-bcb9-616eb0fef312", + "observation_id": "41cace47-a2cb-4f56-b18b-847aa715d575", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_acdefg/render_g_camera_pose.json b/data/camera_study/Scene11/k6_acdefg/render_g_camera_pose.json index 6c64419..b5eb4ec 100644 --- a/data/camera_study/Scene11/k6_acdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k6_acdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:28:57Z", + "created_utc": "2026-06-02T22:45:17Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_acdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_acdefg/robot_state.eval.json b/data/camera_study/Scene11/k6_acdefg/robot_state.eval.json index b2802a4..d08b91f 100644 --- a/data/camera_study/Scene11/k6_acdefg/robot_state.eval.json +++ b/data/camera_study/Scene11/k6_acdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.011522679793501, "mean_abs_mm": 2.973428160010262, "max_abs_mm": 4.535273123473596, - "finger_error_mm": 3.0101431524149938 + "n_unobservable": 0, + "wrist_error_mm": 1.414973679583097, + "finger_error_mm": 3.130800140122522 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k6_acdefg/robot_state.json b/data/camera_study/Scene11/k6_acdefg/robot_state.json index 23efbfb..6d63deb 100644 --- a/data/camera_study/Scene11/k6_acdefg/robot_state.json +++ b/data/camera_study/Scene11/k6_acdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:04Z", + "created_utc": "2026-06-02T22:45:25Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k6_bcdefg/aruco_marker_poses.json b/data/camera_study/Scene11/k6_bcdefg/aruco_marker_poses.json index b3000c4..b5ad54f 100644 --- a/data/camera_study/Scene11/k6_bcdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k6_bcdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:27:28Z", + "created_utc": "2026-06-02T22:43:45Z", "summary": { "num_cameras": 6, "num_markers": 34 diff --git a/data/camera_study/Scene11/k6_bcdefg/aruco_positions_initial.json b/data/camera_study/Scene11/k6_bcdefg/aruco_positions_initial.json index 02ff51c..4c33ded 100644 --- a/data/camera_study/Scene11/k6_bcdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k6_bcdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:27:22Z", + "created_utc": "2026-06-02T22:43:39Z", "summary": { "num_cameras": 6, "num_markers": 34, diff --git a/data/camera_study/Scene11/k6_bcdefg/aruco_positions_optimized.json b/data/camera_study/Scene11/k6_bcdefg/aruco_positions_optimized.json index 8d460b1..c35114e 100644 --- a/data/camera_study/Scene11/k6_bcdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k6_bcdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:27:28Z", + "created_utc": "2026-06-02T22:43:45Z", "summary": { "num_cameras": 6, "num_markers": 34, diff --git a/data/camera_study/Scene11/k6_bcdefg/render_b_aruco_detection.json b/data/camera_study/Scene11/k6_bcdefg/render_b_aruco_detection.json index 9c6c97d..f1eb6ec 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:18Z", + "created_utc": "2026-06-02T22:43:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a1b4b362-dc3b-4f60-a0a0-6c7a092b3d34", + "observation_id": "ea231a35-a914-461f-ac0a-6fb8d21276ba", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "baacacec-d0d2-4955-9efd-8207ac6ef05c", + "observation_id": "8c386078-fb4f-4743-9898-db55f0de932b", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "e0a0d753-2836-44c4-b40b-af01ac7adcb6", + "observation_id": "44b428f8-b876-4c70-abaf-f39da93a369a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "1682e82b-d820-488a-a420-2ebafa1cfd19", + "observation_id": "f0a8cde9-0b34-4c3d-94f5-b298b8b14c1c", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "9730a1eb-d393-4a1c-80e5-4d7ecf905e0d", + "observation_id": "ccb8ba17-8acc-4a51-9d66-f2b6c936065b", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "1ee98edd-3f17-4337-87e9-558f4ae04887", + "observation_id": "f3110ee0-2242-4d4e-9654-78e9d03d5d38", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "f035501a-5eb2-4b3c-b4c8-9ff3146dec6c", + "observation_id": "579b8825-cbc1-4c56-8a7a-c55c702fc4b3", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "007defa6-f637-4d24-871b-46fe8b8f294d", + "observation_id": "e0347534-15f7-40f2-b87b-b63361f48c97", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "f82df2ea-ea3c-42ff-b36a-e609516f4782", + "observation_id": "4529000d-3666-4c97-947d-c7e238b7282c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "bd192094-92b9-4be4-93ff-860c552c13d4", + "observation_id": "4bf6acfd-97ac-4f98-9354-e2a0b63d5650", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "2998141b-0531-495f-bd16-007cf4a156f6", + "observation_id": "263cc0ea-7892-4185-9235-8b51d50a6925", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "666bd598-064a-4a38-b84a-7cae8b86188a", + "observation_id": "f577421e-6bda-4553-947d-61ede8a72659", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "6195b545-05e5-4113-b344-0ccd6de5ab3c", + "observation_id": "cc3a082f-d09b-4bd0-bd4b-87353fe16f5d", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "5ff0324a-6769-4fa4-bbaa-157009718fe4", + "observation_id": "caefb16c-7ed4-4184-9e8e-02c90d45edef", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "1ceee950-3925-4ea6-aa25-9a66ac42eb23", + "observation_id": "ddc056ee-bca8-4723-92b9-83317153a264", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "62dc51b3-b210-4e7c-bdf0-e4fd09d841c0", + "observation_id": "45b3dbec-d2e2-4d10-b595-e6c64f963da4", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "8ca96e5e-eda3-4094-be77-21317b8fc532", + "observation_id": "7f106b5b-0b22-4e85-8a98-b19e61a5d341", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "10ce8fae-67a2-42a3-a13f-ef45b041ebac", + "observation_id": "cf946732-3db4-4a75-a12d-fee160d5ed30", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "3e1bda29-9936-4992-a4c3-a797981d2fa6", + "observation_id": "3b8c71ee-c6ad-4447-9361-8bd58761f7f4", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "4cc0c1a2-9b5b-49bd-99f8-1856f2149518", + "observation_id": "3cfca4f6-e503-4050-801e-59063a12fda3", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "e6650175-abe3-44e6-9b99-5731b8f0bb5d", + "observation_id": "915ede44-3e00-42c8-861c-d449a8aba4d2", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_bcdefg/render_b_camera_pose.json b/data/camera_study/Scene11/k6_bcdefg/render_b_camera_pose.json index b95c67d..6663f0a 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:20Z", + "created_utc": "2026-06-02T22:43:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_bcdefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_bcdefg/render_c_aruco_detection.json b/data/camera_study/Scene11/k6_bcdefg/render_c_aruco_detection.json index b1d2cd7..d5c9e78 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:18Z", + "created_utc": "2026-06-02T22:43:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b343cabd-a073-464b-8621-0e996df0bbc3", + "observation_id": "e9907ff2-8664-4343-87a9-4354de39bce9", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "6497b82a-0f6b-4162-9bb6-d3e0eab7c813", + "observation_id": "bbc84a23-86e7-4d28-971b-352b565c6fe4", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "83f9b937-89c3-45dc-9eb0-266d6750d2ef", + "observation_id": "ec263dc3-8468-4ebc-b04b-985d446ba104", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "ee739994-97dc-45d5-beb8-244bb564e81a", + "observation_id": "8443906c-ab86-4cba-8ad7-b21a8d5be40b", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "2ce4a33c-7d79-4922-8ba3-f4e647424645", + "observation_id": "181b9724-d710-47bc-bdda-0c2e7ed7fdd9", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "804f3cd3-5801-46c9-9664-ed8a6babfb86", + "observation_id": "8cea494d-08c1-457b-9c97-a7e58fb1e744", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "eb2fa168-a2cf-4e81-8852-cfcacd70ecc6", + "observation_id": "0510a79e-60bc-4c33-9229-a9ff4c677569", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "0a283f81-a356-4dd8-a129-5a4c624ab509", + "observation_id": "e16e7047-c377-4d5f-9974-f6b022beb073", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "8de92378-a8da-4c87-a1ad-ccc41be7eb43", + "observation_id": "5a7e9c10-2268-4498-bf4f-aed966b93913", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "f7e8a431-2421-4bc4-a3c8-3ed7d1937bad", + "observation_id": "d49c5dd2-3d85-49a6-9fea-3454106465f6", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_bcdefg/render_c_camera_pose.json b/data/camera_study/Scene11/k6_bcdefg/render_c_camera_pose.json index ac1e259..2ae08cf 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:21Z", + "created_utc": "2026-06-02T22:43:38Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_bcdefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_bcdefg/render_d_aruco_detection.json b/data/camera_study/Scene11/k6_bcdefg/render_d_aruco_detection.json index 9428eb1..f0fafd3 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:19Z", + "created_utc": "2026-06-02T22:43:36Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9597e12d-bb59-4f6f-af81-e3e94045e658", + "observation_id": "8b2f05ee-76a4-4d79-a2b0-194aab973165", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "274e44c4-dde6-4fcb-a2f7-76a17c56c16a", + "observation_id": "c8adc844-9bd9-4283-bbf7-9d61382183c5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "a93bda1a-0d1e-4c43-b3d6-1422b13bf428", + "observation_id": "a3b973af-9d48-4159-ba4f-25772b62317d", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "ac02c679-b812-4b75-a082-11e1021c405c", + "observation_id": "b5470b93-69b1-4e17-899b-51cb277751b0", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "646cfd0d-212a-42e2-8473-9542d4d44689", + "observation_id": "f30f8a29-c8ce-4abd-beba-d28a6058bde8", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "022798b9-fc6d-44ea-9107-54acfc6f2564", + "observation_id": "1aa2e3ec-8852-4fcc-8614-3ea23ecab44e", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "0ef67510-4b1a-4925-86e5-695908bdf7a4", + "observation_id": "53cec07a-48f5-4f0e-b5a1-efe1db2f9038", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "9f045311-46b4-4553-ac2f-81753416eaba", + "observation_id": "802e5a22-a9cf-4a75-9b6b-f19791ce8a56", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "cae1fa42-3e8a-4553-a04c-f48e59becab7", + "observation_id": "7784d62b-6153-4531-bf09-b0625310fa95", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "ace1b514-afb1-454f-a386-7c5fb72bdca4", + "observation_id": "7315dd77-c5f3-4ff7-b9d7-fdba7ed45572", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "23131fb2-6aeb-48f0-af5a-a3c1c3b0dfa6", + "observation_id": "a39222a3-9d71-4294-81ae-43936e7488a1", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "3ced7ce2-4a3d-4008-afb3-5386ecc203b0", + "observation_id": "d2b426f4-3ad4-427c-9ead-4d82e0b0c3dc", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "a1f0a14b-38a8-46a7-b1d8-7cb05bffd1c6", + "observation_id": "8c3a0700-fa05-47eb-a443-557a8ed8f5fd", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "74ad908f-4aea-4543-b395-2b655adbeb59", + "observation_id": "8ac78ffe-2cf5-483c-85d6-2b1802dbc6b7", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "3487cdad-cd2f-4bcc-baeb-db1ed275b864", + "observation_id": "4579b1a2-16e7-4919-9792-d37b451e71c4", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "658a48ed-59aa-464a-888e-7a4dcd49acd3", + "observation_id": "96701bcf-dd37-490f-a541-ba3f4b52b45c", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_bcdefg/render_d_camera_pose.json b/data/camera_study/Scene11/k6_bcdefg/render_d_camera_pose.json index 63ea60b..948dac8 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:21Z", + "created_utc": "2026-06-02T22:43:38Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_bcdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_bcdefg/render_e_aruco_detection.json b/data/camera_study/Scene11/k6_bcdefg/render_e_aruco_detection.json index cd65273..32c4333 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:19Z", + "created_utc": "2026-06-02T22:43:36Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9b694f66-9ed1-427e-9edf-4450b1d18f54", + "observation_id": "0d695f97-58ad-453c-954d-c20fe4ef48e7", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "bef18dd5-4b16-408f-8bd9-2645a9c83f51", + "observation_id": "106bfd37-c281-4e21-823d-df8012311033", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "2a36c563-3ef0-4485-a443-b002697cf476", + "observation_id": "72a17fa8-a5c7-47b1-bc48-14fe6fb70947", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "1340a982-0805-413b-b7c9-d3d569479b62", + "observation_id": "a3e3ae79-b370-4bf8-a58e-170d2e07b573", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "9e78be98-5661-4296-aa06-37e6b0cfe577", + "observation_id": "3d2b4060-372e-461d-84e9-1e9b20347d5c", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "01d885c8-7146-42b0-8f2d-72c803f365c3", + "observation_id": "673686b1-2d1f-489a-9460-235a7a0de25a", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "75748521-3080-430f-961b-714c59eb2b3b", + "observation_id": "0b4ad001-46cb-4ac6-809d-5c6ada29ecab", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "828fcb8a-33d4-4b86-bc93-8aada61a543d", + "observation_id": "5952f97a-450e-455a-935d-90223d8796fb", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "87fa1a10-7f9c-49ba-891d-4e51c1c274dc", + "observation_id": "bf6ea289-0fd9-4241-aea1-625e011a152d", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "6d15b0f6-50f4-4637-bfab-24166a848271", + "observation_id": "d015e416-cfdd-4c2e-82e1-23ee1976f97c", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "9ff695f0-8dff-4d7c-b48d-5e8d24eb9a1a", + "observation_id": "dda5ccc2-e5ab-402c-b3d9-14a1d41ca6ae", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "3fa79257-bb7e-46e2-a56c-fe96bef0db7d", + "observation_id": "ca44452e-2039-45ea-8d73-6a49d582b540", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "58d0455c-18d4-4a69-bf53-9c9e24c6c54c", + "observation_id": "5437d8ce-c9de-443d-9865-77fb8f868e5d", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "f72054ca-53f7-40d1-adc3-dc2809ec61ab", + "observation_id": "cba5ee99-d659-4f78-8ec1-09d9fc4a7c3d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "ccc13dc9-b770-41e9-93e9-d9a67f3ef34b", + "observation_id": "660d4efd-e7d4-4194-b73c-e00a37b089fd", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "78c60482-e283-4130-9751-52161efbdb81", + "observation_id": "7078c483-4ea3-408f-ac65-7d7af332be25", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "5efeb662-fe92-4cf7-a0e6-7de7f0808f2d", + "observation_id": "be144fc8-b878-45c5-8d95-5d7ff5b7dd25", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "560d460d-3725-4cb5-bfee-b1308d273eec", + "observation_id": "e5665d8a-59db-4b8a-b9fe-62429bb59225", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "438148f5-8919-4bf8-8366-69abb930e449", + "observation_id": "55c3fd16-3ffe-4904-a90d-4a87eeee8def", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "c5514ae5-70ec-4e7b-a138-fbcd05744dfe", + "observation_id": "bcfedb69-2ca5-43aa-83fd-0ce36d3a3994", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "8ae35cd0-6c6c-4594-9607-0e5a4a01cf16", + "observation_id": "789f346e-c437-4543-a8e8-8ca17442b567", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "a6df6b8a-9c07-4f11-85c0-6864da1f60b0", + "observation_id": "2dd300a5-cc31-4f88-b616-93101072efde", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_bcdefg/render_e_camera_pose.json b/data/camera_study/Scene11/k6_bcdefg/render_e_camera_pose.json index 7a141b7..5b9d3f9 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:21Z", + "created_utc": "2026-06-02T22:43:38Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_bcdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_bcdefg/render_f_aruco_detection.json b/data/camera_study/Scene11/k6_bcdefg/render_f_aruco_detection.json index 1d95dd5..111a7e6 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:20Z", + "created_utc": "2026-06-02T22:43:36Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "11cd5fe0-34c0-4acf-9fb5-ff22a2c9a07e", + "observation_id": "f2c3a62c-ac4d-41d4-b2c4-55121aa84b80", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "96fd67d9-38bd-4c12-97ba-f03cf1d5b7f8", + "observation_id": "8127c395-d4a4-4a49-8c49-d3a3762245e0", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "19f66eee-7ca5-43d3-a99c-63ebf11f108d", + "observation_id": "43b59fb3-a897-44c7-b8dd-d36205407dfe", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "ffdb3dbc-8337-494f-8913-aa3297ce5449", + "observation_id": "4151f5b5-bc20-4081-b867-6730fcedcd8b", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "d2876a38-01cd-4b60-bc6b-dae08765e317", + "observation_id": "cad989d0-81fd-4d1c-a4c8-ca6d9001adeb", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "32055edf-e746-4753-b923-c47c3dfe3270", + "observation_id": "4ef24c8d-a124-4d39-8a1e-f2c881c7ee63", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "7cbefc05-2875-4180-87fc-0fa6b176f3cc", + "observation_id": "f1ab5187-e931-4919-90c0-18a66f294d0e", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "da9d4dd2-bd41-4ead-b531-9d7c47dbdbca", + "observation_id": "fd8b540e-fd8c-4c39-aee7-0208ffa16bb1", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "ecb14f0c-2f8f-4e41-b27d-eeebccd1f9d8", + "observation_id": "8094bd4f-c503-4bee-97c3-d7aaa80e8cf1", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "7232eb80-b06b-4aff-9706-bb9d3a88c83f", + "observation_id": "d5be92cc-1b5e-4d88-9643-bcbd607a411a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "6779c985-1ea9-48bb-b3c0-4eb0e590a355", + "observation_id": "7875d8e7-b0cf-410a-b0fe-685690bc3ae9", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "eedb9869-99fe-4360-9e64-c6525a641ec7", + "observation_id": "19051488-278d-40fd-b3c5-6bbbcaff41d1", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "294cf588-3dfc-4303-ac56-2e1897197b8e", + "observation_id": "9644a679-d6f2-497f-bdcb-d14be449c4ff", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "d91bbecc-2c85-494e-8c41-56b709648156", + "observation_id": "26b8142f-c62e-4488-87de-8138e6aae81c", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "47435b62-0d4a-4e23-9f5e-2f2805f69326", + "observation_id": "a1e45bd1-de8c-4f93-9894-64ccbd98c11a", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "32cf2443-ecf1-4f38-ae88-6199cce33a7f", + "observation_id": "f1096dad-616f-4bfe-9dfc-b1205cf71c06", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_bcdefg/render_f_camera_pose.json b/data/camera_study/Scene11/k6_bcdefg/render_f_camera_pose.json index e21c858..c95ecc5 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:21Z", + "created_utc": "2026-06-02T22:43:38Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_bcdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_bcdefg/render_g_aruco_detection.json b/data/camera_study/Scene11/k6_bcdefg/render_g_aruco_detection.json index db3c394..1f74eea 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:20Z", + "created_utc": "2026-06-02T22:43:37Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d088ce8b-9fe6-424b-bde0-3f35cf9e2002", + "observation_id": "c97cab0d-9026-45ae-a54c-47da62a7f955", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "9ddd3079-9182-4da7-a77a-bdc35e3d3c51", + "observation_id": "d43d6fa4-af6b-4869-a890-60407400a817", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "6bac708d-4b9b-4511-8697-68704b284cfe", + "observation_id": "96c00b2b-afaa-41c7-9a78-540d89383069", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "f5c0df90-de97-4c28-bfe7-3146b85f4a68", + "observation_id": "f31779f0-a4da-4464-9a59-d2b011ec0eb7", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "1e1a4fdd-5519-4842-b4ce-2a5977bc2409", + "observation_id": "c517252f-5e0c-46be-aa88-a5badd3c4319", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "3d6d464a-571c-4a42-9e17-8b4a5732bad0", + "observation_id": "f9b965e2-0bb8-4157-bcd2-982e287fe7d8", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "6296e502-c367-42a9-ac2c-832c0181fa06", + "observation_id": "ad39d485-3a11-407a-b1c4-d44c988ac204", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "720b3bd4-f2a9-4990-9c29-eff46f081289", + "observation_id": "6f97974b-7f97-444e-9fe9-56bb55843eeb", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "33c6d169-0d55-41ea-9193-9fb5215f9480", + "observation_id": "9df3e000-e2f6-4272-806d-82325fedd6b7", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "8634c875-fd2e-4fb6-8165-dd114c573488", + "observation_id": "d03b0097-276d-40af-afac-b74121c65d42", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "01265e20-57d0-44ab-bb87-ea600fde5bad", + "observation_id": "ca93e1f7-b3e4-48cf-9411-7828326c7ac2", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "e8356db2-f743-49df-9aed-d3da2801e4f9", + "observation_id": "ab21f867-80fb-43b8-9784-d132b9833c13", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "fe16c918-e821-4f80-aa21-1e707154215a", + "observation_id": "66175776-20b4-40a9-a92a-db9565515756", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "feed5261-4157-4bdd-8307-8d97076e55ea", + "observation_id": "ad195f95-6607-42dd-bc89-2c29006e2661", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "bdc9fc80-5d15-4d03-aed0-1348cb46aaca", + "observation_id": "83767fa4-a0ab-4a1e-8f17-4aa4369352c3", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "c8f17682-52ff-415a-a163-fe1345342f25", + "observation_id": "dbda355c-96b8-4d48-ae5d-00885741279b", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "aca8f5f7-cf3b-4e51-b050-465892e5c53a", + "observation_id": "6c8ebd86-226d-44ed-a84f-979ad8dbdb67", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "d2698f03-695a-4c3d-9329-91772de074fa", + "observation_id": "090ee7af-bd90-4a22-bf0e-f92282129858", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "86713990-9e3f-412e-94cc-394c8ca8e6c9", + "observation_id": "52186192-d207-4b02-9baa-e30866005ab3", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "dc06c840-4205-4faf-8b77-e52af310a756", + "observation_id": "9a0bf8a2-331f-4fc7-adca-0b1981967de6", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "0e80447d-e4aa-487c-98ca-4ddb1d9bcd67", + "observation_id": "b92e11ae-ab3e-42ad-a411-5fa5a0daf6bd", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "ec2873e7-a404-40e0-a3fb-24ee03826e2c", + "observation_id": "9e50faf9-899b-42c2-851b-b349cd518307", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "5a830062-0f1f-4fe9-ad08-8e5221d87223", + "observation_id": "1425a56c-2298-4ef0-8f58-6e810ae84250", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "a87ccbd4-5277-4719-b937-5f5b67d530f0", + "observation_id": "e841dee8-d1d3-4e55-8af7-ae1dcae18fc0", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "d2bf8bae-ef8f-4f88-be21-ce0d907334ea", + "observation_id": "5707aed0-b060-4492-9036-4a549969d1f6", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "6037aef9-8a73-4e91-8e35-ddcd3bb948e2", + "observation_id": "45a1e140-1764-4875-8595-c9218cff0866", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "15237aa6-3203-4100-b367-3c3eef84e497", + "observation_id": "fe0372ac-29c4-4b09-8729-249dbe56ec7a", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "5a76c75a-27fa-4176-b681-a63778947d12", + "observation_id": "db391e6a-fea7-452d-842a-28a0a1620672", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "66ab7908-f306-4d9b-8784-b4c6be352d1d", + "observation_id": "6e7d1048-8faa-4ef9-aa6a-b5a2a7145ea5", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "7d667637-8b41-40d1-8692-9af9992024b3", + "observation_id": "8ebc3928-01dc-4a9f-8716-41791001ce24", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k6_bcdefg/render_g_camera_pose.json b/data/camera_study/Scene11/k6_bcdefg/render_g_camera_pose.json index 27b1d28..775e6ce 100644 --- a/data/camera_study/Scene11/k6_bcdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k6_bcdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:22Z", + "created_utc": "2026-06-02T22:43:39Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k6_bcdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k6_bcdefg/robot_state.eval.json b/data/camera_study/Scene11/k6_bcdefg/robot_state.eval.json index 89be8a5..b1a8373 100644 --- a/data/camera_study/Scene11/k6_bcdefg/robot_state.eval.json +++ b/data/camera_study/Scene11/k6_bcdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.0277657205281514, "mean_abs_mm": 2.474000055613467, "max_abs_mm": 3.927114655323729, - "finger_error_mm": 2.958328185910413 + "n_unobservable": 0, + "wrist_error_mm": 1.115139205113023, + "finger_error_mm": 3.721767011031016 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k6_bcdefg/robot_state.json b/data/camera_study/Scene11/k6_bcdefg/robot_state.json index 63f2d62..1937644 100644 --- a/data/camera_study/Scene11/k6_bcdefg/robot_state.json +++ b/data/camera_study/Scene11/k6_bcdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:27:30Z", + "created_utc": "2026-06-02T22:43:46Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene11/k7_abcdefg/aruco_marker_poses.json b/data/camera_study/Scene11/k7_abcdefg/aruco_marker_poses.json index 6ebb70b..579ce3d 100644 --- a/data/camera_study/Scene11/k7_abcdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene11/k7_abcdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:29:27Z", + "created_utc": "2026-06-02T22:45:47Z", "summary": { "num_cameras": 7, "num_markers": 38 diff --git a/data/camera_study/Scene11/k7_abcdefg/aruco_positions_initial.json b/data/camera_study/Scene11/k7_abcdefg/aruco_positions_initial.json index 38a8a75..50512b9 100644 --- a/data/camera_study/Scene11/k7_abcdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene11/k7_abcdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:29:10Z", + "created_utc": "2026-06-02T22:45:30Z", "summary": { "num_cameras": 7, "num_markers": 38, diff --git a/data/camera_study/Scene11/k7_abcdefg/aruco_positions_optimized.json b/data/camera_study/Scene11/k7_abcdefg/aruco_positions_optimized.json index 2d0cd05..b29a225 100644 --- a/data/camera_study/Scene11/k7_abcdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene11/k7_abcdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:29:27Z", + "created_utc": "2026-06-02T22:45:46Z", "summary": { "num_cameras": 7, "num_markers": 38, diff --git a/data/camera_study/Scene11/k7_abcdefg/render_a_aruco_detection.json b/data/camera_study/Scene11/k7_abcdefg/render_a_aruco_detection.json index edeae3c..bb8532f 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_a_aruco_detection.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:05Z", + "created_utc": "2026-06-02T22:45:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9962b807-c216-44d6-aa80-0fd90d62692d", + "observation_id": "505b69e1-6948-44cd-8ab8-885300a848fa", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.5786804292290704 }, { - "observation_id": "b9893976-ee9e-42f4-ad45-6bbfae597e0e", + "observation_id": "f985b206-922d-46c9-9b89-0cda00cf7374", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5267904838375692 }, { - "observation_id": "5632b77c-069e-4f8f-b8c4-b32905e5cf43", + "observation_id": "5d2f5657-3873-45ae-bd3a-41b011bc7a71", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.45825333339492397 }, { - "observation_id": "918093d2-65f1-41ba-9224-d6c1edb434a6", + "observation_id": "2b16a1fd-1a67-4d99-9beb-272d36c8130d", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.07950295894946531 }, { - "observation_id": "abdb7381-e52a-426f-bb4b-4938580ef7b6", + "observation_id": "f7a265ff-3e16-4315-8f6a-1084f4cdba22", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.45856909790460193 }, { - "observation_id": "74110421-24f1-4a00-8657-0120afa91491", + "observation_id": "e28f5e6a-89cb-44be-b005-535b6940959b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5909530448913575 }, { - "observation_id": "dc31d6b8-23a4-4f74-ae47-b2432fa334a2", + "observation_id": "68de6df4-6e5d-4c14-a72c-d322658bd5d1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.4539195577436192 }, { - "observation_id": "089c180b-2639-44e3-9886-aee7db3d1962", + "observation_id": "cfabd68a-fffd-4cb9-ad1a-a946b1b6f120", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.4791393330100856 }, { - "observation_id": "93014081-02a0-4a47-9c98-56321a047130", + "observation_id": "bc50b174-da18-4b58-8caa-a8d41bc702e6", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3500237207062636 }, { - "observation_id": "2f7ea08c-bd01-45bb-aa8d-ed0d633a9f05", + "observation_id": "9316b82e-67c5-4ce2-811b-0cbb38effad0", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.47818895251106325 }, { - "observation_id": "23519dc0-1f46-4cc6-9740-837e35293b97", + "observation_id": "b9dd04ac-24fd-43f5-a5f8-6195e8d0694e", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.25798445457040825 }, { - "observation_id": "159ae757-a70e-4bfe-b9f0-dcec7d19ba6b", + "observation_id": "eaa3253f-e0c9-4c42-ad8e-6757518e1a4d", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3154472793404363 }, { - "observation_id": "45d54a24-10d9-46ae-8715-565c1761a87e", + "observation_id": "87e43b3f-40e1-465b-a4d6-1344b22c4caa", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.23928367610236692 }, { - "observation_id": "9fad4f68-8b9b-456e-acab-f88d3d33b37a", + "observation_id": "cb2d3988-f89f-4863-a432-079250015c15", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.28706086767352934 }, { - "observation_id": "0c4a5f40-b60b-4499-b734-1969d137e7db", + "observation_id": "11196385-33b9-4c4c-a778-bc45ff214a4c", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.333368702898709 }, { - "observation_id": "8b53c9e9-2bc4-428c-ba90-2ebfc006da7c", + "observation_id": "b77c122a-7644-4370-a87e-f4624c5699aa", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k7_abcdefg/render_a_camera_pose.json b/data/camera_study/Scene11/k7_abcdefg/render_a_camera_pose.json index 9bf099f..a2452d6 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_a_camera_pose.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:07Z", + "created_utc": "2026-06-02T22:45:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k7_abcdefg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k7_abcdefg/render_b_aruco_detection.json b/data/camera_study/Scene11/k7_abcdefg/render_b_aruco_detection.json index 116e395..882d38b 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:05Z", + "created_utc": "2026-06-02T22:45:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a4a59ba8-dc81-4770-a1d3-be669ec9ec18", + "observation_id": "7b89642b-07f5-4354-b529-3d59be0b5287", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6107309387931933 }, { - "observation_id": "75012856-4219-461b-a976-0f4497bf3e1f", + "observation_id": "6d39b157-0401-413a-97dd-d5a5b35df541", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.3929759102303376 }, { - "observation_id": "952294c1-22ac-4732-9dd6-8868c611d315", + "observation_id": "64c011c1-946d-4867-bef2-0309ac2ba1a2", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3706021060264744 }, { - "observation_id": "dda519da-fc5c-4c4a-9c3a-b18a7a4d26ee", + "observation_id": "258714af-b30c-416f-adef-1accecd5ffda", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17595316357979146 }, { - "observation_id": "147754f6-770a-4b02-b3a6-deb4ef947cfb", + "observation_id": "afdbac66-cf7d-4418-a9fe-6ee61d2ca7eb", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36477504882812506 }, { - "observation_id": "adfb1e0a-7b70-4bc5-962a-fd00cd819df5", + "observation_id": "dbdf28b6-af18-441a-8535-acd77beaea06", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3840513212463472 }, { - "observation_id": "b7b69fb5-075c-487a-a27a-0d75b634bf20", + "observation_id": "0fb38c71-4bb1-491a-905e-e299c0cd8ef0", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35450544884049867 }, { - "observation_id": "842c2270-1013-46bc-988a-683287f004a0", + "observation_id": "28a255ba-00dc-42c2-9796-bd766a4c43b0", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.434623576552645 }, { - "observation_id": "72295ea3-60f7-4415-8496-d9939fe6ea49", + "observation_id": "34f8fe0f-dbb9-4091-bc31-6d46016a5fdb", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.3856676811642117 }, { - "observation_id": "cca17697-b88e-4e6d-bad7-768c2db88ab7", + "observation_id": "c4df0dfc-4e9f-4d45-890a-af7ced5dc103", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43767223170109143 }, { - "observation_id": "18876fa7-fe32-4f50-8c12-086b0bfb7efc", + "observation_id": "f3913ca2-0f01-4864-ab1e-d9d4d330551c", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.389399536116577 }, { - "observation_id": "904bdbbc-6e7a-43ba-8ff6-34c2766f5d0e", + "observation_id": "5b282289-46c3-4583-a618-08a1851c8168", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.3825847999309671 }, { - "observation_id": "aa3cbe78-e175-43dd-8801-7badffb16316", + "observation_id": "fb2a2adb-52dc-4d61-b7e9-67b735320558", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.3317966979370123 }, { - "observation_id": "b743be25-b649-4e37-9eaf-00c0045c494f", + "observation_id": "8657a5d2-a4c0-4c23-b76c-9b1eca3726a6", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.3395752369504029 }, { - "observation_id": "73ff5fa2-4600-488e-8a3e-e11e273fc5d9", + "observation_id": "a9f57dd1-85e1-42e7-9cf8-2ca755d9106a", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.32331803933574066 }, { - "observation_id": "0af1920c-aea6-41c4-bb6a-19cc022c4a8f", + "observation_id": "9fab5894-54e0-4053-8577-f40d99b298a5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.22025034627606796 }, { - "observation_id": "176f769c-b003-47db-993b-4075de8dfaa0", + "observation_id": "4a68983e-2494-4843-8834-46ed0389549c", "type": "aruco", "marker_id": 45, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.32397957052881093 }, { - "observation_id": "ef6aa813-ba0c-4e7a-8db0-d3cdd1764158", + "observation_id": "d22a493a-a353-4cf3-84cf-3e5b5379eaf7", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.27786341567585565 }, { - "observation_id": "4c525545-4c62-4e2e-a14d-81218f5eb9ba", + "observation_id": "f6fc9ddc-29c2-4b55-ac79-5939ef4a2b84", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.21897944641113282 }, { - "observation_id": "521d1e6c-1215-4906-9e9c-d6ead62dddcb", + "observation_id": "b96fd430-8e4f-4b84-8110-758f43f0658b", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2019269129002111 }, { - "observation_id": "2a7ae81d-6c78-4e87-b773-af4f2df75b00", + "observation_id": "8becd2fd-804b-4a92-b649-4b1a02537e8b", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k7_abcdefg/render_b_camera_pose.json b/data/camera_study/Scene11/k7_abcdefg/render_b_camera_pose.json index a10a205..f2aee23 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_b_camera_pose.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:08Z", + "created_utc": "2026-06-02T22:45:29Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k7_abcdefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k7_abcdefg/render_c_aruco_detection.json b/data/camera_study/Scene11/k7_abcdefg/render_c_aruco_detection.json index 903407e..dd1465d 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:06Z", + "created_utc": "2026-06-02T22:45:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e93fe00e-29b2-4f53-89aa-a002908cfe83", + "observation_id": "82605ee3-4f39-49de-ad47-1e43b6a73541", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9420768601493317 }, { - "observation_id": "0bc4415b-b5bb-4d4f-be55-b17f9e58e2ce", + "observation_id": "15e8822e-f408-4b84-8c88-a0f1b88c0cb2", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.9235032286251245 }, { - "observation_id": "65eace3a-9d1a-4a10-b335-c370cd24c1f1", + "observation_id": "579118e0-0593-4149-9360-f6260b3df7d3", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.8625970205637239 }, { - "observation_id": "b5e633e1-cc22-44bd-961b-6924a4a0f17f", + "observation_id": "dc2d9ce6-0b45-4de5-b2de-bf060a1c6ef2", "type": "aruco", "marker_id": 231, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.17881048087784743 }, { - "observation_id": "93afc3ff-8de8-4578-89b9-3265be222c9f", + "observation_id": "f1e97027-d1cd-40c3-b67c-ba1ef980b790", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.20477733633431033 }, { - "observation_id": "77e2c36a-e277-403f-97c8-ad6f59555107", + "observation_id": "bbf08fd6-5dd2-4116-9208-6ed2be9f4238", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.2845709023049064 }, { - "observation_id": "61470bd5-881f-41fc-b71e-41a1075526ec", + "observation_id": "4328b2d3-bb76-4ca3-afe5-89dd183de2db", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.24539008992288097 }, { - "observation_id": "d76e508f-683e-465d-adbf-b2e36dcb27c1", + "observation_id": "eab7c459-9c26-454e-8a1f-c87dd8382fcf", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.21802935857527475 }, { - "observation_id": "d5a221db-855c-4dc0-b843-d4450fb588f3", + "observation_id": "94e9d685-d1f8-457c-b00c-36f97a0b7ad3", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.1993783538024228 }, { - "observation_id": "e904daed-3b46-47c4-95d4-a1fe5eaef045", + "observation_id": "a680f4ad-0284-4239-ad5d-f3cf2bebfdfd", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k7_abcdefg/render_c_camera_pose.json b/data/camera_study/Scene11/k7_abcdefg/render_c_camera_pose.json index ea0de02..c0d1fb4 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_c_camera_pose.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:08Z", + "created_utc": "2026-06-02T22:45:29Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k7_abcdefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k7_abcdefg/render_d_aruco_detection.json b/data/camera_study/Scene11/k7_abcdefg/render_d_aruco_detection.json index 71c2133..12b3d04 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:06Z", + "created_utc": "2026-06-02T22:45:27Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b04149f4-8bec-42ce-8a43-64b9680cb352", + "observation_id": "3df2131e-0af7-4efb-b75b-f8a1998c454a", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.829467624292598 }, { - "observation_id": "32666d3e-77dd-4500-bbe7-59780a9724cc", + "observation_id": "090888fe-259a-4cc2-87d3-ed64964e783e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8205450279510453 }, { - "observation_id": "99680bfe-67b3-490e-8631-40ca9284afa3", + "observation_id": "b4877ee7-f0eb-4fad-83ad-adf8bc031959", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.486873446820577 }, { - "observation_id": "0b5074b2-0d43-4a87-ab82-c004cf439832", + "observation_id": "926c0a1e-4616-44e9-9c2e-c65d09e99fef", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.06082651601087287 }, { - "observation_id": "e459795d-84dd-4c9b-a22d-01126604332c", + "observation_id": "7d2e48b7-ab22-4afc-b2f9-f631cc512706", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.36962615702167145 }, { - "observation_id": "84da81ae-6926-4ed9-a282-4250918871de", + "observation_id": "f963b120-9009-4858-b1ce-e3be235a8da0", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7656879748659173 }, { - "observation_id": "481c9de8-f542-4c1e-b58e-abb5af29167e", + "observation_id": "acab1b36-4f14-455c-8da6-9a1ce96ef995", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.35906891551347886 }, { - "observation_id": "49a81002-a568-4a05-a8bd-9e19b52d2887", + "observation_id": "bfa6cb30-ac1b-47e9-a4fc-b8f2104620d8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.13751453171188766 }, { - "observation_id": "70e55c9c-b5ca-41ce-9410-97f6a5a2421b", + "observation_id": "f399357a-0b82-498e-b496-e4c1a070d0c4", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.41073527975223467 }, { - "observation_id": "dd33cb92-528d-42f1-96e8-2dfaf29d866d", + "observation_id": "82f3b31b-6548-451a-bf88-129cff68f2d1", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.3007488111128563 }, { - "observation_id": "0cbfc3f3-2eaf-43e6-abfe-c3bc1b86f986", + "observation_id": "f27ea0c6-99af-4127-a2fc-5be4512d2f51", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.2383767163648745 }, { - "observation_id": "e16bf2bf-2f7d-40bb-a87f-c112af3162d7", + "observation_id": "fc5f8761-ab45-4412-b95d-8645a5379022", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.31959220576599684 }, { - "observation_id": "870d0a1d-e74f-4d94-a9e0-d8c8e3990f0d", + "observation_id": "8f8b4066-e9eb-4d88-80b8-e598125e9ba7", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4329145227793108 }, { - "observation_id": "e111f6cc-2b5b-48be-8f2f-6448e0daddc7", + "observation_id": "eaff5813-37e6-4876-8e4f-bfeefbcaea5f", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.21747661179321545 }, { - "observation_id": "e7ed5c95-610d-4f9a-bd32-6e246fabae8b", + "observation_id": "b7077f92-759e-4c08-8a8a-c0eae6e8aae8", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.10176909304135646 }, { - "observation_id": "ea248281-ed27-4d7e-b471-0109d4ea0a27", + "observation_id": "e8ed008e-893a-4995-bb3b-e1ea2d88c409", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k7_abcdefg/render_d_camera_pose.json b/data/camera_study/Scene11/k7_abcdefg/render_d_camera_pose.json index 261ff92..38139ff 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:08Z", + "created_utc": "2026-06-02T22:45:29Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k7_abcdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k7_abcdefg/render_e_aruco_detection.json b/data/camera_study/Scene11/k7_abcdefg/render_e_aruco_detection.json index 5182e2c..ad55d04 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:06Z", + "created_utc": "2026-06-02T22:45:27Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b8ed63a2-d07d-42d4-b9fc-bacf99312da6", + "observation_id": "a4f824f8-24d7-4430-ac9e-6d9705d2a657", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.14766715850245912 }, { - "observation_id": "d3d76b83-1bdf-48ef-bd05-f84e4bfcd20e", + "observation_id": "5c284908-62e8-4b19-855b-14999f61d46a", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.31040235026858615 }, { - "observation_id": "7b5fffc8-112b-4214-b680-7e8885eb2ada", + "observation_id": "72cea259-a5f5-4756-bb14-16414e80467a", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.4255196769566763 }, { - "observation_id": "14f60ae4-0cab-497c-86e2-34daffbb9503", + "observation_id": "7cd4019f-1dae-4540-b3a7-d6ddb644b8c0", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.261936977185694 }, { - "observation_id": "b2ffd3d9-ec10-494f-aae4-3574054b4e29", + "observation_id": "9a9381dc-95dd-4520-a452-35e4d419cdb7", "type": "aruco", "marker_id": 120, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3275434554324533 }, { - "observation_id": "d82ef12a-41bb-4d69-9f31-97fe4ba70ca9", + "observation_id": "f242fbd0-20b4-4212-8c9d-9252a2a6d123", "type": "aruco", "marker_id": 114, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.3018827123318634 }, { - "observation_id": "fdf4e2c2-f641-4c92-ac19-85eb5b188883", + "observation_id": "2325a0c3-1410-4ad7-808e-1326ce5f9c50", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.29470267815689305 }, { - "observation_id": "0a670dac-b754-455e-b318-308fefec8e16", + "observation_id": "992b4525-bf29-47ba-9fbd-3f44fd44a4b1", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.2320355751581732 }, { - "observation_id": "095f206a-4d26-4fdf-941c-f0ca20397f31", + "observation_id": "a718ede0-e5b8-427f-aa3d-44b8b7ebe8c8", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.18434674728219572 }, { - "observation_id": "b3173a08-9011-4e81-a2fa-236d96fc804b", + "observation_id": "52d5a94a-49a7-45ec-9cda-fffc936e90e9", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.15690567239379535 }, { - "observation_id": "89a91d0d-b534-4afb-89cc-7a9c4f1217a5", + "observation_id": "fca6f858-4fd0-48d7-b535-9155923123c6", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.3058267426793435 }, { - "observation_id": "2e27f029-e625-4024-888a-6e2c5053038b", + "observation_id": "4f4bcdd3-3803-4936-bcfe-0a80ae27daf9", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.13639287915585202 }, { - "observation_id": "2cc13c0b-af21-442d-9553-ab55bb03c2ea", + "observation_id": "f4255e0c-0d2e-4925-a7fa-48ca1b30ce58", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.17809957875150353 }, { - "observation_id": "bc8236e9-e6e6-4117-98a7-b5b01739c574", + "observation_id": "6fecf477-2bb5-49a2-bfb0-fc775275cd63", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.23718774453719485 }, { - "observation_id": "d95d4672-8f1d-49d4-89a5-5dfeb6f897c4", + "observation_id": "37040ea7-7f27-4643-aa88-ca53055862c8", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.15466714018740998 }, { - "observation_id": "95a175b2-ac51-4533-9111-4d340e046b94", + "observation_id": "451174d0-d6cc-4436-b844-ac46a52514f0", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.12790377393343658 }, { - "observation_id": "10e358b6-3ca9-43bb-8ceb-fbe813c57dc3", + "observation_id": "5856ffc3-790a-4cae-9c60-648e96087ebc", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.1889374000059173 }, { - "observation_id": "889c8844-8845-44d4-a265-6ac021504128", + "observation_id": "dec46368-8a41-4341-b13f-0588501dcfbf", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.10911142441352696 }, { - "observation_id": "1bc8b59f-628f-40a7-826c-a1bf8e5675f6", + "observation_id": "9f908106-c2ad-40e7-9116-71db679bc867", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.1602523119115797 }, { - "observation_id": "06bf7881-a09d-4f73-bdd6-f1cf9d468758", + "observation_id": "80aa8784-4cf3-4b8d-8a3b-c85d0ce829ce", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.2110715865468063 }, { - "observation_id": "41054ec8-1786-49de-b94b-8c8ccb2a3a3f", + "observation_id": "8431ccda-b3fd-4fe2-9dfe-ea1e09d188a5", "type": "aruco", "marker_id": 215, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.1299020584933079 }, { - "observation_id": "25c4a119-98b0-4d48-80e0-89c55a0987d3", + "observation_id": "4f1fb639-fd8c-4caf-9c9a-edd47d9ce515", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k7_abcdefg/render_e_camera_pose.json b/data/camera_study/Scene11/k7_abcdefg/render_e_camera_pose.json index ee9bc31..dae5791 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:09Z", + "created_utc": "2026-06-02T22:45:29Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k7_abcdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k7_abcdefg/render_f_aruco_detection.json b/data/camera_study/Scene11/k7_abcdefg/render_f_aruco_detection.json index ebc879b..4563a53 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:07Z", + "created_utc": "2026-06-02T22:45:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "578c5f05-aa29-48e4-8a09-e18a71061193", + "observation_id": "e0d8c9a4-6000-4c90-8a25-6e48448ca0eb", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6336156358091289 }, { - "observation_id": "2c226a1d-0dd4-4ba3-869c-4520cb986d5e", + "observation_id": "be2758fa-ec2e-476d-8f5a-76c7fee1f345", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5428712495800384 }, { - "observation_id": "52905b84-d00f-440b-b8e1-e7faebce7b8d", + "observation_id": "23a6d4de-9ffb-4e15-bd46-ee59aa7011b2", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3159706492088821 }, { - "observation_id": "951c0893-bc58-4f0a-92a0-70c0ba759d46", + "observation_id": "448dd114-743f-49d3-8c4a-1b01e0209331", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5351387431232155 }, { - "observation_id": "a72592cb-960b-4047-bac2-01778b1c44b0", + "observation_id": "56df52ba-6a01-45ba-8813-9da10366a489", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5341344274256629 }, { - "observation_id": "34426dd3-e2c8-4e31-8beb-1f92e868a095", + "observation_id": "e39d822f-260f-4655-9e4b-3f3434f35b07", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.17144184573051313 }, { - "observation_id": "af2f5929-a0e0-4ad7-a6b4-913f6ea0b34d", + "observation_id": "5313ea8b-c4eb-4dfc-a730-2434450a0dd8", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.5065168665005101 }, { - "observation_id": "2ce29cfa-a2ac-4e6d-9ca5-5434f562517a", + "observation_id": "69eaa908-7a97-4b88-b855-f67a31ce59f1", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5039410452696613 }, { - "observation_id": "48f1c92e-66c1-482c-acd7-03d87d53c867", + "observation_id": "abc71121-e269-4539-9d3d-b1e26e60e39b", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5122595869208664 }, { - "observation_id": "b60bddb2-e343-466f-ab1a-3d8d2f5606a3", + "observation_id": "6e83f0a7-7ca1-48de-9e95-6a0a0c266f63", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4992534885349089 }, { - "observation_id": "11e09d90-0e2e-48bf-ba29-913d437c774d", + "observation_id": "bfd2bd1a-243a-43a1-b482-32d37f08e82c", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.14638465244442148 }, { - "observation_id": "52a0e5b3-d26b-46d5-952d-45909e9c6a95", + "observation_id": "5409d4a5-e84a-426a-b54b-46db51293f9e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.48333333333333334 }, { - "observation_id": "e3dae271-71e7-4442-aeb7-bcc39b876a3f", + "observation_id": "df978571-424e-4659-b76f-02685f70c705", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.4498725719059821 }, { - "observation_id": "8004187f-f220-40ce-9d90-2547a044b054", + "observation_id": "67620ee8-b9f8-490e-a633-7091914293e0", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.45054573733100234 }, { - "observation_id": "a29ac25b-0646-47c5-905c-ac743e80d8d8", + "observation_id": "218b6676-69d1-43f5-a23f-4111b9184740", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.4300811948723771 }, { - "observation_id": "c0510cf0-1bc4-48cb-a965-dbf8a108141d", + "observation_id": "9ea206b0-a33f-4257-a1c3-d83ca932dc8c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k7_abcdefg/render_f_camera_pose.json b/data/camera_study/Scene11/k7_abcdefg/render_f_camera_pose.json index 664dcce..1b66e24 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:09Z", + "created_utc": "2026-06-02T22:45:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k7_abcdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k7_abcdefg/render_g_aruco_detection.json b/data/camera_study/Scene11/k7_abcdefg/render_g_aruco_detection.json index c6efcdc..ea9e313 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:07Z", + "created_utc": "2026-06-02T22:45:28Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "648670f2-33fd-40a0-999f-d4301ba254be", + "observation_id": "e665eb7b-d179-4254-8b21-85c78ee1549d", "type": "aruco", "marker_id": 115, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6246585516013137 }, { - "observation_id": "5e05a487-1b53-4d2a-9a8d-f8bb55f30944", + "observation_id": "86429547-2898-4a3e-a0ca-6db163faed56", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5480404552254792 }, { - "observation_id": "5f252f23-608a-464f-a19e-c25133715383", + "observation_id": "88883259-441d-467e-906e-b2c2cafaf8e4", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.532040046382037 }, { - "observation_id": "d636e399-8ed5-4bbf-97f6-fe3b570a39f6", + "observation_id": "2f513b9f-f7d6-4ada-9014-40d23c18f42c", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.5170255712092 }, { - "observation_id": "f516853c-57b4-434c-b809-cd0922dd3201", + "observation_id": "e08752cc-05d4-4bdc-8409-31e15157ffbf", "type": "aruco", "marker_id": 44, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.3309545200598999 }, { - "observation_id": "f2e4d9b1-e418-4251-8fcc-ec5ac452f0d4", + "observation_id": "d774494a-fb29-441d-b0f9-32c512292b08", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.48136533624324795 }, { - "observation_id": "8caf80d9-fafb-438e-b9fc-a265960af0ba", + "observation_id": "47cec32b-2721-4d76-b3d1-c58e17bee3b4", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.23153054349605823 }, { - "observation_id": "8dd005ae-2731-401f-8bc8-360055f0bbb9", + "observation_id": "53ba2851-e68f-4716-b546-aa3292f0068c", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.38624485353870913 }, { - "observation_id": "dc7ae15d-8b27-4946-8343-5b22875e7c61", + "observation_id": "f40b0952-ce58-4e72-a3ac-b720a1f8f0b1", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.40542326455908895 }, { - "observation_id": "2169e067-820e-4423-81d2-c67d0ca08ad8", + "observation_id": "230af715-5863-48f5-84b0-27244e7d1bca", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4309876251267861 }, { - "observation_id": "006c9cd9-8520-4180-bbbe-b9e333ca8bd2", + "observation_id": "d90274b4-a09e-4f48-8150-b19f29821106", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.4316478958478293 }, { - "observation_id": "fc33c6a4-b752-4fac-963f-fbe4823ee3a3", + "observation_id": "c058e314-4bd1-4500-af13-20b6d93002c2", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.43072753786094703 }, { - "observation_id": "c6ee7177-b720-48f8-b1c4-e187ebb641ee", + "observation_id": "40db85ce-79d3-4c11-ac15-0430d4388331", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.1881506025573149 }, { - "observation_id": "4d4ec6b3-9bc2-41a4-93e7-0bec7dfde68b", + "observation_id": "dd7edaee-f426-4b0f-a449-ee677a2e616b", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.36483353590081535 }, { - "observation_id": "d0a292ce-4d21-43d9-926d-53a05a92b970", + "observation_id": "fa94e69d-cd6d-4047-bb21-aca0165f6ac8", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.0435279743462167 }, { - "observation_id": "97f95ca0-bb59-40ad-a1a2-8ccb59cb55c6", + "observation_id": "a837a9cf-c182-454e-9b4e-491e4c72763e", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.20782710644476127 }, { - "observation_id": "58340fae-68ee-4414-9d59-3a28132247d1", + "observation_id": "82134021-dd76-4f8a-94d7-4fca0779ac17", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.3588284331666357 }, { - "observation_id": "ab27fdb3-075b-4983-a495-0a5bc9364bc8", + "observation_id": "e8838f8b-d92f-40b9-9a2d-ce977d64978d", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.33924563726302426 }, { - "observation_id": "83b18bfd-924a-4801-8037-f9567ceb0d90", + "observation_id": "1949391b-affb-4cfd-86f5-4daf6a1b90be", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.36090001446666387 }, { - "observation_id": "d0d04e00-8c87-47f9-860d-4cf2f974897e", + "observation_id": "a1f8ee56-d5d0-4202-8da7-befca325f830", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.29888533398470685 }, { - "observation_id": "4dae8bff-f39d-4c2d-be5a-6efcb0604e70", + "observation_id": "cd484e46-3aa8-4acb-945e-917d02213cce", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.3144395433415756 }, { - "observation_id": "e8c1cdc0-2761-4ffe-b25b-c2fd79128076", + "observation_id": "fcfb90d6-fe03-481d-8244-a6eb4dea1ac8", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3405323974609375 }, { - "observation_id": "8e457a9a-82c9-4a8c-9dd5-0531faba8337", + "observation_id": "3cfa08ac-012c-4233-859b-8a4097aa930b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3590718541167963 }, { - "observation_id": "5f0a0e71-ec09-4acf-ac37-97ac375bcdc0", + "observation_id": "174b2398-ec82-44b0-ab76-fdf91e3c3fc4", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.29443270389118054 }, { - "observation_id": "8e61e0c5-50e6-4a9a-b362-0a7f382f2c06", + "observation_id": "63d87a9a-e763-4a88-8638-6a69771988b7", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.27640167212794914 }, { - "observation_id": "78b75997-f048-4376-a699-ad8edcc680a6", + "observation_id": "2090f3af-c392-4b63-966b-fbfc1bf488df", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2660513635396405 }, { - "observation_id": "9a32b71b-0405-4a2b-92eb-eacef1f6a5d9", + "observation_id": "c06d7907-004d-4a7d-aa89-5d70cdfe4328", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.23824963089694168 }, { - "observation_id": "22452dcf-d563-423a-b86b-5d68b11c9e42", + "observation_id": "14eda672-00ff-46d7-a008-4d89d8533f6a", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.06705319830932129 }, { - "observation_id": "45df5fce-6adf-4c3a-8fc8-010dd4cde7f3", + "observation_id": "6fd25573-3cd6-4248-bfc0-208b7f1b28f9", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.1426000599823447 }, { - "observation_id": "825509f8-5fdf-40cf-90f1-bb8e8f4f4621", + "observation_id": "54131a85-953a-4acc-a2e0-70b431edffe8", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene11/k7_abcdefg/render_g_camera_pose.json b/data/camera_study/Scene11/k7_abcdefg/render_g_camera_pose.json index c56967b..b27e9da 100644 --- a/data/camera_study/Scene11/k7_abcdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene11/k7_abcdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:09Z", + "created_utc": "2026-06-02T22:45:30Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene11\\k7_abcdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene11/k7_abcdefg/robot_state.eval.json b/data/camera_study/Scene11/k7_abcdefg/robot_state.eval.json index f74310c..ba58821 100644 --- a/data/camera_study/Scene11/k7_abcdefg/robot_state.eval.json +++ b/data/camera_study/Scene11/k7_abcdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.8749946227051169, "mean_abs_mm": 0.5259584825219661, "max_abs_mm": 0.6793645450186432, - "finger_error_mm": 1.6919311435066762 + "n_unobservable": 0, + "wrist_error_mm": 1.501779126179452, + "finger_error_mm": 1.9183751839958232 } } \ No newline at end of file diff --git a/data/camera_study/Scene11/k7_abcdefg/robot_state.json b/data/camera_study/Scene11/k7_abcdefg/robot_state.json index 6ac49cd..767d085 100644 --- a/data/camera_study/Scene11/k7_abcdefg/robot_state.json +++ b/data/camera_study/Scene11/k7_abcdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:29Z", + "created_utc": "2026-06-02T22:45:48Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_abg/aruco_marker_poses.json b/data/camera_study/Scene12/k3_abg/aruco_marker_poses.json index 0f88328..d1feee2 100644 --- a/data/camera_study/Scene12/k3_abg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_abg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:31:54Z", + "created_utc": "2026-06-02T22:46:10Z", "summary": { "num_cameras": 3, "num_markers": 39 diff --git a/data/camera_study/Scene12/k3_abg/aruco_positions_initial.json b/data/camera_study/Scene12/k3_abg/aruco_positions_initial.json index ddb8a3a..a277c90 100644 --- a/data/camera_study/Scene12/k3_abg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_abg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:31:52Z", + "created_utc": "2026-06-02T22:46:08Z", "summary": { "num_cameras": 3, "num_markers": 39, diff --git a/data/camera_study/Scene12/k3_abg/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_abg/aruco_positions_optimized.json index bcdf10b..464a481 100644 --- a/data/camera_study/Scene12/k3_abg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_abg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:31:54Z", + "created_utc": "2026-06-02T22:46:10Z", "summary": { "num_cameras": 3, "num_markers": 39, diff --git a/data/camera_study/Scene12/k3_abg/render_a_aruco_detection.json b/data/camera_study/Scene12/k3_abg/render_a_aruco_detection.json index d64f06e..15c8c37 100644 --- a/data/camera_study/Scene12/k3_abg/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k3_abg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:50Z", + "created_utc": "2026-06-02T22:46:05Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "51753c18-bebe-406d-93ad-986110355638", + "observation_id": "b710dea1-4364-48a9-9ca3-3d6ef4ae9028", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "79e51398-2554-441d-85b1-e09cc3b611f2", + "observation_id": "66008ee4-361a-4a02-ae1f-5c9a720fc512", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "778eb55a-f8d5-47c6-87bb-1d78486b5a4f", + "observation_id": "f91cadf9-be5b-46e1-b4bd-8a3ef611484b", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "ac6fac8c-01d2-4687-bae2-ceb6f50d7c1f", + "observation_id": "14d4aeda-bb30-45bf-b3f0-f1f9a6314d6f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8492885602498799 }, { - "observation_id": "d0319e24-ca56-4bf6-a43f-58544f6ac7a1", + "observation_id": "79c498ef-4568-445c-a18d-634c093b3eea", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "b7d2a0fe-12bf-4e44-850e-bbcfd43d2cdd", + "observation_id": "d1b71580-d33d-49df-b079-d42b5d686bb6", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7225899346789976 }, { - "observation_id": "bbf5919b-59b6-4875-9115-9e5962497348", + "observation_id": "40b517a9-5274-4dc8-bd49-eb6d6d0f7ac9", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "a070174f-db79-4357-9b8f-041edea7fe56", + "observation_id": "3d0e29aa-0de4-4ff0-8174-ba7b31842571", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7653498798574592 }, { - "observation_id": "42981ee4-fa56-4f74-ae46-b600fa68c5a3", + "observation_id": "0decb10d-4ae4-4766-bc4e-8cc8167d55bf", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "92f70df4-f69e-4219-a2e8-41b7ed767412", + "observation_id": "d761fcd5-83f6-4d91-8242-23da4c99dacb", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "0cdbc6bb-0150-4957-a3fa-2337d2d35ec9", + "observation_id": "196c1abe-cda9-4093-8ec8-5ab48849308a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "e45a405a-3d20-46fa-956e-53f405c75b8b", + "observation_id": "2d4981b8-f99a-4cc6-a4a7-90863d652225", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "a032871e-09e8-470a-86aa-331a543f759a", + "observation_id": "d5d2a694-6331-47dc-9aa9-47ef65a4b391", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "b361d61a-0c87-49e9-a786-42d5c34f82c3", + "observation_id": "635d5723-a277-4a03-bac4-89cd390de414", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "03441a64-b652-45c1-b196-ac03760f1753", + "observation_id": "87bfb5ba-d574-4954-ba58-c3db3f20de5c", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - "observation_id": "3cc39711-d335-4b20-8dfe-9399b213f72e", + "observation_id": "5c7595f7-a06c-4bcf-b131-90a1c31856aa", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "b6d02535-acb6-4aa5-9628-d6effcbbbf79", + "observation_id": "d1b77027-0791-4d8a-b15d-35986b5dde93", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6589361768588983 }, { - "observation_id": "2b71922f-17b7-4e1e-97f8-639846282c24", + "observation_id": "adbd2f45-121b-4459-8651-a19c2706b624", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "580bec1d-4e03-4ff6-a3e1-641ea5c4194c", + "observation_id": "861d473d-5471-40f3-bf90-5d33f2fc9f49", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "dfe5a1cd-39e7-42b4-823e-96de9d7d11d0", + "observation_id": "469f60ad-04c0-4f56-bf71-1e4b908c4a26", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "49569a5d-6e0b-4e44-9083-6dfa14a714e7", + "observation_id": "7343ae7b-8090-4983-a092-365d9d72c28f", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "8eee5d14-e206-43b6-bc77-c7452e8619fe", + "observation_id": "ab15f2a4-a421-4134-a6b0-a123037ec578", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "c32132f6-bee5-4cb1-9521-550bc1b3d5cb", + "observation_id": "ed2688a2-7b28-403c-93f0-269b5c31c1b7", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "efc73d80-e0bb-42c2-b515-41512e926feb", + "observation_id": "71757f18-618e-4744-835a-33a4404d9718", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "47a5c3ae-413c-45ac-b075-22a9bfd6bb27", + "observation_id": "cfac4417-9770-42ab-b35f-0a95cb243123", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "62793f6d-8c0c-4800-b354-d36448dcc48b", + "observation_id": "a616e3f9-9253-43b8-bfbe-189e435b6994", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "bea45556-d69c-4a98-97dc-5dbb0d1d71a6", + "observation_id": "491fef7b-82a4-44da-bf9e-dfb7d2c157cb", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "b6e4f25f-6bfa-482b-9093-725e1bd206e8", + "observation_id": "609c54bd-a898-4bd8-864c-94532b584d35", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "34d171c9-c0bc-425c-b9d9-d60ce2f59b60", + "observation_id": "9a84d512-838b-43a8-b136-377ed8685698", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "edc7fa5e-b36c-4a29-8ca9-9cd8d458c251", + "observation_id": "8d4332b4-103f-4bc4-baa2-bf2006d7f6bc", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "210a2eba-282b-4fb9-8cec-b396f98c51c5", + "observation_id": "8f8e63c4-ee03-48c9-b5fa-7537f8af6e52", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_abg/render_a_camera_pose.json b/data/camera_study/Scene12/k3_abg/render_a_camera_pose.json index 574b1f4..03d9cf3 100644 --- a/data/camera_study/Scene12/k3_abg/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k3_abg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:51Z", + "created_utc": "2026-06-02T22:46:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_abg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_abg/render_b_aruco_detection.json b/data/camera_study/Scene12/k3_abg/render_b_aruco_detection.json index 2252331..a9e49a9 100644 --- a/data/camera_study/Scene12/k3_abg/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k3_abg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:50Z", + "created_utc": "2026-06-02T22:46:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "6c353bea-7a7e-49a3-a89e-9352c26aa118", + "observation_id": "7f42d892-c256-42ac-886d-1739d9550448", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "d0593f65-6de3-4e71-9485-25dea60d2716", + "observation_id": "b2fccb82-7c66-4b53-9eec-b9240bee609b", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "706c7fdd-39ef-4838-9b5e-0ef69022df24", + "observation_id": "950d04dc-b4d3-4586-bd75-63d7e229b209", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "62eb201f-77c2-4c36-a020-4b64158c58be", + "observation_id": "14c2a00e-f221-431f-8533-0b571745658a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "b60b77ca-36b0-4d61-9f15-d050fccedf28", + "observation_id": "737044b4-90ea-4a90-bb77-9ab2d5ee30e1", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - "observation_id": "c1b602aa-691d-4fd2-ace0-93edde2ab5da", + "observation_id": "33c3b640-8215-44a0-a814-1117eed0ea16", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5337876600066706 }, { - 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"observation_id": "9541d9ac-a1dd-46bc-8cc1-f5b607129670", + "observation_id": "960be940-743f-47a8-b009-f3c3ae264499", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.608276252746582 }, { - "observation_id": "3945ddc1-f5ee-4bd4-86ac-61156505e3ec", + "observation_id": "37cd1b35-a7a6-4d30-8472-63fedac181dd", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "e7a73ff4-3e5d-4a19-a0b0-e528d8ef049b", + "observation_id": "b92d7bbd-4353-4293-a1b9-fad8a3931622", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.575866171800068 }, { - "observation_id": "1fbc40d3-ed36-4c6e-b232-5c2450983995", + "observation_id": "48abbc9d-1259-4ff2-909d-1a7d9ed0c4b6", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5222013240250092 }, { - "observation_id": "a2f07f46-b054-48ee-88ef-6871751f7778", + "observation_id": "4a5b7a67-7bff-415d-a9c4-f41cf5b06d31", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5371779083705701 }, { - "observation_id": "569d7d25-27af-486c-a25c-0bbddf3ab524", + "observation_id": "4ee2f92d-5cee-473b-b71c-922b647dfb56", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5147474747474747 }, { - "observation_id": "417f1f51-b67f-4556-b046-9317b0a1e4d1", + "observation_id": "da3a268e-7ac9-44d5-9648-ce2fe1f1ab10", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5240808080808081 }, { - "observation_id": "b91f0d58-b7a4-4dd6-8dce-05a35a3518b4", + "observation_id": "6a236343-3af3-4909-95cc-14dffcabdac0", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.528147602404417 }, { - "observation_id": "bfb4f566-0a2b-4157-a111-b18f348a1cef", + "observation_id": "ac9d7e65-9b9c-41a9-9668-74e7ba03fd12", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.4523581982780906 }, { - "observation_id": "2fdb332a-94c3-42e5-b5d0-ce753c37e6aa", + "observation_id": "227f188a-e895-444e-9b9e-f9fafb5bb460", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "7b95e73e-0ccd-44b1-aa2a-2fa5b5cb3163", + "observation_id": "bc301f9f-2dd6-4a29-9de8-967b8780c95a", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4461531673319199 }, { - "observation_id": "2d7b3972-6edd-46bd-827c-873e69661f97", + "observation_id": "f2acb82d-f6da-455d-9034-af5fe4c59622", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.42861533927775625 }, { - "observation_id": "394f2724-67e8-478e-b8b2-92fce06c6a67", + "observation_id": "1a709e91-f685-467c-b627-670fbf1daa7f", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.42023766965581094 }, { - "observation_id": "5a247621-a137-4a1c-a8da-224a08de699d", + "observation_id": "9639522a-ec0f-4b79-8f9c-9f8b6188732d", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.4166666666666667 }, { - "observation_id": "9c1f89ad-0f1b-42a3-b858-6269c24f693e", + "observation_id": "2e8aacf7-8a99-4544-8cee-701e0091273e", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.4387585454601719 }, { - "observation_id": "1ae79d23-f9cd-4e0e-83f3-a0e5f41ae342", + "observation_id": "89381379-0568-4e98-b730-b0beb9e3df11", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "5e53e0b0-2516-4dff-8811-261385e624e9", + "observation_id": "a3821ce4-fb54-403f-bf22-3db1048abc0c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.40836112125901974 }, { - "observation_id": "1a9f699c-202e-407a-8a7d-165099a86c53", + "observation_id": "96181f58-5690-4c63-88d6-3861ed5915e7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.23853923230852397 }, { - "observation_id": "f1c51b7c-881c-4036-b10c-3e0e8aee5fe2", + "observation_id": "86103b80-711d-4625-9ae0-0c342a44c5c1", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "e1d1b483-f734-4712-bf4c-2626b35e94ab", + "observation_id": "ef187d4e-9d87-4a34-a6ff-e09dfd9310a0", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "120dfc08-0df8-4136-a47a-a38b724f7e85", + "observation_id": "7d989248-fafc-4286-b132-35bb112c24ed", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.3135142237541464 }, { - "observation_id": "6fe1aeb0-a2ec-4986-9eb4-3357f21135ed", + "observation_id": "8d6e7e2e-056a-44b1-bf51-1910447a1081", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "ba53fed1-fe9f-48f7-9726-00f83d298292", + "observation_id": "e6ada365-3c7f-454b-9bd4-42c771443e32", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "0d5bcef4-d038-435c-93a9-060fb2f479da", + "observation_id": "cfccb3ac-dbc2-42d6-b6e0-3bcd3f41cb17", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "67d6def6-9406-4a2c-8a83-e0be160843e2", + "observation_id": "400c6f0f-5a86-46ef-b620-c7d369210aa0", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "1ad41008-31c3-4555-af18-e52161e9b8f5", + "observation_id": "2b875fc6-920e-41b5-a58a-81c7cc285ac5", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "c6944412-7992-4640-8147-0ee02de772fe", + "observation_id": "0294b065-3908-42e6-bf1d-ad0f08c63db3", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "14130863-0f54-4c63-8ec0-8d37628de570", + "observation_id": "aeea6ad5-fbf8-45b3-b8f7-6fbec395ef45", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "7aab4859-1a99-4cd2-a8da-1ae898d15025", + "observation_id": "c08135f1-69c8-40d4-96ca-7c3dbb8f1576", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "c61d1640-1cfd-43ac-a3a3-a862e3585c57", + "observation_id": "9b1945be-3d5c-4a89-913d-e90036ea734a", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "7babc8d5-e464-48b2-b92a-d763e56b9ca9", + "observation_id": "20b95907-dcfc-4c93-8b2f-e7af1008c3b7", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "d61d3de8-613c-44fe-a010-46ee1f7a077f", + "observation_id": "e3bbb21e-0e19-4feb-b040-21301e4194d0", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_abg/render_b_camera_pose.json b/data/camera_study/Scene12/k3_abg/render_b_camera_pose.json index 6ee568e..08790be 100644 --- a/data/camera_study/Scene12/k3_abg/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k3_abg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:51Z", + "created_utc": "2026-06-02T22:46:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_abg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_abg/render_g_aruco_detection.json b/data/camera_study/Scene12/k3_abg/render_g_aruco_detection.json index 0564c0c..7760047 100644 --- a/data/camera_study/Scene12/k3_abg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k3_abg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:51Z", + "created_utc": "2026-06-02T22:46:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "edbfeaed-8369-43f2-b384-0ce8f013e41a", + "observation_id": "21286ddd-d78a-4062-b0df-c56833323ab2", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "60338467-97eb-4493-81df-ce21b6433ed7", + "observation_id": "753dfb1a-854f-4d76-8740-414034b31a3f", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "499f1a90-81f0-463c-a47e-14838f87b0c1", + "observation_id": "dc234c8a-bf86-4e46-bbb7-3a5155fced99", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "3d395ae6-26d8-4c32-97d2-a62bc29f2bd7", + "observation_id": "976ba8aa-7a42-403d-9e5f-2e7dff2476bd", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "aa448b72-ca9c-45a7-8b5f-f2fe8f406355", + "observation_id": "e83d508f-1a35-472a-9ac3-efc000cc2cec", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "bd982109-9a7e-483f-8ebd-0d50425d0147", + "observation_id": "b16ba2b2-6896-4e4f-92cc-56c812b40d30", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "dbecdee8-8c90-4dbc-80d9-2e53ed19215d", + "observation_id": "abb325f1-639b-420b-9de7-22c53a223509", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "5a995eb6-45ed-4cb6-8999-dafdbc2d8fb9", + "observation_id": "05f37730-59a8-4213-8d0b-b11d5c565286", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "259ec720-db4b-48bc-8c7b-beb2d9ea7744", + "observation_id": "ce05dee6-d1ae-402f-bdef-91715ad14b5e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "ead1dd45-dcc7-4276-88d1-72a50efb4363", + "observation_id": "9699fa80-8e26-423b-bc57-434f9c45bdc4", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "bd6d931c-32a0-4ee6-9130-54354dccad6c", + "observation_id": "12a90371-3444-47ef-8797-572cd5c154e7", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "75cdd091-9bd9-4134-a5e5-9bd6a442e3f8", + "observation_id": "dae4038d-295d-4549-a848-b74678f93aa5", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "b9009ea2-951a-40b7-8f49-2710b41d53a6", + "observation_id": "70db531a-d7ea-4e42-8fb8-a664ce9eeb24", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "ee664411-14ff-49c4-be15-f5c1018651c5", + "observation_id": "1a5d0ef2-e7da-4c6b-92bf-72866cf010e5", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "6b9221da-4b55-40d5-9f71-3ea5c20dfa9d", + "observation_id": "d461bedc-d2fc-4b31-a9c7-bfc7ce2b0fc6", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "142824dc-e46b-4e30-bc75-db2b96d73ea9", + "observation_id": "347b2279-685e-4c15-9bb6-e676714dde49", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "e1a7b7f2-4277-4bb9-8d89-01f336a77d09", + "observation_id": "d5ef8ef3-18a1-4d5b-8930-28eb25378f64", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "e171d1bc-2b3e-48a0-9ef8-62b3f71d8abc", + "observation_id": "30a803a3-3739-4c4b-97c4-27147337ce11", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "960c42d2-671d-4482-8431-a2645bbbd944", + "observation_id": "7ec3a7cb-13a7-40a5-8794-8dd4a7886fba", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "f8c78d37-8376-4ae6-bc41-71d926d2280f", + "observation_id": "fd4fe0ee-5e4a-4f4c-91a9-f9eb7bb3c543", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "b3b8e984-f179-4732-a913-06205c25a7c1", + "observation_id": "954da10f-c890-4602-8469-9d098c55f241", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "132b26f2-3d5b-4dba-b4c4-bcc028572e55", + "observation_id": "ad594ac1-2aeb-4ce1-b76e-809a14074daa", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "55a90d2b-0fb1-447f-8c7c-45d3eff81e4c", + "observation_id": "dfa9758d-5aea-4f74-a5dc-513df2d30e8f", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "d8358935-e7c7-4230-ae3b-95b937af17b7", + "observation_id": "16cf7e28-81de-4d01-a77c-ea229f9fa1b6", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "5fa646c6-ede8-49ee-9dda-7352412135f9", + "observation_id": "3e494a67-6872-4c71-a7c8-ecb65fbd972e", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "3ea4ba26-1ecf-4008-9587-d68efd0b689d", + "observation_id": "79626cbc-eee5-4452-828f-a2a1c462c15d", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "559aae9e-4b9c-44c7-9c38-c94cbfba2c8a", + "observation_id": "61a46d9d-ecb6-4f07-9c95-a5879bb1fe61", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "713bda3f-471e-4656-981b-136ced0dc7c3", + "observation_id": "db9e53b0-1cec-4776-9098-c4fc348a8785", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_abg/render_g_camera_pose.json b/data/camera_study/Scene12/k3_abg/render_g_camera_pose.json index 2e74b33..5aa5fbe 100644 --- a/data/camera_study/Scene12/k3_abg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k3_abg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:52Z", + "created_utc": "2026-06-02T22:46:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_abg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_abg/robot_state.eval.json b/data/camera_study/Scene12/k3_abg/robot_state.eval.json index 78683e3..dcd3b27 100644 --- a/data/camera_study/Scene12/k3_abg/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_abg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.23836162897441682, "mean_abs_mm": 0.5078578017648923, "max_abs_mm": 0.5078578017648923, - "finger_error_mm": 38.47110240524979 + "n_unobservable": 3, + "wrist_error_mm": 0.5227709702754112, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_abg/robot_state.json b/data/camera_study/Scene12/k3_abg/robot_state.json index 9deb195..7e1c2da 100644 --- a/data/camera_study/Scene12/k3_abg/robot_state.json +++ b/data/camera_study/Scene12/k3_abg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:55Z", + "created_utc": "2026-06-02T22:46:12Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_acd/aruco_marker_poses.json b/data/camera_study/Scene12/k3_acd/aruco_marker_poses.json index 376ebfd..4d2b751 100644 --- a/data/camera_study/Scene12/k3_acd/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_acd/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:32:10Z", + "created_utc": "2026-06-02T22:46:28Z", "summary": { "num_cameras": 3, "num_markers": 8 diff --git a/data/camera_study/Scene12/k3_acd/aruco_positions_initial.json b/data/camera_study/Scene12/k3_acd/aruco_positions_initial.json index 145c5f7..29e28f3 100644 --- a/data/camera_study/Scene12/k3_acd/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_acd/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:32:09Z", + "created_utc": "2026-06-02T22:46:27Z", "summary": { "num_cameras": 3, "num_markers": 8, diff --git a/data/camera_study/Scene12/k3_acd/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_acd/aruco_positions_optimized.json index 0059fbe..d7758c4 100644 --- a/data/camera_study/Scene12/k3_acd/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_acd/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:32:09Z", + "created_utc": "2026-06-02T22:46:28Z", "summary": { "num_cameras": 3, "num_markers": 8, diff --git a/data/camera_study/Scene12/k3_acd/render_a_aruco_detection.json b/data/camera_study/Scene12/k3_acd/render_a_aruco_detection.json index acd0dc7..9333345 100644 --- a/data/camera_study/Scene12/k3_acd/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k3_acd/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:07Z", + "created_utc": "2026-06-02T22:46:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "6f425fec-e5c7-465b-b7a7-720449392e81", + "observation_id": "0106802f-b528-4ba1-a89c-976458b59cdd", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "3a30089e-6dc5-4813-9e2e-141ac94dacf6", + "observation_id": "501dd1dd-4af7-4589-8326-2b2f3bad0fb7", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "74b3ac0d-b270-46ca-bd3a-979565963440", + "observation_id": "eeca653d-839c-4e10-8892-422ef48c0d87", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "f3f9857a-a3e4-4def-b15b-94acb2a3b177", + "observation_id": "757998ed-6bad-4051-8f4a-a935a3cb9e55", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8492885602498799 }, { - "observation_id": "ef23abee-8dbf-4937-b7a6-37e6e6d74e2d", + "observation_id": "591b5b2f-cc64-47eb-b55c-48f44c25813f", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "1e6f5895-93e8-4664-9abe-f6b07c4d5486", + "observation_id": "863b5bdd-c9d5-4fb3-8c5f-82f73b4efec6", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7225899346789976 }, { - "observation_id": "428a1c48-b365-4ee9-8b03-549a2ee052b3", + "observation_id": "366cb880-f3e7-4648-b261-19ee8621100f", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "6f6f9520-faa2-48cf-9a49-aa995adbd591", + "observation_id": "0e60aae3-c64e-423d-889d-0ad5f68f727c", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7653498798574592 }, { - "observation_id": "4208bae0-9c54-4eae-aae8-4fdb22542555", + "observation_id": "382fb018-0cbb-4281-906f-f02d5038a168", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "2524d0ea-99c6-4c27-8510-bc696d7160cd", + "observation_id": "a68f4bba-c38c-41af-8c68-0566acafba62", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "8e821963-48f4-4ec0-aea1-2cc514953b62", + "observation_id": "cc28c55c-7ea6-45ce-b66b-e684d2d16966", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "4f30fe20-da19-4597-befb-ecf6bcd19bb3", + "observation_id": "a9ff2fc7-03b0-4d72-b4c4-a44301858aed", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "f954e97b-3f14-4c1c-bf60-cfac2ae5b534", + "observation_id": "4b712b19-de56-414b-8790-faca0288903e", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "38e40a1e-d089-49e8-909b-2858aff9ed84", + "observation_id": "4c1f1600-3f4c-4e97-95ac-a3a2feb1147b", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "0d955502-4ad4-41ae-82bf-fc671daff4a6", + "observation_id": "7bacbde0-491b-46bc-b08b-8189497ee9e6", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - "observation_id": "d6612b5d-49ff-4b98-838a-0b65d8372a22", + "observation_id": "2213a28e-d715-48d0-b11e-6f052fe1a45c", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "2e997755-6db8-44d0-b8bf-fa7d0774b7c0", + "observation_id": "7c503b1b-6a89-4acb-bbf7-4d87e7289dfd", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6589361768588983 }, { - "observation_id": "904b186a-c4fc-47de-990b-6b0a390f5385", + "observation_id": "2da34143-6397-4f3c-acf0-0f696b9b5761", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "0e5d0a78-bc01-475d-a419-a03768850450", + "observation_id": "d25fc5fb-3773-44f3-86f0-e3abf1818d46", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "c5bb5685-ee71-470c-b325-441b9f635899", + "observation_id": "9761ce42-1091-458a-9bf8-a3a3a4435922", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "1ef1880c-89c6-4098-ad98-8e17ab72632e", + "observation_id": "864d6e4e-dc38-44c9-9862-fc90a154709b", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "7194dd9e-bf28-4129-bf7a-c9b3c534337d", + "observation_id": "86c9aefa-c61f-46c0-9b32-9d518ccb2adb", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "b21ededb-1286-493d-acef-c8c37157459b", + "observation_id": "d74f806b-b87f-4bd4-a00c-07f25307fb35", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "5e1b2a59-4720-48f7-8f9a-53eb5cd27f27", + "observation_id": "985f89d7-c303-4aeb-b463-da483ee2f674", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "f657b49d-c0bc-4577-b145-9db14d66da0e", + "observation_id": "26c2ab02-fa60-4a75-ab0b-4b38339addc5", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "9051bc45-c3a2-46b1-a376-cecc452fbd6b", + "observation_id": "7322fb4d-1038-454e-bbdc-19f3068190b9", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "ca577268-d1b7-413c-9721-d65d748a4cdd", + "observation_id": "f5694483-fdcf-47e7-b660-4602e1d7c8e9", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "2fa5bc2a-20e5-40af-8f36-ba8f16fd7326", + "observation_id": "55ad3213-20fa-42ed-a943-c2a96e66139f", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "d9fddf15-aeb9-4f16-ad2a-37cfdf107748", + "observation_id": "0f02f164-0def-451a-93d7-5e6c61b1d729", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "28d6ee96-15cf-4c14-b16e-19754a66f036", + "observation_id": "a3770e4d-98b7-47b8-8c40-1e05691c7b9c", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "e96a44b3-8171-4bbd-b8cc-6188538221ca", + "observation_id": "4345c0a4-218e-4edc-96ec-875250d54cba", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_acd/render_a_camera_pose.json b/data/camera_study/Scene12/k3_acd/render_a_camera_pose.json index 6a3af59..015b8db 100644 --- a/data/camera_study/Scene12/k3_acd/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k3_acd/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:08Z", + "created_utc": "2026-06-02T22:46:26Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_acd\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_acd/render_c_aruco_detection.json b/data/camera_study/Scene12/k3_acd/render_c_aruco_detection.json index df55c28..b1070e2 100644 --- a/data/camera_study/Scene12/k3_acd/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k3_acd/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:07Z", + "created_utc": "2026-06-02T22:46:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4f8b1fbd-00eb-4514-98f2-cb4f73754c92", + "observation_id": "006bf080-3254-4883-8c2c-dced6f74b36b", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "1007aee7-58de-482e-98de-51a521d2b4d1", + "observation_id": "b1e7ae22-c91e-48bb-b4c1-3ee940c5e110", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "be75ffce-beb5-4c56-8715-871af1b0e588", + "observation_id": "2335972b-0fca-4290-88cc-52bf271f348e", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "b728e978-98d4-46c7-af1b-d7354debc3dd", + "observation_id": "ccc34296-45a6-4d28-8c01-ae998fb58d6c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "694a0d32-593f-4591-a32e-856fa4d520e0", + "observation_id": "6d67688c-9da5-42aa-9238-8ed50985cd5c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "d81ee012-0199-4406-9767-c6a7dea92d77", + "observation_id": "c9741c10-cbc6-4ad9-9793-fe341bee5685", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "2c6e96b8-047b-4894-ad3c-8338936b2e85", + "observation_id": "c2fc3dfd-6d49-463f-87ee-d048cc8345c9", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_acd/render_c_camera_pose.json b/data/camera_study/Scene12/k3_acd/render_c_camera_pose.json index 6b75d48..6d6f114 100644 --- a/data/camera_study/Scene12/k3_acd/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k3_acd/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:08Z", + "created_utc": "2026-06-02T22:46:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_acd\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_acd/render_d_aruco_detection.json b/data/camera_study/Scene12/k3_acd/render_d_aruco_detection.json index 2c131b3..c0b5613 100644 --- a/data/camera_study/Scene12/k3_acd/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k3_acd/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:08Z", + "created_utc": "2026-06-02T22:46:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "b486f907-d0b6-404d-8ea7-3b81a5038993", + "observation_id": "77d9c177-b2e8-46a1-9a43-4ed06a10a0ad", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "beefe646-708b-4f84-9e16-0d708fb5af30", + "observation_id": "9f8d23f1-2b52-465c-9ff2-09d9280f6393", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "d07b18eb-f6c2-4e1b-bfba-a861641c2214", + "observation_id": "b7bcaf4e-2efb-4aea-b52f-4e9eb8fcd88e", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "733a8a09-3e93-4f0d-a983-c7225f958b92", + "observation_id": "e4c970f8-86be-4c99-b4bf-fddbecda1461", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "06f1aa33-226d-4849-b555-b628509d45bc", + "observation_id": "e415746f-d4eb-4207-befb-589dc6799543", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "142692ac-34f4-467a-a282-6db6b5b0c9c9", + "observation_id": "a97234d3-952a-4f2a-b99a-222a484547c6", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "4745330a-0e4b-4df0-985e-57822cce4539", + "observation_id": "cb7d02be-cc31-4de6-ae7d-1122135962c6", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "4c4ae969-4610-4ec8-956c-fba34b1c5c46", + "observation_id": "c1f6b259-7258-491c-957e-af958ac26707", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "8300d2ed-f255-4fb2-aba9-d8d989b5ff30", + "observation_id": "67a3ed5b-e476-4830-912c-a0982fbf3bd2", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "d724433b-85db-47b5-b5a0-7363bb495483", + "observation_id": "be883121-249e-45c9-9f6a-b7cb2394a20c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "a7eab7e8-5976-4a16-8b1b-97288ca9c06a", + "observation_id": "75e3ee0e-e4ca-41fa-aa67-cce61c87c911", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "07b55aa1-d60d-41fd-8726-11b0261d55b9", + "observation_id": "2139a0e2-e55e-4cd5-8291-be26e8176844", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_acd/render_d_camera_pose.json b/data/camera_study/Scene12/k3_acd/render_d_camera_pose.json index f30b27d..8fe23f1 100644 --- a/data/camera_study/Scene12/k3_acd/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k3_acd/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:09Z", + "created_utc": "2026-06-02T22:46:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_acd\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_acd/robot_state.eval.json b/data/camera_study/Scene12/k3_acd/robot_state.eval.json index 51b6453..cd638a0 100644 --- a/data/camera_study/Scene12/k3_acd/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_acd/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.2147048385828043, "mean_abs_mm": 1.7335032802810133, "max_abs_mm": 1.7335032802810133, - "finger_error_mm": 38.771404413875274 + "n_unobservable": 3, + "wrist_error_mm": 2.0193840672534225, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_acd/robot_state.json b/data/camera_study/Scene12/k3_acd/robot_state.json index 520c609..36e03af 100644 --- a/data/camera_study/Scene12/k3_acd/robot_state.json +++ b/data/camera_study/Scene12/k3_acd/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:11Z", + "created_utc": "2026-06-02T22:46:29Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_acf/aruco_marker_poses.json b/data/camera_study/Scene12/k3_acf/aruco_marker_poses.json index 0a69af7..f4a31e9 100644 --- a/data/camera_study/Scene12/k3_acf/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_acf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:33:38Z", + "created_utc": "2026-06-02T22:46:44Z", "summary": { "num_cameras": 3, "num_markers": 15 diff --git a/data/camera_study/Scene12/k3_acf/aruco_positions_initial.json b/data/camera_study/Scene12/k3_acf/aruco_positions_initial.json index b10961b..3df14dc 100644 --- a/data/camera_study/Scene12/k3_acf/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_acf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:33:37Z", + "created_utc": "2026-06-02T22:46:43Z", "summary": { "num_cameras": 3, "num_markers": 15, diff --git a/data/camera_study/Scene12/k3_acf/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_acf/aruco_positions_optimized.json index 52b5633..52490e0 100644 --- a/data/camera_study/Scene12/k3_acf/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_acf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:33:38Z", + "created_utc": "2026-06-02T22:46:44Z", "summary": { "num_cameras": 3, "num_markers": 15, diff --git a/data/camera_study/Scene12/k3_acf/render_a_aruco_detection.json b/data/camera_study/Scene12/k3_acf/render_a_aruco_detection.json index 25357a6..96c0bd2 100644 --- a/data/camera_study/Scene12/k3_acf/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k3_acf/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:35Z", + "created_utc": "2026-06-02T22:46:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - 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"observation_id": "cf675b6b-5ea7-48c2-95c4-35a4e48263bb", + "observation_id": "1700d62d-aa6a-484d-a26b-ee3b7274af31", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "fa6b47fb-5b9a-4927-9a92-bfcba914de8c", + "observation_id": "9d678118-bbb2-454e-ad22-28854e637e1d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "a947b704-6017-49fc-9d0b-f86737485f48", + "observation_id": "9fe184fb-79fe-46a8-adc2-71de29f6ce09", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "249d5aa5-cab3-4f94-8542-7c56ad393490", + "observation_id": "bac35f42-02ac-437e-8ece-dfce10e6f29e", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "63407270-ba98-4e3c-9939-6d53ee47a43d", + "observation_id": "8adf3d53-20cd-4239-b63e-668ae5427ae8", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - "observation_id": "552da5b3-b8eb-452d-a9e1-bcae8822836b", + "observation_id": "bcdbdde8-0a73-419e-8766-e5d52ea33b59", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "8e90aacc-6289-43c3-8758-899343320b6b", + "observation_id": "a9ca0825-95c4-4e9a-9c83-e6ec37dc4749", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6589361768588983 }, { - "observation_id": "0fb4d215-67d2-4147-8002-873dea0d3253", + "observation_id": "40c4fc70-b012-4254-bb68-6ef130edc03b", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "bb34cc40-14c7-4987-bbf2-6a6e8360fb31", + "observation_id": "6998c3b2-c36b-4c08-8e73-c803e6495d94", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "0a19ba8d-0e20-490e-b976-f6fc5f537cea", + "observation_id": "e9cd86cf-ec7d-464d-be28-5a1ffe13bcb0", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "7005266f-e367-4336-b10a-bf246ce6b322", + "observation_id": "f5434afe-0180-47d4-b3c7-bcde66740b3a", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "605cae66-c2bd-4020-9ec3-e27a0bb89eea", + "observation_id": "ea08899e-5e3c-49b2-bd2b-22b293415e6a", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "e16a27d5-b54a-42f4-8cf3-f609dd20e7d0", + "observation_id": "65f67098-db0c-4ace-bfe2-4b2063f60be0", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "952eaafa-5aed-4c99-9e9a-86d5d6b01f5d", + "observation_id": "a156bbcb-1c29-47c8-b332-87a2c2561fdf", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "da1a40dd-469c-4a78-a38d-c46e65cbe72e", + "observation_id": "a22ddb26-e831-4b61-9952-507e3b4928aa", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "d48ade71-926b-4ff6-87fa-64d1e45b3412", + "observation_id": "fbfb0b29-488a-47d0-ab0f-101c3c3fe94a", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "3e4d8829-88fb-4be3-8efd-96963e01355c", + "observation_id": "fecd6ff9-da4a-4325-9942-8da7900e31a3", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "3a0c2b36-ae67-4df7-8a49-ed8910db8fe0", + "observation_id": "fc69ec3b-d832-4f35-948d-0a0910c55c0b", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "00216e67-900f-4fae-93b7-e5015413f8f0", + "observation_id": "01a845e9-1054-44d7-abec-b73babe384cc", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "5d909658-5a9a-48ff-a14c-77807142360f", + "observation_id": "9794a3b0-bcec-494a-9d1d-676c24b16312", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "8d7dbaed-5774-4d22-b7b7-53d5c22a9766", + "observation_id": "f410fba3-4cd2-4ce6-b0f5-067f9e504c39", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_acf/render_a_camera_pose.json b/data/camera_study/Scene12/k3_acf/render_a_camera_pose.json index faa0f25..794bd56 100644 --- a/data/camera_study/Scene12/k3_acf/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k3_acf/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:36Z", + "created_utc": "2026-06-02T22:46:42Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_acf\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_acf/render_c_aruco_detection.json b/data/camera_study/Scene12/k3_acf/render_c_aruco_detection.json index 7c5c9ca..3d33dc1 100644 --- a/data/camera_study/Scene12/k3_acf/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k3_acf/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:36Z", + "created_utc": "2026-06-02T22:46:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "70d15dc3-752e-4085-b039-19b6c4c21a2b", + "observation_id": "afbf631e-3285-46c0-b6c0-43d1aae3941a", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "b9fbfeed-8ca6-4ab1-9529-04d98168ed65", + "observation_id": "3a69a82c-f074-4e9b-9955-6044d08aec9c", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "e9c6e5da-1be4-4430-bc97-0cd032a0d20b", + "observation_id": "c8e509cb-6ca6-44ac-86b6-f93e5add8f5a", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "272f1edd-7541-4104-961a-3cad29ef43eb", + "observation_id": "50f9cd38-2eff-487e-b21c-20d69615bd74", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "c9a07221-0a26-4560-8281-a337fdb7db0a", + "observation_id": "43721b44-2f12-4013-8649-cf19cf215410", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "19b1818a-c8db-4a74-bc4a-cadb829b91df", + "observation_id": "8f3289a3-a474-45a3-b09c-c8ade1e00c6a", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "757dc53c-623c-4f83-9ab5-07cbacf611e8", + "observation_id": "992491d1-0d0a-441c-8339-97d39846fc25", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_acf/render_c_camera_pose.json b/data/camera_study/Scene12/k3_acf/render_c_camera_pose.json index 4c2a89f..b9c5f99 100644 --- a/data/camera_study/Scene12/k3_acf/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k3_acf/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:37Z", + "created_utc": "2026-06-02T22:46:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_acf\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_acf/render_f_aruco_detection.json b/data/camera_study/Scene12/k3_acf/render_f_aruco_detection.json index 1728d03..98f4b18 100644 --- a/data/camera_study/Scene12/k3_acf/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k3_acf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:36Z", + "created_utc": "2026-06-02T22:46:42Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3e89c304-a9d2-44ac-ae02-f780145aa97d", + "observation_id": "1996cdd1-2e07-4bc3-84fc-7633e7bb17df", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "40266036-12e9-40fd-a8f1-370d2dadfa76", + "observation_id": "e7c7c38b-d77b-483d-8548-491378e88292", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "db760c35-af66-44c9-91b5-6889fec2e7c5", + "observation_id": "60299110-370e-49b6-ac75-3764cba48f43", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "327824cb-2390-43bb-83e7-d46afb18cbcd", + "observation_id": "9c3b12d5-e2e3-47ee-b5e1-4c5698580793", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "8c809bce-deaf-4d9b-b6b1-fda5d61381c8", + "observation_id": "33df4115-1951-468c-b909-70ad1e19068d", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "87d34915-580a-445f-bcac-d5ff1e6086b3", + "observation_id": "21e0eebc-cc24-4806-ab04-9ac3fea57e5b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "c50e53bf-09aa-4396-8100-095e8a45fa14", + "observation_id": "3a1e2477-2c99-4eda-8d25-671c75537929", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "e1ec96c6-4491-4e1c-b09e-0934e204ebc7", + "observation_id": "ad4196d0-aec3-4f20-bb5b-513e1b076df9", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "ca4a3475-8635-4518-aad2-5614ce13e627", + "observation_id": "2fb2415e-9db0-4e58-ad6b-fabb265efbcd", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "322e8cc9-d807-45fc-bb5a-710f379ab64b", + "observation_id": "9e8b2890-c332-45d7-97a8-6b2b617c663c", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "42103d26-06e2-4989-966a-90d833ee930c", + "observation_id": "57fc5a5d-3dac-4b8a-a8f5-3d9f49c8facb", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "62d366d7-f7e5-4aca-9596-aad33671a0cd", + "observation_id": "ddb099e3-17b3-48ef-8d28-03647f383da2", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "e7e8f0fe-a7ba-4951-9390-6954fc4a862f", + "observation_id": "52db5503-447d-4371-80a0-674ec2c81287", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "cf38cccc-209f-48bd-916b-6a1e0b65c834", + "observation_id": "ce645ef4-4ae7-4553-9ff8-000d4f8414fd", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "718c1a45-7ab2-4ef7-8927-aa533e5b3dda", + "observation_id": "33635dea-c944-404f-a4f8-2323253b9131", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "140e6a5e-017f-4bac-bd1f-fb7b43d85c81", + "observation_id": "3073aca3-3571-44e4-b0d4-8d0786b1ca9f", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "45f186ff-e219-4010-b94b-e85985a76438", + "observation_id": "ca704716-fa92-4547-845a-20c939520fb0", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "31fc3367-4059-4c66-b56f-dc064c05e5cb", + "observation_id": "836c0017-fdf1-42f0-a317-538a927b7d98", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "011c25f6-4806-44c5-906a-20d55198439f", + "observation_id": "b6cae1d3-d884-4c4a-9b97-6779f1509736", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "8d68608a-4c41-4861-9b2d-656567952dd1", + "observation_id": "d9688405-6c00-4fb6-800d-5dc9ea15d52e", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "e6cd4968-418e-4097-ac10-e1e7b90408fb", + "observation_id": "1e5a4f5d-6631-4234-b48a-c4a2f5b44633", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "a4b1917c-ff50-4fd8-9a9a-0a3c4a3fdbe1", + "observation_id": "3e14900c-7622-4d06-b912-d46d14a2a1e0", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "ae7cdbeb-cd0f-462d-a1c2-990b57be0f01", + "observation_id": "220bbe07-3f43-4773-9956-b30358974a24", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "49de32d6-db62-4ad8-9388-98640931d791", + "observation_id": "b9ee7aee-9096-41e2-b85b-aaba1475875f", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "a28a9b02-4bef-4472-b3e1-cfda1ad99d94", + "observation_id": "8d7f4fe5-1c90-4af5-b03a-7c8e519105f5", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "0ec2f7a1-8636-41f7-9153-ce140e69dcce", + "observation_id": "708199c4-df24-42c0-bc0f-350fa8491e34", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "3d55d4db-b8ea-404c-a29f-3210923949ce", + "observation_id": "3a8f9ccc-c724-4088-aefa-a5f65216694b", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "8f2e7322-fb1c-470a-ac46-a7a1b213dc36", + "observation_id": "6994ab6b-953c-4de4-a308-aba67243f699", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "9a588ead-24ef-4e9e-bdc8-3f31dfdafc03", + "observation_id": "735b5ed3-9b18-4a12-add8-7b3294ab3233", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_acf/render_f_camera_pose.json b/data/camera_study/Scene12/k3_acf/render_f_camera_pose.json index 6e48434..89105f5 100644 --- a/data/camera_study/Scene12/k3_acf/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k3_acf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:37Z", + "created_utc": "2026-06-02T22:46:43Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_acf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_acf/robot_state.eval.json b/data/camera_study/Scene12/k3_acf/robot_state.eval.json index c835493..a63f329 100644 --- a/data/camera_study/Scene12/k3_acf/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_acf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.8204674861923991, "mean_abs_mm": 2.5678399952077484, "max_abs_mm": 2.5678399952077484, - "finger_error_mm": 40.31067794788711 + "n_unobservable": 3, + "wrist_error_mm": 4.0258463716334925, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_acf/robot_state.json b/data/camera_study/Scene12/k3_acf/robot_state.json index 433c0a7..0e907fc 100644 --- a/data/camera_study/Scene12/k3_acf/robot_state.json +++ b/data/camera_study/Scene12/k3_acf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:39Z", + "created_utc": "2026-06-02T22:46:45Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_aeg/aruco_marker_poses.json b/data/camera_study/Scene12/k3_aeg/aruco_marker_poses.json index 770743a..cb9c4df 100644 --- a/data/camera_study/Scene12/k3_aeg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_aeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:29:38Z", + "created_utc": "2026-06-02T22:45:57Z", "summary": { "num_cameras": 3, "num_markers": 17 diff --git a/data/camera_study/Scene12/k3_aeg/aruco_positions_initial.json b/data/camera_study/Scene12/k3_aeg/aruco_positions_initial.json index b05382c..78c2f83 100644 --- a/data/camera_study/Scene12/k3_aeg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_aeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:29:37Z", + "created_utc": "2026-06-02T22:45:57Z", "summary": { "num_cameras": 3, "num_markers": 17, diff --git a/data/camera_study/Scene12/k3_aeg/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_aeg/aruco_positions_optimized.json index 67ea731..3fff207 100644 --- a/data/camera_study/Scene12/k3_aeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_aeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:29:38Z", + "created_utc": "2026-06-02T22:45:57Z", "summary": { "num_cameras": 3, "num_markers": 17, diff --git a/data/camera_study/Scene12/k3_aeg/render_a_aruco_detection.json b/data/camera_study/Scene12/k3_aeg/render_a_aruco_detection.json index a45664b..630e8f0 100644 --- a/data/camera_study/Scene12/k3_aeg/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k3_aeg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:35Z", + "created_utc": "2026-06-02T22:45:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "80046cb1-11a9-44cb-b9f4-89092ffd0f07", + "observation_id": "3b9d47b3-279f-4eb4-a2a8-94152b4d2e32", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "3a47e671-10e7-4b3a-b7ec-2143339b9ab8", + "observation_id": "0026f855-e36d-460a-9a83-57d973f17d99", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "94374ebb-f7b6-4d2b-a857-adc77949a193", + "observation_id": "058730b5-662b-4cae-9f49-86c4d9ef9907", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "03353305-08eb-4110-9c85-38a2ea5245ea", + "observation_id": "4e7c1dc9-791c-49a3-8195-0f69875166b8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8492885602498799 }, { - "observation_id": "19d3a033-c65a-4c3a-8345-467e2c0303e0", + "observation_id": "0dc2f478-8040-42d0-a0d3-423c24e019e8", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "0251d2ce-432d-414e-8ecc-f48570296bf1", + "observation_id": "ecc58095-ea96-431c-b6e3-d616dcbe010b", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7225899346789976 }, { - "observation_id": "8d0a430d-5a71-43dd-9c98-a6776fbd31bb", + "observation_id": "0044fcd7-31f6-4dd5-af35-d56596604a42", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "e12f725a-d890-47ad-b63b-597055aeddb1", + "observation_id": "ee6e36ee-95ba-42e0-af6b-9c80e03f67ba", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7653498798574592 }, { - "observation_id": "7699696f-65fe-4658-bf3c-48c6f5461dff", + "observation_id": "26943c57-e1db-408a-92d2-3b3b7e3695a6", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "3170f4d1-a015-486e-87dd-351447ca2297", + "observation_id": "7d2b6d19-e82b-41fc-bcb6-0ff3e5e05a48", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "c46e651f-40e0-4e0f-b4d3-474bd9fb2c99", + "observation_id": "2f665bc6-7b91-4cb7-9487-1cc67d250c09", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "19815fc1-2c8f-4fa2-82b0-b74c06bb5746", + "observation_id": "53518ff5-c456-4643-a3ce-765677688846", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "82b1f962-fa8b-413c-9055-d63eba59c727", + "observation_id": "0bfb6fb2-3e45-4772-a80c-b877edabaa8a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "5383734e-01eb-4a17-8d2b-85493ff8ea77", + "observation_id": "86913632-7908-4415-9dd7-5680e75e69e7", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "844cb205-09bf-48e6-a12e-d846846024dc", + "observation_id": "66cb5f6d-4c96-4a86-a268-dea3d8649d82", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - "observation_id": "ef19fc7b-1102-468e-a69b-95366ca890b8", + "observation_id": "7e8b808f-41ee-49a6-aa02-a4e468b49c9e", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "a3f92729-747c-4454-a86c-383057362763", + "observation_id": "4d215352-4941-4584-a466-af883b4f4c1b", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6589361768588983 }, { - "observation_id": "9902e5cf-a2cf-4391-86d9-7bc6f0958c10", + "observation_id": "aae65076-2ade-470c-a0d0-f030624774a5", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "cb173073-0a3f-408e-af1e-c813b2d6311e", + "observation_id": "beb88e19-96d8-42a9-a51d-aafa4c30e9a5", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "913ee663-fe75-4697-8aac-e13f0f772f5b", + "observation_id": "8068ae86-deda-43b5-b963-abbea1bb6178", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "03e654ba-f2e8-4534-a4ec-dcc7538b8fd1", + "observation_id": "050bd72e-39cf-4ff1-8dad-58c802cd3c99", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "f6fe4dbd-7365-4134-bde0-1f02aea87e8c", + "observation_id": "28ea5e37-0dcd-48ad-b9b9-36538f17dd7d", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "6f5c8e9b-683c-4f1b-82d7-ca2a79ae7ed6", + "observation_id": "4cf0505f-8cde-42bf-b601-4f7a54b241ca", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "e4e71cea-9c4b-49bf-b858-b48d2e2ac4b2", + "observation_id": "19090b0c-fb4c-41a7-8961-d16739892be1", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "e02f9079-4332-4e03-b1c0-769b4dfe87dc", + "observation_id": "ac8a2c96-67c8-490e-9f4f-2c5e34f1f320", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "b59b992d-6971-4cf3-92ad-b515b8de18f0", + "observation_id": "9cfce6b3-10d4-4538-bec9-43666010f91a", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "1a7bec41-85ab-49df-b740-0f4648102b19", + "observation_id": "1381cd57-5a3b-4117-bfdf-a45af28ef85e", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "1c9b3378-6a07-4bbd-a1a7-1234eb322693", + "observation_id": "0c41beac-3127-48a1-80dd-420b74bc3f2c", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "13fce457-7d0f-467b-b1b2-9ee446a9ffe4", + "observation_id": "ef0fb87b-cdab-410b-8881-732d750d88f1", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "45437d63-5f09-4810-9e59-0317ab0fbd9d", + "observation_id": "26f4c29d-ed43-4962-9633-8dfd2ecd57b2", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "c89157cc-7d91-47bd-8dce-ad4b8fa3d22d", + "observation_id": "b720b865-4d8b-4314-8c60-2b0241a25377", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_aeg/render_a_camera_pose.json b/data/camera_study/Scene12/k3_aeg/render_a_camera_pose.json index d34e50c..5359b97 100644 --- a/data/camera_study/Scene12/k3_aeg/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k3_aeg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:36Z", + "created_utc": "2026-06-02T22:45:56Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_aeg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_aeg/render_e_aruco_detection.json b/data/camera_study/Scene12/k3_aeg/render_e_aruco_detection.json index 8a7e84d..25e7c58 100644 --- a/data/camera_study/Scene12/k3_aeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k3_aeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:36Z", + "created_utc": "2026-06-02T22:45:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9eae2c73-b977-4a6f-9ad9-278012656024", + "observation_id": "e6e4a41b-f25e-4699-b8a9-ed7056cc3b5e", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "6983aff9-30f9-472c-aa15-443b0e23d0da", + "observation_id": "5630a01c-5294-4747-a01b-6931992def1c", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "7c7c25d9-d66c-4171-828f-75a270b5937d", + "observation_id": "a06f1166-bf4b-4cc5-8dcc-1dc266c474f0", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "65358c51-c9d5-42de-b437-83b75f73de2f", + "observation_id": "119352ee-ab13-4483-8f04-4d38ec7fdbd7", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "75297810-df1d-4b34-9da1-8981e256d89d", + "observation_id": "959c0522-c069-48f0-91a4-8a7abf16d3f1", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "84f99c3f-22f6-4e44-abc6-4503f45c4755", + "observation_id": "37340331-36eb-4d9f-aca2-3a449a0dea53", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "f21ef205-1ab1-4c3e-98ba-6cd9d59c11d4", + "observation_id": "c15dbed2-d51b-4de9-a342-69e274b55fa3", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "e9f58e6e-6e2f-47c0-9b27-ad19d7e0681c", + "observation_id": "5a9fe25a-9894-4d19-9761-dcf648238fba", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_aeg/render_e_camera_pose.json b/data/camera_study/Scene12/k3_aeg/render_e_camera_pose.json index c07702e..0938ab7 100644 --- a/data/camera_study/Scene12/k3_aeg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k3_aeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:37Z", + "created_utc": "2026-06-02T22:45:56Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_aeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_aeg/render_g_aruco_detection.json b/data/camera_study/Scene12/k3_aeg/render_g_aruco_detection.json index 3483102..fc40855 100644 --- a/data/camera_study/Scene12/k3_aeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k3_aeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:36Z", + "created_utc": "2026-06-02T22:45:55Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "616b261e-db2a-4e91-ae6b-7819733dd508", + "observation_id": "2992281d-a919-4795-8e8c-4b4f5f0799e4", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "e6c7aa02-2e59-406d-ba42-c7efd8670504", + "observation_id": "e3671c15-9d1a-4f2d-a1ec-ff84b091122a", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "70ca1e4c-76a8-4182-967d-8e360414dcca", + "observation_id": "957753b7-2a31-476a-8629-33a159f5dbbd", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "65c97ad6-163c-4fd4-8efa-1dd873b01510", + "observation_id": "9f7d1cf7-7963-429f-89d4-5bfbe5075486", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "48671f69-5fda-45f9-b80b-2e6f372d798a", + "observation_id": "acfa90bb-7abb-4c36-bc41-17eeeb92a16c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "335f7b74-5a89-45dc-92df-0024bf2d100c", + "observation_id": "9ae109c7-6375-491d-a41f-50b376ad757c", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "a0c70306-b9ab-469b-a8c8-99f74e96b60d", + "observation_id": "4ee2bd93-721b-4e8b-8f12-688e17dee323", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "a2feca9f-f276-4633-9c56-e19c6f5b3a28", + "observation_id": "46f35b65-9e31-47f0-930e-76475ff71147", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "c61f01d9-2ea9-4ca1-aeb4-bd666ddcb17f", + "observation_id": "f5979d82-a631-4d90-9444-c3788c4bc3ba", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "901b51ae-5e5c-40f8-bfb0-e80f5e4279f9", + "observation_id": "51d118b3-79d1-427d-a194-902054397899", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "1143cf0b-a961-40c9-9a73-e022c629a09a", + "observation_id": "e4ff879f-14d5-48cf-aec1-655485bf364b", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "d3289c03-572d-499e-8844-c01b877b0c76", + "observation_id": "64d9a690-3b68-4060-9cea-fa1daeda58b3", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "dcb2ac77-bde3-4a96-a26b-abf72e4b1584", + "observation_id": "84b17c30-1323-404d-abf7-317694e9c8bd", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "fe5af7ce-3030-4b92-99d7-2c1da4a9f870", + "observation_id": "0bdc8ada-c639-4439-b011-6c7b8d679078", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "469e806b-77b7-467f-b3eb-bec980203155", + "observation_id": "3677bbd3-56e8-4e1e-96c2-af5440bdb8d4", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "1b157203-e0cc-4a28-b77a-ee1a7194ac0d", + "observation_id": "dee2902c-735a-463e-a845-2871685cb5e9", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "91f46b29-782e-4748-b8f3-18975330b6e3", + "observation_id": "8715c054-1bc4-4e07-8618-cf1f37679cfe", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "3c82d3f6-af79-4488-88d7-deef3b07421f", + "observation_id": "a8948501-e220-4fc1-83a9-105d31740763", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "3bc321d7-9147-4c43-9a72-d732141f8457", + "observation_id": "8b5c4fa6-e04b-46e9-b22b-eb5ae34edee4", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "d12cb35e-f41c-4e30-ba85-b7cc7e0b9a25", + "observation_id": "6f54fd80-fc86-430d-ad7f-dbd45cf8779a", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "204aa56f-046e-425d-9de8-a54bd6255633", + "observation_id": "75543086-a567-46ea-b87a-c898351769f3", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "81f947b7-81da-4af9-ae66-6e3c29a5e009", + "observation_id": "4e7ec457-0372-4121-b6bc-bd0d8151999e", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "a54a31c5-5237-49a8-aa0f-11080830031c", + "observation_id": "0703adfb-b8d6-4878-a8be-ee00236e5247", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "5e591a94-d31d-47e8-a0fe-58a327bf429d", + "observation_id": "7d20cc1a-f522-48db-8ba6-6cc5f9e162b5", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "684695e3-3d70-410c-91d7-3a4cacb2f0e3", + "observation_id": "d6edf866-3d5e-465d-84b6-55194b72fc00", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "d99633d4-6463-4751-a6f8-29f7401e7564", + "observation_id": "c287ba93-9edc-4be4-a7af-b5ceb9f32265", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "478c22e7-f3c4-4a39-9609-da4b104a6964", + "observation_id": "49d01fc0-4b18-4f2e-868f-998dbbd83632", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "9484e6cc-940b-486b-a4ca-d0d3cc143d23", + "observation_id": "ba14b5a2-32c1-4b83-a9c9-af21dc6ff0f0", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_aeg/render_g_camera_pose.json b/data/camera_study/Scene12/k3_aeg/render_g_camera_pose.json index 719efc9..e22c6e2 100644 --- a/data/camera_study/Scene12/k3_aeg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k3_aeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:37Z", + "created_utc": "2026-06-02T22:45:56Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_aeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_aeg/robot_state.eval.json b/data/camera_study/Scene12/k3_aeg/robot_state.eval.json index eb1653a..3dc4116 100644 --- a/data/camera_study/Scene12/k3_aeg/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_aeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.5333902486185025, "mean_abs_mm": 0.8655315143326163, "max_abs_mm": 0.8655315143326163, - "finger_error_mm": 37.55380057754153 + "n_unobservable": 3, + "wrist_error_mm": 0.9345326399915574, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_aeg/robot_state.json b/data/camera_study/Scene12/k3_aeg/robot_state.json index d98213b..0aa7003 100644 --- a/data/camera_study/Scene12/k3_aeg/robot_state.json +++ b/data/camera_study/Scene12/k3_aeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:39Z", + "created_utc": "2026-06-02T22:45:59Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_bcf/aruco_marker_poses.json b/data/camera_study/Scene12/k3_bcf/aruco_marker_poses.json index 92ded96..f414f0b 100644 --- a/data/camera_study/Scene12/k3_bcf/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_bcf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:31:48Z", + "created_utc": "2026-06-02T22:46:03Z", "summary": { "num_cameras": 3, "num_markers": 23 diff --git a/data/camera_study/Scene12/k3_bcf/aruco_positions_initial.json b/data/camera_study/Scene12/k3_bcf/aruco_positions_initial.json index 426d4dc..aa4747e 100644 --- a/data/camera_study/Scene12/k3_bcf/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_bcf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:31:47Z", + "created_utc": "2026-06-02T22:46:02Z", "summary": { "num_cameras": 3, "num_markers": 23, diff --git a/data/camera_study/Scene12/k3_bcf/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_bcf/aruco_positions_optimized.json index 98427f9..e4460c8 100644 --- a/data/camera_study/Scene12/k3_bcf/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_bcf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:31:47Z", + "created_utc": "2026-06-02T22:46:03Z", "summary": { "num_cameras": 3, "num_markers": 23, diff --git a/data/camera_study/Scene12/k3_bcf/render_b_aruco_detection.json b/data/camera_study/Scene12/k3_bcf/render_b_aruco_detection.json index 9b245da..7490305 100644 --- a/data/camera_study/Scene12/k3_bcf/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bcf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:45Z", + "created_utc": "2026-06-02T22:46:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "33c00c7f-e7bd-4ce2-a13b-23062aca3d76", + "observation_id": "f871ccb1-f671-427e-997e-0435a8ede350", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "fc63f048-944d-4de1-aca8-abc2cf15e922", + "observation_id": "4688458b-ae31-4355-9723-756d689cfffc", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - 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"observation_id": "1d91f392-f341-4184-939e-6c0944e33d19", + "observation_id": "496c7f4b-f8df-4b85-9e5e-aa030617e692", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5469722222222223 }, { - "observation_id": "151e809c-492e-4931-a242-bd730daa1306", + "observation_id": "c3e512ee-2fc7-44df-9a67-85f3cea97fcb", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5243541825374566 }, { - "observation_id": "d098dafb-09d3-4827-8dca-2d0267c828c9", + "observation_id": "51e43b7a-6135-41b1-b3c9-1c9958e9b5c8", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.23705641289279722 }, { - "observation_id": "18d35bb5-0276-4cbb-82b3-6231d3fa817c", + "observation_id": "48377200-89dd-41b4-8540-64954f93aca5", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5918000254950889 }, { - "observation_id": "e6a5c7db-fcfd-4810-bf9e-1b52c426b687", + "observation_id": "a82f9f65-f31f-4b8e-af41-b42bfd9eac54", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.608276252746582 }, { - 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"observation_id": "b7c8a24d-b0f4-40a0-95e2-46c10733702b", + "observation_id": "5c171324-a362-4a45-abc2-dbac92579746", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5240808080808081 }, { - "observation_id": "2887b35a-18b8-452e-bcdb-7c9da07e8ac8", + "observation_id": "a62040cc-38d5-473b-8781-621f4a1e5c18", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.528147602404417 }, { - "observation_id": "261873cc-fee0-469a-a2fe-481298b5fa9a", + "observation_id": "5f7d8ec8-1f22-45af-aee6-5d3b34394fae", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.4523581982780906 }, { - "observation_id": "0560161a-148e-47ae-b919-c96288b7f8b0", + "observation_id": "335f0c48-a5df-480e-93ee-568eb77b6971", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "276ae72a-be0c-4191-9ed3-7670f1d2d659", + "observation_id": "e6543cf0-0f24-4e5c-b29b-06f278f9404f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4461531673319199 }, { - "observation_id": "58661e57-273e-4fce-82e9-a4cf0df2e547", + "observation_id": "ee47d708-bcb6-4227-b8ba-bf134ec744e8", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.42861533927775625 }, { - "observation_id": "a62f96fc-606d-4b9b-bf48-1d06e8c86847", + "observation_id": "8a4fc50a-312c-4c2d-ae45-471766f766e9", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.42023766965581094 }, { - "observation_id": "21409447-8cf5-4ee1-ae64-79da4ddd42fc", + "observation_id": "6b191a7a-e125-4900-bbaa-35448221273a", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.4166666666666667 }, { - "observation_id": "1b509738-92da-4233-8070-ebaf9870e39c", + "observation_id": "91a89e28-ff85-429a-b6a0-285dc92564a3", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.4387585454601719 }, { - "observation_id": "9cea5254-6b68-444e-8b77-34bec47d4365", + "observation_id": "b956f4a3-3fb4-46ca-99ef-c32f2b98098d", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "bbc4d4b2-8069-4220-9b5e-c1bf8e249f90", + "observation_id": "26b6970a-3bea-4700-89e8-3bf226c35455", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.40836112125901974 }, { - "observation_id": "70c8b5bd-3641-4c0e-ba21-5322a0f420fb", + "observation_id": "b9c0f73d-cb29-4768-8fbd-f645d58cc044", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.23853923230852397 }, { - "observation_id": "bfffb2b4-ddc9-471f-a92e-65ae5d90486e", + "observation_id": "1bcc3adb-fd27-427a-b20b-348f692dbcef", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "f601fb7e-7774-48e5-bd02-f514ff1e1da1", + "observation_id": "ccfe73f8-5fa4-447b-b30e-6323f51c46ee", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "6ad2e01d-5f25-4b9c-81e2-c550e1667eaf", + "observation_id": "e482bc20-9410-4003-9eca-6e3f3e8f2f66", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.3135142237541464 }, { - "observation_id": "80c0bab6-e3da-43cb-8731-9f25d00e4887", + "observation_id": "e78e187f-1708-482d-aa3f-6bdbf253dbf1", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "6784dc55-e31e-43c7-9aa7-7a6aae150647", + "observation_id": "c1dede16-6eaf-4bf6-99fd-b9ac71cbf3af", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "910578a9-8212-4a2c-a310-1555bc71fa81", + "observation_id": "4b5211ef-ddc4-4b60-992d-5350a1faddcc", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "5b3ac489-65fb-4a8b-aead-33f2acb819ca", + "observation_id": "c001ff10-2c4e-4df5-8881-fce875a2f766", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "832828c0-6f0d-4f9e-b41a-8f473c92ca69", + "observation_id": "40c527b2-284d-4dbb-89f3-26f359bb066c", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "216505c8-464f-4f6d-8af0-224879334c9b", + "observation_id": "5973b7e2-2879-4fad-a56e-846c6fe09456", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "2f95ec0f-98fc-4784-95af-0d037978403a", + "observation_id": "91e97e60-0092-45fc-bccb-abb0fdb76eca", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "a04e1bca-28e3-4158-a075-1efacfa5b096", + "observation_id": "ea6ef30f-64c2-4b53-b2c6-8effca940163", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "cd96bd76-6e6c-4989-ae60-073fc7f8d356", + "observation_id": "86cb051a-f288-4ddf-a0d7-c6e8c7afc5c5", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "67aa8061-3f96-4497-9508-62af2f3d4f83", + "observation_id": "6f5dacd0-85a9-4a75-a1a1-4fc921263eb5", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "d039563c-8d7d-44bb-a26d-f9ac32a6858f", + "observation_id": "3d6504ef-d0e0-44f4-9577-dd6f70f67dce", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bcf/render_b_camera_pose.json b/data/camera_study/Scene12/k3_bcf/render_b_camera_pose.json index fecd788..b4e7f4d 100644 --- a/data/camera_study/Scene12/k3_bcf/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k3_bcf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:46Z", + "created_utc": "2026-06-02T22:46:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bcf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bcf/render_c_aruco_detection.json b/data/camera_study/Scene12/k3_bcf/render_c_aruco_detection.json index aa9a66a..4a03b15 100644 --- a/data/camera_study/Scene12/k3_bcf/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bcf/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:45Z", + "created_utc": "2026-06-02T22:46:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "1ea57f2f-bf42-48a3-bf3b-2038d29931c1", + "observation_id": "40d95c9e-1279-4e4d-af81-c5f19ae35e12", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "34181475-7dee-4848-a676-edd7459db69c", + "observation_id": "fc582e80-cb67-48d1-8d14-0b68cdd6af7b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "ced83e61-5dfa-4d97-9292-738da4d651fb", + "observation_id": "af650ac1-e0a0-4f95-a39c-dbe46b0eebd8", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "e0c721da-86d7-4f78-bef6-99fe7de4570e", + "observation_id": "eb5046cd-8baf-45c6-ac48-79ce6b52f2d0", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "f5a9cc03-933f-474b-94f0-986d87eeb526", + "observation_id": "d9b1427b-d4c5-4f91-9de9-d8d71438b858", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "b8c4c308-db6a-4408-b8d2-f0f77ef4154b", + "observation_id": "11a1448e-f1f1-44ca-be21-baae417daf0d", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "d0d18216-8988-4ccb-b438-949753deeeab", + "observation_id": "32320a1b-de24-4156-b188-ea9988e38770", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bcf/render_c_camera_pose.json b/data/camera_study/Scene12/k3_bcf/render_c_camera_pose.json index 49961e4..5a3bd88 100644 --- a/data/camera_study/Scene12/k3_bcf/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k3_bcf/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:46Z", + "created_utc": "2026-06-02T22:46:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bcf\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bcf/render_f_aruco_detection.json b/data/camera_study/Scene12/k3_bcf/render_f_aruco_detection.json index 8ede7e7..57d3b0e 100644 --- a/data/camera_study/Scene12/k3_bcf/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bcf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:46Z", + "created_utc": "2026-06-02T22:46:01Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a2425264-732c-4ea7-9be4-5684bcc59470", + "observation_id": "2be507a6-95fc-415c-b9ea-a58c9d2d34bb", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "91b03e0a-8b78-4262-bfbf-ff9b314f5dc4", + "observation_id": "62cc885f-baca-43f5-8fbc-fefa1ab0fe3c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "fbae1337-9339-4afe-90da-490c5c0547b6", + "observation_id": "13f47f8e-d29d-4fbc-8895-8c31a1b9ac3d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "1d4914ba-5fa5-46d3-9f6d-8d5be9da48d3", + "observation_id": "20da447e-f3d1-40a1-8bcd-3b9aa40de7dc", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "03032e9d-c970-4ea8-a8a3-88f79e1dd410", + "observation_id": "d6bf0fdf-f3b7-4a95-8d7a-e884011e8ed2", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "e495c002-814f-42e9-8f01-fca709e761a3", + "observation_id": "a2e2dccf-29b8-4b0b-b1a3-21c38decddd2", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "ae41befd-ac98-40be-b93f-cdac788fcbb4", + "observation_id": "495ce004-741a-48d4-aa47-790ef1710baf", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "dcc1c722-3ede-481d-87d0-55affba76854", + "observation_id": "3d5392ea-a768-4f19-963d-c8aef3be30e2", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "0ff3e078-5801-4771-9481-30bfd687c371", + "observation_id": "a50e70b0-450d-438a-b79d-1578cde2823c", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "365f4a90-0a92-491c-9067-6426d6ac14c6", + "observation_id": "35b861e4-bc16-44df-af8a-52c8a507166d", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "74246cdf-1399-4640-9ca1-c73c84b52043", + "observation_id": "dcf6dc8d-ee85-4459-bf92-853d92931ac0", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "4b060753-72ce-4211-9b75-7019b653bb1f", + "observation_id": "1a17285a-76da-4a24-80d2-45795c5e7a7a", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "5ee98615-d27f-41d4-b8fe-7a1d0f0f9d06", + "observation_id": "8adbd67d-176e-43be-97bd-176176f120b4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "521a32f9-7a31-4100-b68e-bcffe60dc8e2", + "observation_id": "279a2ad3-02eb-411a-993e-849633393a0e", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "dc7358e5-6349-4a2f-a437-4be6a7628fd9", + "observation_id": "94098677-287f-44d3-a896-ce693c912880", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "5b6979aa-d928-4f73-8304-d4f948e23dca", + "observation_id": "38e39e74-4c4f-4f9b-a367-5a362f0129db", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "fbed181a-d9b5-4185-9186-7abff0bfcfa2", + "observation_id": "21bf160c-ae98-49e9-8697-b23c635de6a6", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "1b45c86d-42a7-4cb7-bacf-443532ccca0c", + "observation_id": "9290446c-81ea-48f7-9957-f1d423364d51", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "a6fe6738-ddec-48ec-a6b7-f2efbedd32c5", + "observation_id": "75032712-9dc3-4b81-bf50-504cc245aad9", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "b6777efe-dcb4-4aa0-8c54-4dbf5ae0ba02", + "observation_id": "befdfde2-bd7a-4173-935e-807af26bfd46", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "21da6a94-b2c0-443f-9bf3-41ae20ee9a82", + "observation_id": "f2945c03-e542-4249-8268-07b5d65afe77", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "8611af54-e68e-437c-ab62-e91c40d38fa2", + "observation_id": "df8e4060-e035-4a0b-ad87-2850967c771e", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "b6130a93-0e72-4baa-9a16-9c456f2d60bf", + "observation_id": "c4bf1bfd-e789-4edc-a1cc-1206109c3be3", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "e7483d58-1fe8-428e-b543-ddb72e98d989", + "observation_id": "2d74c0f9-27e4-439d-8679-5b7770f23fcd", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "a9e85f4e-e4b9-417e-9894-d9dfa811e46f", + "observation_id": "e2b86222-1d52-4d18-8762-4666192c859c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "4e36b4c3-de39-43ad-b51a-4b02f468dcee", + "observation_id": "76eca2ea-63d9-4cad-910f-56b850b040a6", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "4bb53074-5e6c-498a-a575-debdc6c33128", + "observation_id": "c576c8b5-b697-4b8b-a29f-30149be7861a", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "b63d95d3-eae2-441b-a54a-1dbe9cebeb06", + "observation_id": "5de07791-13a8-4703-8105-784a0027b790", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "2dd6aaba-672f-4d66-abea-cd221084c9b1", + "observation_id": "d9107f1d-6e9c-4ef0-a92c-b66968544e46", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bcf/render_f_camera_pose.json b/data/camera_study/Scene12/k3_bcf/render_f_camera_pose.json index d178f27..2238a3e 100644 --- a/data/camera_study/Scene12/k3_bcf/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k3_bcf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:46Z", + "created_utc": "2026-06-02T22:46:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bcf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bcf/robot_state.eval.json b/data/camera_study/Scene12/k3_bcf/robot_state.eval.json index b1c8996..5d50d2b 100644 --- a/data/camera_study/Scene12/k3_bcf/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_bcf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.7703655454450313, "mean_abs_mm": 1.6231375328971538, "max_abs_mm": 1.6231375328971538, - "finger_error_mm": 45.033030359689214 + "n_unobservable": 3, + "wrist_error_mm": 7.894954280622707, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_bcf/robot_state.json b/data/camera_study/Scene12/k3_bcf/robot_state.json index 94f48e3..7987fe2 100644 --- a/data/camera_study/Scene12/k3_bcf/robot_state.json +++ b/data/camera_study/Scene12/k3_bcf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:49Z", + "created_utc": "2026-06-02T22:46:04Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_bde/aruco_marker_poses.json b/data/camera_study/Scene12/k3_bde/aruco_marker_poses.json index 2074b76..6dd6c44 100644 --- a/data/camera_study/Scene12/k3_bde/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_bde/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:31:58Z", + "created_utc": "2026-06-02T22:46:16Z", "summary": { "num_cameras": 3, "num_markers": 15 diff --git a/data/camera_study/Scene12/k3_bde/aruco_positions_initial.json b/data/camera_study/Scene12/k3_bde/aruco_positions_initial.json index 3748fff..697ca1d 100644 --- a/data/camera_study/Scene12/k3_bde/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_bde/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:31:58Z", + "created_utc": "2026-06-02T22:46:15Z", "summary": { "num_cameras": 3, "num_markers": 15, diff --git a/data/camera_study/Scene12/k3_bde/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_bde/aruco_positions_optimized.json index 101f056..0257bec 100644 --- a/data/camera_study/Scene12/k3_bde/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_bde/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:31:58Z", + "created_utc": "2026-06-02T22:46:16Z", "summary": { "num_cameras": 3, "num_markers": 15, diff --git a/data/camera_study/Scene12/k3_bde/render_b_aruco_detection.json b/data/camera_study/Scene12/k3_bde/render_b_aruco_detection.json index 82e7bb8..79d9737 100644 --- a/data/camera_study/Scene12/k3_bde/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bde/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:56Z", + "created_utc": "2026-06-02T22:46:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "eebaca1a-b375-4c91-b7ca-c730d86b2bc3", + "observation_id": "9e4f551d-b003-4731-9225-97dbdc4e0302", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "64535750-13c0-4c82-a030-b10dca7becf6", + "observation_id": "2fed7cb3-f1b8-4701-a256-fb1ed643fa9e", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "77122c48-cc49-4cd2-af79-3e6be1b750e7", + "observation_id": "3645bdef-e104-4c23-a194-4343d9231f57", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "84d7f93c-3b89-48fe-866b-ffbd6348c38a", + "observation_id": "8143a1bf-30c1-4f8a-aa39-cb8b9bb7e36d", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "125cfd89-cc80-4be5-b161-21c9c330dd76", + "observation_id": "cb6caaa8-4f75-4a02-b248-44580ed3bb8e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - "observation_id": "230393e0-e188-4cd7-8620-62c06a837e4d", + "observation_id": "a7fe08e4-c9f5-43c0-9131-8013c679ed6b", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5337876600066706 }, { - "observation_id": "e9ca9247-f11e-46a0-aed8-904bd46f00e5", + "observation_id": "ae7fd0a7-d450-48c6-a246-43cac3ef98ba", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6849598669171316 }, { - 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"observation_id": "7a13c6af-7fdb-4be9-a87a-bb1efef2e9cb", + "observation_id": "ddcdb7db-27a9-4183-bfd3-ee9f6b2746fe", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5240808080808081 }, { - "observation_id": "c2e10f74-675d-4253-b55f-c82675430dc2", + "observation_id": "fd9d0816-5c5c-4f60-ad5a-b5f6d83f2a09", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.528147602404417 }, { - "observation_id": "1ee226ad-d5b7-4028-8254-ef879444dfd2", + "observation_id": "e01492b0-de01-4f43-bdec-a074dcc46c1b", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.4523581982780906 }, { - "observation_id": "c6517dcc-e473-4676-97bd-3c0b8a5e6c39", + "observation_id": "95d9fd39-e3f6-40e4-a39b-70438a89925f", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "9bc3492e-941c-4046-8806-2ac7de12066a", + "observation_id": "a33519fb-af27-4ee2-aee3-aede7513005b", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4461531673319199 }, { - 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"observation_id": "8636f567-7b70-4107-8e11-43e079f41f9b", + "observation_id": "1516a22a-569f-4df6-b3e3-4d6ddf35e56f", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.40836112125901974 }, { - "observation_id": "c7800926-1dbf-4e86-81fa-35f172832723", + "observation_id": "a1c8d96e-7bc7-4219-bfde-8e951eaed884", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.23853923230852397 }, { - "observation_id": "d5f0b8f8-481f-49d1-a685-d5dd7a498726", + "observation_id": "8c9a89ca-5b4b-4fb4-88a4-53866492e57b", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "513a2459-68ec-43fe-9b0e-fc0a3c612fbe", + "observation_id": "99ff1551-00dc-4de3-9542-573ca530e603", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "bf982ae7-09af-4092-bea1-94aa633d3b53", + "observation_id": "555087a7-3107-42c2-9db7-37cbdc2efca3", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.3135142237541464 }, { - "observation_id": "1fb5fb2d-dbde-4107-859d-960a04035b4b", + "observation_id": "98b08cbe-8b21-44ec-91eb-3ae4826df4b7", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "a29985f4-c713-493c-b69e-2b3456a1196e", + "observation_id": "f832d222-24cb-4912-ac41-776a296f76f0", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "ce543e35-d592-4606-b2d7-6b5416b868b7", + "observation_id": "76937ba1-9fa7-4a28-b9b7-3e62277c9e55", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "570c1cbb-5c6b-467d-b342-a8074f51ba67", + "observation_id": "fe0c34ea-5d75-43be-a5b0-60d69fe52a57", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "9bad923a-624b-45ba-9d3b-39b46766671f", + "observation_id": "586e9021-3e16-46c3-a891-a49fd811b36b", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "ef1339b9-5a1d-4dea-b1d5-5f60b59da440", + "observation_id": "3e1ed3da-3c27-4b47-88d2-8324b04c3981", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "4389f49a-09d8-4320-9083-ed83814f1188", + "observation_id": "4a837cbb-4bfe-4698-aee9-9f685b0adf12", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "06ec25a8-563d-4d6b-aa60-5eea3d159ed1", + "observation_id": "d18aeb0e-1bbc-4ecf-8cf2-9b9bcefd6edf", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "82172c10-99b2-4006-8149-6fb26766059e", + "observation_id": "00289f38-9f6b-41a0-918b-e913e115bc5d", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "326c81e8-808e-401e-a934-1c71a097b236", + "observation_id": "5475a839-af28-4d43-84b8-6a797939f9e0", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "876948d4-1433-40ef-b894-5540c98d481b", + "observation_id": "92eca70d-5a75-442e-9211-749de1862d76", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bde/render_b_camera_pose.json b/data/camera_study/Scene12/k3_bde/render_b_camera_pose.json index 5ff6ccb..023dd38 100644 --- a/data/camera_study/Scene12/k3_bde/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k3_bde/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:57Z", + "created_utc": "2026-06-02T22:46:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bde\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bde/render_d_aruco_detection.json b/data/camera_study/Scene12/k3_bde/render_d_aruco_detection.json index 257dbf7..22841ea 100644 --- a/data/camera_study/Scene12/k3_bde/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bde/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:56Z", + "created_utc": "2026-06-02T22:46:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "12bf5cbd-77d8-40dd-b0e9-982328d1ad8d", + "observation_id": "63fc176d-e7cf-4ee8-8999-da3886d4e383", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "a47e227b-eecc-4757-b23a-709ff965edb3", + "observation_id": "ed0d44be-b72e-4ba0-92c4-37d2f82989cb", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "2fdaa188-309d-41ad-805c-241107addf8d", + "observation_id": "1819156e-70b4-4d3d-ad9e-bc7099ff8c50", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "2c5cc9cd-76d1-4b3c-af7b-c172e1a88969", + "observation_id": "60764fbe-171d-4476-81b1-f1c05a21756e", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "ed50fbb9-5f2d-4c32-9c16-d47a20f89bfc", + "observation_id": "70ae9c07-40a1-4e57-84a6-ea3547cef96e", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "2b505e2f-af0b-4007-b3a1-cabe36e75eab", + "observation_id": "01a05ae9-e2e7-4e90-b90e-16958b3fd56a", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "51ad2c14-2379-47f5-9226-5ef3dbe3def5", + "observation_id": "f7ab77c1-5608-45d2-8790-7b4cc1e0ad0a", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "7da70a27-9ef4-4f62-ba43-d52614152ec0", + "observation_id": "c8a5702a-a4ee-47c5-92d5-6804db965c06", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "b0267976-3f5c-471b-8a1a-7aea474ed0ed", + "observation_id": "c6acbf73-5ccf-4022-a1c5-2e459a127378", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "574dcf7d-8363-44f6-b665-5825070dc4b9", + "observation_id": "290b7ae6-cbd8-4f73-aa21-72ea20f9e079", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "47dd191c-668e-4989-a85a-ec5778c951ab", + "observation_id": "e79bb492-427e-40f4-b7d1-05756421666b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "ff824e96-bbeb-455a-a7cd-ba0fab4131da", + "observation_id": "9a8f3e1d-9736-4485-9a7d-95f61df6cf14", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bde/render_d_camera_pose.json b/data/camera_study/Scene12/k3_bde/render_d_camera_pose.json index 756ca28..347c527 100644 --- a/data/camera_study/Scene12/k3_bde/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k3_bde/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:57Z", + "created_utc": "2026-06-02T22:46:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bde\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bde/render_e_aruco_detection.json b/data/camera_study/Scene12/k3_bde/render_e_aruco_detection.json index 48d4389..f96c0c3 100644 --- a/data/camera_study/Scene12/k3_bde/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bde/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:57Z", + "created_utc": "2026-06-02T22:46:14Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "72a05237-fe35-40ff-a8f5-dceae75d9a44", + "observation_id": "35ba1fec-bbfc-41f3-85e3-036e40525ea2", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "f979b35f-f6fd-4bb6-b123-6a6dceb12b6f", + "observation_id": "fea95869-47db-4c0b-9174-756080436648", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "4ac4638d-d783-42cd-9543-f7584dc8306b", + "observation_id": "003f9c1a-e511-4417-b7ee-5cfa32a8f0cd", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "75c5d0ec-d1e6-4554-b9bf-d6622068f866", + "observation_id": "89989031-499b-4792-830d-ccfeb5b96787", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "19fb2c82-56f6-42cd-a450-47994f533c49", + "observation_id": "396cfac6-c334-4a11-864a-836b0d3b1915", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "231ef803-311f-48af-a370-1e6d050bc5b6", + "observation_id": "629a59f7-c9f4-45af-8921-802574f5afc7", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "600ce721-43ff-4b6c-8438-3c2b2edd4583", + "observation_id": "b86275bd-25aa-4d35-b121-413560b6216b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "2503cc5c-ce8c-4e52-bba4-72a4ec1f9ec8", + "observation_id": "76c5a65d-0ee1-4e97-975b-c722d4f1e03b", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bde/render_e_camera_pose.json b/data/camera_study/Scene12/k3_bde/render_e_camera_pose.json index d7d954d..b1dbc82 100644 --- a/data/camera_study/Scene12/k3_bde/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k3_bde/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:31:57Z", + "created_utc": "2026-06-02T22:46:15Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bde\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bde/robot_state.eval.json b/data/camera_study/Scene12/k3_bde/robot_state.eval.json index 3c85e88..2338ccd 100644 --- a/data/camera_study/Scene12/k3_bde/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_bde/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.582249460902517, "mean_abs_mm": 2.7452422044856704, "max_abs_mm": 2.7452422044856704, - "finger_error_mm": 40.35743693337049 + "n_unobservable": 3, + "wrist_error_mm": 3.0755115681026988, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_bde/robot_state.json b/data/camera_study/Scene12/k3_bde/robot_state.json index 370942f..5758d3c 100644 --- a/data/camera_study/Scene12/k3_bde/robot_state.json +++ b/data/camera_study/Scene12/k3_bde/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:00Z", + "created_utc": "2026-06-02T22:46:17Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_bdf/aruco_marker_poses.json b/data/camera_study/Scene12/k3_bdf/aruco_marker_poses.json index 6b8ed37..a915845 100644 --- a/data/camera_study/Scene12/k3_bdf/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_bdf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:32:05Z", + "created_utc": "2026-06-02T22:46:23Z", "summary": { "num_cameras": 3, "num_markers": 24 diff --git a/data/camera_study/Scene12/k3_bdf/aruco_positions_initial.json b/data/camera_study/Scene12/k3_bdf/aruco_positions_initial.json index 7502742..6c16c2b 100644 --- a/data/camera_study/Scene12/k3_bdf/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_bdf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:32:03Z", + "created_utc": "2026-06-02T22:46:21Z", "summary": { "num_cameras": 3, "num_markers": 24, diff --git a/data/camera_study/Scene12/k3_bdf/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_bdf/aruco_positions_optimized.json index 4f6f90e..ef6206c 100644 --- a/data/camera_study/Scene12/k3_bdf/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_bdf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:32:05Z", + "created_utc": "2026-06-02T22:46:23Z", "summary": { "num_cameras": 3, "num_markers": 24, diff --git a/data/camera_study/Scene12/k3_bdf/render_b_aruco_detection.json b/data/camera_study/Scene12/k3_bdf/render_b_aruco_detection.json index d679e43..12082e5 100644 --- a/data/camera_study/Scene12/k3_bdf/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bdf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:01Z", + "created_utc": "2026-06-02T22:46:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d540a9e4-b409-4a7e-a226-6c3201920455", + "observation_id": "3b472c3d-355e-4782-9163-980cffc2e25f", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "2ae75736-4dc8-4595-b889-f8ad84a4a1b3", + "observation_id": "aae4cc78-e81c-4f3a-903b-af8ef8c0c903", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "ddd316cb-012f-4823-9003-27fdb79e3493", + "observation_id": "bf781726-01a7-44b0-9e8b-abb2a5a673b1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "94e2d3a0-c8c8-4c5c-91d7-1825769877a4", + "observation_id": "30e926b7-b342-4407-bc7c-999bd5752269", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "828898af-2b25-4de6-ad52-54c1d7c1e95a", + "observation_id": "851a6be1-02ef-4eef-b48a-27fa769b1fa8", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - "observation_id": "bc1d7c86-f3f5-4614-9150-ddc7991413ae", + "observation_id": "8805dc8f-0b07-48c5-b265-22d2aa0bb974", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5337876600066706 }, { - "observation_id": "05861149-364f-44e3-aed5-a4c3763c88cb", + "observation_id": "ee1d395c-301d-456b-a709-43444ae6ea04", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6849598669171316 }, { - "observation_id": "aa4f9d5e-ed21-4d3c-8698-f018415e9b74", + "observation_id": "9c6abf3e-f86f-4114-b9c7-1efc68e3a028", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "cba126d7-e84c-47d1-8121-b10031913051", + "observation_id": "e6d857d1-1826-482a-bc1c-5efd1e753944", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6513610457098532 }, { - "observation_id": "cfad7ba8-41d5-45a9-a62b-b937d2be97ee", + "observation_id": "aa5ceae0-bde6-4195-8cba-55956e6c4cd8", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.630961575157087 }, { - "observation_id": "affe62c5-c9c9-4bec-b053-f3d9d75a6025", + "observation_id": "7439b9dd-6cf5-45be-923d-96eaff8387c0", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6481492643993982 }, { - "observation_id": "19e43ba8-bb84-4330-a38f-59af7bb3a06a", + "observation_id": "b3b3636f-b564-4eef-a70e-2ac403f43c8b", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5997552616991532 }, { - 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"observation_id": "60365f92-8e2d-4bac-a866-7d583f19ea85", + "observation_id": "b4ad7091-5d9d-48ae-96b1-7a3a82b15e58", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "77674419-60bd-4735-95e6-8edad1287890", + "observation_id": "c6f959ac-ba47-4a99-9457-f8718217e895", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "7e944615-bd91-4716-b331-2b34894db8a5", + "observation_id": "833cf044-f6bb-4797-b420-c030df2ee1a3", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "209a2628-553d-4604-9b45-76af14078984", + "observation_id": "dce47c4b-9c6b-4175-b175-3375fdeca55b", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "d94b72c1-b4ef-4490-85f1-de0ae1a0fc42", + "observation_id": "b3ef6380-9196-4dda-a3ca-71e883a2fdfc", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "99d639d4-4d0b-430c-8b55-d1207fa607a4", + "observation_id": "d5f6fd91-66a7-4edf-9270-9efc80225cb7", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bdf/render_b_camera_pose.json b/data/camera_study/Scene12/k3_bdf/render_b_camera_pose.json index cc660b2..faaa5fa 100644 --- a/data/camera_study/Scene12/k3_bdf/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k3_bdf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:02Z", + "created_utc": "2026-06-02T22:46:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bdf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bdf/render_d_aruco_detection.json b/data/camera_study/Scene12/k3_bdf/render_d_aruco_detection.json index 07eead2..919288b 100644 --- a/data/camera_study/Scene12/k3_bdf/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bdf/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:01Z", + "created_utc": "2026-06-02T22:46:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "70d9c881-0e7b-4f34-afbf-8a795fef7dd0", + "observation_id": "16c093ab-7a24-44d0-b103-1fb69e16a359", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "46a274ef-52ee-4b73-b60d-0d866373ae7f", + "observation_id": "00d75e66-a400-4eea-bc0f-ec3337abd82c", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "5f8e9057-0449-4a44-aa83-11de25f86b72", + "observation_id": "b637adc2-e8c4-428d-b247-fe93ac7e23a9", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "57f2a157-508f-4cdf-a2e6-8c5fe4dbfc13", + "observation_id": "71602798-43ce-463b-8974-d830795de5b4", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "8dafd389-8153-4020-ab1a-1ce4186da49d", + "observation_id": "3934871e-44a4-47c4-b8b0-a773feb54d35", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "cfe67b48-d789-4417-acd1-fa9021e9dc64", + "observation_id": "ab103477-c9e8-4bdf-8788-bdca0322bd62", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "8f138713-bf68-4b76-b1f5-ab4bf6881eb9", + "observation_id": "22a88adf-511c-4ba4-acf6-2558165c1fb3", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "7fb022d1-4cb7-42c2-86d7-f12b8d2c2feb", + "observation_id": "93ea1855-c531-460f-b340-7938f27c647b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "a07e950e-ddbd-4f7c-9403-8b5246a53706", + "observation_id": "3ab04343-2fa0-4273-bba6-bc7279a18503", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "0d992311-678b-46f0-abdb-391e85577f13", + "observation_id": "b253a6d2-b036-4f61-b56d-9682539b5a26", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "b337a28f-f2fe-424b-894c-06459944d10b", + "observation_id": "1ff4ea8f-1781-4aac-90f6-27bb15795be1", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "cc657838-eba9-43dc-89c4-dfad319ade64", + "observation_id": "54c15b43-3cdd-4945-84a1-aa13e0b51c26", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bdf/render_d_camera_pose.json b/data/camera_study/Scene12/k3_bdf/render_d_camera_pose.json index d488396..a2654e9 100644 --- a/data/camera_study/Scene12/k3_bdf/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k3_bdf/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:02Z", + "created_utc": "2026-06-02T22:46:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bdf\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bdf/render_f_aruco_detection.json b/data/camera_study/Scene12/k3_bdf/render_f_aruco_detection.json index f111f5e..c10640e 100644 --- a/data/camera_study/Scene12/k3_bdf/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bdf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:02Z", + "created_utc": "2026-06-02T22:46:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "aa2a6957-93f8-49cc-ba46-1debb180fc59", + "observation_id": "82cedf5c-4951-4cd2-a514-110bdd574993", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "bd45bccd-1b1c-4d35-9e75-aedc3e8f1d56", + "observation_id": "ff6c97c8-cd5d-40b4-99af-766d70dfe04c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "4f29ea00-9e3e-434a-b1d0-ed95e23c7974", + "observation_id": "33305a2b-d07e-46d2-8ab7-c1580398ddb4", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "a6df61ad-9f7a-4529-94f9-1995582ac436", + "observation_id": "f43f70e1-9576-4508-80bb-ae0a3c7b4df3", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "5d0880ca-d96d-440b-9d55-46922c5634de", + "observation_id": "2dafcea8-7614-404c-b823-893d0a19a5c5", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "3dc26443-07fb-4e17-b36e-595291a19f74", + "observation_id": "79ffef65-859b-40bc-b359-1634538d34c0", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "f3c0de31-e884-44aa-a664-deb055501e91", + "observation_id": "dd82a8a5-ae79-43ca-b317-1a246ddc6408", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "7e876181-a933-4909-88d8-3baf99982239", + "observation_id": "cabcdbad-8b21-459f-ac65-f85b32c72df6", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "d5b9aab2-b805-44c7-a934-b233469824b4", + "observation_id": "1d3bbddc-7276-4292-a0b9-61d268544713", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "7038fbb0-c7a5-4393-a16a-86435afbb6ef", + "observation_id": "0dcb960e-8e1c-4a17-bbcd-bb251931feb5", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "b5c2935b-bd0e-4c5e-8a4d-e5810e166e24", + "observation_id": "bbfaa9dd-82eb-45d4-b0ff-39994a7b2ddb", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "2ee02876-2660-4eba-aa4d-de72fa5c4fce", + "observation_id": "956251e6-ac12-4d7c-b948-9ab4e2a4ead8", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "420f7c2e-b7a9-45bf-92ab-8a676e51c876", + "observation_id": "010761d5-1643-4774-ae9b-cbf6a04de6bd", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "9213bb2d-c7bd-4579-b8d2-d3e173d7958e", + "observation_id": "e4ea5552-b89b-4600-9b73-d579cbc27b71", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "3c9571fd-b7d0-48c8-ba6d-c33e4d8357ff", + "observation_id": "1c65c399-624f-4dc7-83db-9cc7aa39aaf8", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "e68bb906-6c2e-4d22-af18-f7c328829ad0", + "observation_id": "791687fc-2bc3-4780-8021-7c104dd130c4", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "bc79587d-8b9f-4b23-a1b6-f6cc6c521f4e", + "observation_id": "84b401cf-ce04-4ff8-8535-c2269cd2e9c3", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "bd1d5fd4-789d-4c9a-9143-e465becda249", + "observation_id": "1e676419-c61e-4edc-b2f7-bc2c2e10262e", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "74bce5fc-53b6-4a06-9be9-057a4f0ee2aa", + "observation_id": "2414d9dd-50c3-4a26-b5f2-2fa5450ab610", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "f10cd95d-0fbe-4c15-8d66-f357a45c3a49", + "observation_id": "76777b63-f250-42a9-b91f-7ef969f27650", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "c3b0944a-fe4a-4024-aba9-5b99359f2c79", + "observation_id": "a1305777-9950-457a-b90c-2661e47106f9", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "1f889821-5f54-46eb-93db-a36a65ea6d25", + "observation_id": "71318b0b-1828-4822-9835-6df26d28d00a", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "c521f181-a98b-4c15-98a3-1b875ac4fa6e", + "observation_id": "e8396047-0da8-47ae-b740-672e7f75e3b2", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "dbd5fc59-4f83-4621-8338-557ebac9c9f1", + "observation_id": "947f1f26-b998-403a-87d9-1ee32f40c82c", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "fcc24615-4ba4-4331-9b1c-eb3f2d242313", + "observation_id": "9c16468c-e3a5-436b-897a-7344ba55b041", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "d889bee1-7db8-43a6-b042-c9f896b0db66", + "observation_id": "988d67a9-01ca-4ed0-bf25-98c89740f1f8", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "e0b9c529-e9f1-4816-a215-977b6f5804c7", + "observation_id": "ad864f94-dc5f-434e-96f4-d482875be0cb", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "b2b5d5d5-b78e-45d8-9a3c-43f78fcc3256", + "observation_id": "5a904fbd-b6b4-4cc7-a201-1cac0607ff89", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "1830c400-7247-4226-920d-b7f9ba2a1a76", + "observation_id": "c8d7f864-bfa4-470c-86f4-879f9555456f", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bdf/render_f_camera_pose.json b/data/camera_study/Scene12/k3_bdf/render_f_camera_pose.json index c1c7a77..e9842e0 100644 --- a/data/camera_study/Scene12/k3_bdf/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k3_bdf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:02Z", + "created_utc": "2026-06-02T22:46:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bdf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bdf/robot_state.eval.json b/data/camera_study/Scene12/k3_bdf/robot_state.eval.json index 83a6681..62e3232 100644 --- a/data/camera_study/Scene12/k3_bdf/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_bdf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.060450407018493, "mean_abs_mm": 0.5977874957564424, "max_abs_mm": 0.5977874957564424, - "finger_error_mm": 39.87036135569205 + "n_unobservable": 3, + "wrist_error_mm": 2.281295642799513, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_bdf/robot_state.json b/data/camera_study/Scene12/k3_bdf/robot_state.json index 8f1b4b2..f28ad45 100644 --- a/data/camera_study/Scene12/k3_bdf/robot_state.json +++ b/data/camera_study/Scene12/k3_bdf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:06Z", + "created_utc": "2026-06-02T22:46:24Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_bef/aruco_marker_poses.json b/data/camera_study/Scene12/k3_bef/aruco_marker_poses.json index 640c607..91f9b5d 100644 --- a/data/camera_study/Scene12/k3_bef/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_bef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:29:33Z", + "created_utc": "2026-06-02T22:45:52Z", "summary": { "num_cameras": 3, "num_markers": 25 diff --git a/data/camera_study/Scene12/k3_bef/aruco_positions_initial.json b/data/camera_study/Scene12/k3_bef/aruco_positions_initial.json index 2078c8d..3aa392c 100644 --- a/data/camera_study/Scene12/k3_bef/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_bef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:29:32Z", + "created_utc": "2026-06-02T22:45:51Z", "summary": { "num_cameras": 3, "num_markers": 25, diff --git a/data/camera_study/Scene12/k3_bef/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_bef/aruco_positions_optimized.json index a7971a7..5c5b4dc 100644 --- a/data/camera_study/Scene12/k3_bef/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_bef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:29:33Z", + "created_utc": "2026-06-02T22:45:52Z", "summary": { "num_cameras": 3, "num_markers": 25, diff --git a/data/camera_study/Scene12/k3_bef/render_b_aruco_detection.json b/data/camera_study/Scene12/k3_bef/render_b_aruco_detection.json index b562043..30e0f8d 100644 --- a/data/camera_study/Scene12/k3_bef/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:30Z", + "created_utc": "2026-06-02T22:45:49Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "71203995-b43f-4ff0-85f4-c186ae738e72", + "observation_id": "1775ff44-05fb-46d7-b7d8-631dafeeb051", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "91262a5d-ac51-47ce-a4e2-e761f1d3b77c", + "observation_id": "2d915470-b394-4f22-b083-7d163aa4c8a7", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "ef9c91af-3c41-4bc4-bd1c-2e066cdba922", + "observation_id": "df4273b7-53b8-410f-bf01-f9384d2948b5", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "a4a2d460-468a-49e2-859a-8a78bae8ec1c", + "observation_id": "d8234efb-3954-42ef-a3f4-eaf2d36dd598", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "6c34edb2-26da-40e9-99c1-f89608284216", + "observation_id": "96ad1ec4-4c4d-429b-983a-b70e1157f03e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - "observation_id": "9f9e667f-f449-4ab6-8229-78550dbfdc8b", + "observation_id": "a59fa8be-af61-499d-be3b-8c25613e291c", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5337876600066706 }, { - "observation_id": "65765eeb-f083-47f4-a8ee-ea3e82d53b18", + "observation_id": "3c67e9d1-d030-4a3e-9b94-1f1253087df7", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6849598669171316 }, { - "observation_id": "986d798f-e56d-4804-9dd9-abf306d87076", + "observation_id": "a5839a0a-dab0-435b-9467-fc7dc24404ed", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "5f813944-c721-4353-a74e-2db19e442e22", + "observation_id": "2e0da7f0-2c95-4630-9ab2-2a1cf1091da6", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6513610457098532 }, { - "observation_id": "dec0a667-b3d8-4cab-9c0d-c47a007b1091", + "observation_id": "8769fe22-0dde-4913-b8ce-56d7f7116e1d", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.630961575157087 }, { - "observation_id": "1521eb3e-6cb5-433f-9c46-5984b74002ca", + "observation_id": "3dceddda-178a-4c7a-999d-2ea5baa8679d", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6481492643993982 }, { - "observation_id": "a23f342d-4a29-4826-b5e9-0de2b65da124", + "observation_id": "33148d2a-938d-4d11-9f87-17e76a3aeddb", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5997552616991532 }, { - 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"observation_id": "49ba4c3e-b004-4e1d-9408-94a7902168b0", + "observation_id": "73152c23-7196-4b89-83e0-be79abd7f985", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "b3d706a5-9a3c-4404-b76c-82423e6a9f73", + "observation_id": "42d2a758-178c-4935-9411-249a21ea92f9", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "88e06a8b-f9c0-49fb-8fcc-eaff6d07e5df", + "observation_id": "373a454b-1f45-425c-8021-8f38c4b69d86", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "0af8a8fa-ffcb-4e59-ac10-d08259826da4", + "observation_id": "89398d63-74cb-4412-988f-b3f75a3119da", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "2d09915d-238a-4cc6-b9bc-5556c033f6d9", + "observation_id": "34a2ca24-a7d8-4805-a765-9769aa5043e1", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "f2967428-f133-4802-b45d-ae7f7f4779f0", + "observation_id": "e1401db9-4c1e-4309-800a-f2e9265f8c94", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "39fa1e50-ca93-41de-97c2-dde1081b2b6a", + "observation_id": "5df43031-a127-476f-b266-aea6572103ca", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "7080d2be-ce56-40be-a23a-dbf3476f785e", + "observation_id": "15e57a3b-774e-4d93-b2b4-ef268059e5d1", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "a0dd62aa-4b09-4e97-b732-f8bf7f1af834", + "observation_id": "1bce7f9c-7b82-4477-b1f8-c39e4c908731", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "7740e74f-e078-4bd2-8074-e72cda23ff44", + "observation_id": "a3e46c5f-0067-4f9c-b194-6131e6aac875", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "05083628-f45d-4aa7-acd3-6b371b57896e", + "observation_id": "2fd566e3-6f4c-4ba4-a1cc-bd20e51fabf2", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bef/render_b_camera_pose.json b/data/camera_study/Scene12/k3_bef/render_b_camera_pose.json index 8505575..abc6e2f 100644 --- a/data/camera_study/Scene12/k3_bef/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k3_bef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:31Z", + "created_utc": "2026-06-02T22:45:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bef/render_e_aruco_detection.json b/data/camera_study/Scene12/k3_bef/render_e_aruco_detection.json index 3969c46..133f29d 100644 --- a/data/camera_study/Scene12/k3_bef/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:30Z", + "created_utc": "2026-06-02T22:45:50Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e5a9eda6-a92e-4b75-aa7e-ed993ce6016e", + "observation_id": "f4aba848-3884-4141-bbd2-d740b9d41ab9", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "77b16613-3a2a-4329-a85c-b9ce700aa66e", + "observation_id": "53be1079-67c9-4521-8779-8214c722f2d0", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "1d7ebdfd-76a4-4e9d-a890-64fabdbbaad5", + "observation_id": "88aa105b-5e79-461a-89b4-72455aaebf4f", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "1f945a33-17e8-466d-9d77-e566dd10d972", + "observation_id": "8079f33b-ab51-4c4c-84ff-b362f38b0cbe", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "bad17fdf-aa00-44cc-a754-6b63b049753e", + "observation_id": "5ec60cc2-9443-43d1-a568-bd8f4ed2beba", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "5dd8b862-2cd9-428d-9947-41cdcf3b3785", + "observation_id": "5cd9e2e3-4bbf-4a3c-a803-24abcef3ca73", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "0a6227d6-2e3b-49f2-a610-2de0629ab931", + "observation_id": "281f09f3-8747-499f-9ace-8a59c4f61ab8", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "b0cddd1d-ef27-406d-9763-90719a7da9bb", + "observation_id": "65130d21-eb77-4bf8-9bac-de01bfa3db04", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bef/render_e_camera_pose.json b/data/camera_study/Scene12/k3_bef/render_e_camera_pose.json index 1072e9b..7478f63 100644 --- a/data/camera_study/Scene12/k3_bef/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k3_bef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:32Z", + "created_utc": "2026-06-02T22:45:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bef/render_f_aruco_detection.json b/data/camera_study/Scene12/k3_bef/render_f_aruco_detection.json index fb3c2ae..704cdd5 100644 --- a/data/camera_study/Scene12/k3_bef/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k3_bef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:31Z", + "created_utc": "2026-06-02T22:45:50Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "79b7fdff-527c-4c02-8c27-1ffceab8f273", + "observation_id": "c27ad806-af8d-47ee-a5ef-591101f1b960", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "c4844d17-0cde-46b9-b461-97d92cf6408c", + "observation_id": "9b8a464b-4dc0-407c-b9f4-393d0f6959d8", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "6f3dfbc5-9132-4276-a4d7-7c5477eaeed0", + "observation_id": "c793aa78-60de-4086-9e62-48e391921244", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "1748babf-b72a-4b8e-8f14-e8b7eff32697", + "observation_id": "17921a54-5cc7-4b47-8a46-db8f65435429", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "baebacf7-3f48-4f7b-bfce-7e65345095ac", + "observation_id": "2977300a-3ba5-45d7-a3b3-b82f035e82db", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "9cb039e2-f0ce-46da-9149-4700b278c563", + "observation_id": "7566fe9e-1f92-4023-8a9b-89d1c8fb4a0f", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "0af71799-73a7-442f-b53b-0a6280115265", + "observation_id": "d0d110a7-a772-4ca9-a4a5-8f2dcbb74fe0", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "58abfeb2-3f3d-40c5-8ba5-5bf39179dc14", + "observation_id": "7bff0faf-dcd9-4d15-b6fa-2eb61c4dbd7b", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "301c3219-0655-47e3-956c-357b34a31092", + "observation_id": "02693ede-6b63-4081-b839-375d7a8ad9c5", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "9be8bc20-349d-4a55-b975-f239d51bc0ed", + "observation_id": "5d521377-db05-4958-823a-b2ea7d77f363", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "d8f196cf-580e-4f65-a5f5-4f52c52d4d5f", + "observation_id": "375948ff-9c11-44db-99c1-447bd567b33b", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "a95a0c9f-7804-4134-a06f-97cda74fa73d", + "observation_id": "887126f9-faa1-41ea-a3ce-2e39aac2f6d0", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "5bc0b286-632c-4d73-9e98-a09b0ccf9ed8", + "observation_id": "078a0cde-2157-4fda-a3d3-bd9aedcab378", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "af5cacc7-cb1b-4bf5-ae84-e42f415e1a29", + "observation_id": "8312389d-d36a-4e2a-9a84-25edd2a3594a", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "0c393b14-775f-45d2-b5d7-af90e194461c", + "observation_id": "a18fb971-ed25-40bc-bb2c-cf2f51a17d14", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "55f6887c-afdd-40b5-8558-f0baab9819c1", + "observation_id": "dfd95c9b-4ede-4e42-af0c-76ebfb485138", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "e251ce86-89b6-40ac-b356-4d4be0f8a0df", + "observation_id": "008c5a5d-d9b3-44a8-a550-8a437615116d", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "ac12d7fa-b0d2-4310-a684-78b29d013ee3", + "observation_id": "7869ff33-db8c-44ac-b51c-bcac1e0d6c4d", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "3a7eeeae-596a-45c2-b4b0-df398e0e5252", + "observation_id": "2bd18358-bcf1-4ddb-8c9d-97400b0e2f11", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "be1f39c1-b04b-4da3-86ac-d430f0b8d584", + "observation_id": "79fe634b-173b-4f78-bf15-a7b856ab95d5", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "a5b0f776-ee8a-46ae-a8dc-c67e0bd63f26", + "observation_id": "fe3338e0-7486-4d03-acc8-46882a799e44", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "ed736977-bdb4-44ae-8a27-76635f1d478c", + "observation_id": "813df19c-b1d0-44a4-8e6e-b34ecd06725a", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "bce52644-8d3f-4db8-89de-04dc0ce945db", + "observation_id": "cf94ab70-d08d-4283-affe-85decb0a6e57", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "2661e9ac-bc66-4580-8df2-946dd9cd9c52", + "observation_id": "b62052be-fa29-47b0-8af5-733e26c5be52", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "02516b71-9dc0-4dd0-bb50-2aa2ac53716e", + "observation_id": "7c847b7a-0f69-4b25-94aa-845fda7b7018", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "beab3fa1-1c02-401f-adb4-908ba95ea53f", + "observation_id": "c9b82cfe-35c8-47ea-bd65-7a0a17ce8936", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "efffefda-2a81-47b3-b620-a745372b3d0d", + "observation_id": "9724513b-5405-4372-8993-511ff272ff08", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "4ebd55ff-f7b6-47c4-ad33-6619bd20f7f5", + "observation_id": "0731919c-02e5-453a-999b-c1d7c10bee51", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "a98f8195-4077-46f8-bf3b-43e99a21b94b", + "observation_id": "c0b2e1fa-d51c-4616-80f4-ece428d3e1ec", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_bef/render_f_camera_pose.json b/data/camera_study/Scene12/k3_bef/render_f_camera_pose.json index f09dc94..3fa3f85 100644 --- a/data/camera_study/Scene12/k3_bef/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k3_bef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:32Z", + "created_utc": "2026-06-02T22:45:51Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_bef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_bef/robot_state.eval.json b/data/camera_study/Scene12/k3_bef/robot_state.eval.json index 57473b0..6587620 100644 --- a/data/camera_study/Scene12/k3_bef/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_bef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.9872891020064571, "mean_abs_mm": 0.4520058341357185, "max_abs_mm": 0.4520058341357185, - "finger_error_mm": 41.68236317137204 + "n_unobservable": 3, + "wrist_error_mm": 4.330548834517823, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_bef/robot_state.json b/data/camera_study/Scene12/k3_bef/robot_state.json index 4241b3d..c92838a 100644 --- a/data/camera_study/Scene12/k3_bef/robot_state.json +++ b/data/camera_study/Scene12/k3_bef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:29:34Z", + "created_utc": "2026-06-02T22:45:53Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_beg/aruco_marker_poses.json b/data/camera_study/Scene12/k3_beg/aruco_marker_poses.json index 01247ea..4e8bd93 100644 --- a/data/camera_study/Scene12/k3_beg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_beg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:33:33Z", + "created_utc": "2026-06-02T22:46:39Z", "summary": { "num_cameras": 3, "num_markers": 27 diff --git a/data/camera_study/Scene12/k3_beg/aruco_positions_initial.json b/data/camera_study/Scene12/k3_beg/aruco_positions_initial.json index 5ff7f42..9a797e3 100644 --- a/data/camera_study/Scene12/k3_beg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_beg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:33:32Z", + "created_utc": "2026-06-02T22:46:37Z", "summary": { "num_cameras": 3, "num_markers": 27, diff --git a/data/camera_study/Scene12/k3_beg/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_beg/aruco_positions_optimized.json index 862f81e..6c4c4e9 100644 --- a/data/camera_study/Scene12/k3_beg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_beg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:33:33Z", + "created_utc": "2026-06-02T22:46:38Z", "summary": { "num_cameras": 3, "num_markers": 27, diff --git a/data/camera_study/Scene12/k3_beg/render_b_aruco_detection.json b/data/camera_study/Scene12/k3_beg/render_b_aruco_detection.json index 2197ea8..199e2a4 100644 --- a/data/camera_study/Scene12/k3_beg/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k3_beg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:30Z", + "created_utc": "2026-06-02T22:46:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3be94f10-6311-4fe3-ac0d-934b610db63e", + "observation_id": "a6d1b292-6e1c-4659-892e-ae514299ca05", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "71724875-1275-4cd6-9722-aa513f41c2e7", + "observation_id": "8f0b6b7e-5048-4cc3-ae96-779f8b7213b6", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "042b1381-3806-4ab2-999a-d39cc3aa4a48", + "observation_id": "86a6685b-ad3b-40b5-ad19-2a4d13269ea6", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "f4ccffc9-0a7c-4fad-b0fe-bcb30145e3c2", + "observation_id": "2fddd95b-2a93-4a80-b03c-6694b619747b", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "28d96d83-fc51-47e5-a143-c705075df7e9", + "observation_id": "366b4de7-37d4-465b-9c90-a26e64cad8c2", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - "observation_id": "18ab1bd2-3e06-4dd5-87b7-e2c1cd54b6ca", + "observation_id": "1cb5be2d-f551-4250-aed9-ad3b304a3e42", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5337876600066706 }, { - "observation_id": "3297c263-199b-4835-8e08-da5d1458eb27", + "observation_id": "601f2e7f-2ef2-4ff0-a8bd-cb322c0393e6", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6849598669171316 }, { - "observation_id": "3b52816f-3e43-416d-a4f3-cedbca549e70", + "observation_id": "64f445e1-e199-4ba0-975c-3a4049df9e29", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "870523a1-48a6-49ed-b2ef-4211cb20851d", + "observation_id": "c1f1deea-68ea-418d-a236-9c41096933ae", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6513610457098532 }, { - "observation_id": "d1ce5b43-629a-4360-85fa-214417d18223", + "observation_id": "9bb86786-48c3-4b89-8194-f4f27165fc7f", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.630961575157087 }, { - "observation_id": "51527c4e-71f5-405c-ad6a-eb781059a275", + "observation_id": "4a5bd285-9aeb-448c-834d-7ed082d99c40", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6481492643993982 }, { - "observation_id": "6c885287-ba89-4a13-86a1-96e2f95273ee", + "observation_id": "9b367952-f0e1-4c46-aca1-837d77603f17", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5997552616991532 }, { - "observation_id": "8f3ce689-c416-497f-8b09-51baaf6ec952", + "observation_id": "0d0d4249-ccc4-4098-b7b1-0800997fccf6", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5469722222222223 }, { - "observation_id": "4a50ec48-65b8-41de-98e2-4a91f02e16e6", + "observation_id": "5c5e57a5-1e4d-4ffe-a13e-64d903cce5dc", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5243541825374566 }, { - "observation_id": "3d75bf26-5732-468b-9e6a-73cbd62691f8", + "observation_id": "2b60b378-60dd-4c42-9a0d-d7909f462b58", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.23705641289279722 }, { - "observation_id": "5d4f4a02-9a33-434b-86f9-50a553ae9644", + "observation_id": "af07f250-53dc-4562-91ac-12961b2bdf8f", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5918000254950889 }, { - "observation_id": "d4b84d46-0e79-4aec-87f0-89ec4a53fc22", + "observation_id": "b4bee4ed-457a-46a0-b180-903d17652635", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.608276252746582 }, { - "observation_id": "a1e34a17-040a-423b-b14b-dcbf44cee333", + "observation_id": "9385b5a4-b4f5-4174-aee0-7c7f7c6dab56", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "9948929b-c956-496a-ac02-ad4811b247a3", + "observation_id": "0cc0c4e5-27ce-4a58-9f96-f6be2239a407", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.575866171800068 }, { - "observation_id": "e648683f-acef-4771-acf9-4356f7f9edfa", + "observation_id": "67baf363-7829-445c-9527-e1a6fa29f160", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5222013240250092 }, { - 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"observation_id": "800f1be0-12d7-4028-8d7e-87222a856246", + "observation_id": "88df292c-6b49-483a-855a-ad7f0b9b0024", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "528d6300-cf6d-48fe-b822-eafa58ce69b2", + "observation_id": "a94d17bb-6973-431d-9b80-be887e8ae9de", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4461531673319199 }, { - "observation_id": "ed373530-2cfa-41fc-8b96-bbf20ce5f982", + "observation_id": "34bff391-8abd-49e9-8ced-f48056b9c686", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.42861533927775625 }, { - "observation_id": "6810901f-60d3-4f6a-a00d-ebe6fb83acaa", + "observation_id": "e2e6e54b-8585-4666-9165-2479a423f8c2", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.42023766965581094 }, { - "observation_id": "157042e6-83b3-4e6a-a1ce-e0925fc376fe", + "observation_id": "36b5f138-c957-4989-8017-2d4c5afdbe33", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.4166666666666667 }, { - "observation_id": "6c521541-f3c0-4d99-8f79-7abdfdc2f675", + "observation_id": "e563b98e-22b4-4112-b018-23a5082ac3aa", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.4387585454601719 }, { - "observation_id": "8e4d3461-7a66-4996-8e85-6074fcab694b", + "observation_id": "4c673aef-ec1a-4ae9-93cc-25262da22cf9", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "d1e020a6-b976-4594-a68b-fa15e2a92b37", + "observation_id": "86e4e2ba-7aef-4eec-a269-3ddff3e6e1f3", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.40836112125901974 }, { - "observation_id": "ecc68974-684f-4a4c-9e30-666f47fb4a32", + "observation_id": "57fb98b4-8ea9-4587-9510-143c3d479c94", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.23853923230852397 }, { - "observation_id": "bf84efd1-5dce-4b92-8d08-bfa1fb89f430", + "observation_id": "4deb1b1c-63c1-4a87-b510-7875d65ba3eb", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "0efc04fa-655e-44cc-9375-1a436fba218b", + "observation_id": "9cd670b1-bb09-4249-ae87-f2a509e3e52a", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "404184b5-bf0f-4d26-abed-0a8a2f623f09", + "observation_id": "448bde9c-2e9a-4237-96e0-35aab4065779", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.3135142237541464 }, { - "observation_id": "3101452a-bd67-4b13-a90a-441615633caa", + "observation_id": "91c6179d-8368-4abe-8169-13daa8831d44", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "c09675e4-f2aa-490e-aa33-4923457fa318", + "observation_id": "e3943b8d-cc43-4a61-a7b2-b8e57d10a9b8", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "4771c287-9dc9-4a5c-85d1-100cbd51eb16", + "observation_id": "553b089b-7f0f-459d-b2be-ea680c2050d2", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "0aa48de8-83ba-4c07-aefb-23973acf1381", + "observation_id": "a2689b71-196f-4e23-8ccf-9a8ad6280672", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "f01533e8-e808-4aa3-a51f-19c8bbb8339a", + "observation_id": "d9b2c227-2472-41cf-9f67-775cd3499a3f", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "107cae22-937e-4ea7-8aeb-d819beca111c", + "observation_id": "fcd67e62-7de8-4d29-b286-1ece192587b2", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "f788c2dd-7a0e-4bc3-9c05-767729a60936", + "observation_id": "9eb45cbf-0e67-44fc-8173-53b1ffc1b86d", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "8c75d7ea-bd75-452a-8a74-fdadd669b86e", + "observation_id": "65add3a3-9bb9-411d-a22e-9bd8af0b31af", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "041c7276-7be6-400f-bfff-7b19709ea857", + "observation_id": "65ae8375-dac8-45f7-86a5-2059a169a17c", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "e0f0443c-b19e-43a6-a8cb-e3141efcc681", + "observation_id": "afb388c1-a864-4114-b8a2-3f2ca3fa4c47", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "7cb37ff9-67f8-4361-a52f-c71ea1a87513", + "observation_id": "82eac45b-5859-4603-be52-d45d97857f38", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_beg/render_b_camera_pose.json b/data/camera_study/Scene12/k3_beg/render_b_camera_pose.json index 00cfe72..86ed108 100644 --- a/data/camera_study/Scene12/k3_beg/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k3_beg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:31Z", + "created_utc": "2026-06-02T22:46:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_beg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_beg/render_e_aruco_detection.json b/data/camera_study/Scene12/k3_beg/render_e_aruco_detection.json index 2508191..f6ab797 100644 --- a/data/camera_study/Scene12/k3_beg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k3_beg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:30Z", + "created_utc": "2026-06-02T22:46:36Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4bb505c3-4ef6-4d33-85fa-a04324298304", + "observation_id": "8e9bf433-0195-45cf-b9e1-87ba21ce67fe", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "aba62dcc-b30d-4a33-9f28-b340595b879f", + "observation_id": "4462c931-f20c-4ab7-bd7e-3549bb49f684", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "7de24465-17f5-4971-9f8f-c8f51a678b8b", + "observation_id": "d34bea89-9c37-41e4-b1cc-2fb5a6a894d0", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "911b75c6-7055-4458-bcad-36aa5a34f7e5", + "observation_id": "c436d165-128f-4220-b4eb-f3ab4a7c0d02", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "f4a6e243-f713-4488-9f2f-cf4e0cdb0405", + "observation_id": "76fb5326-ffa2-42ac-b345-dc5978d3ac3d", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "3aae44c4-7474-4fcf-b5eb-065ca2c2d171", + "observation_id": "e33ae7c1-aab6-4a28-a113-1e90e4982816", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "c5041fe0-8571-439d-b63f-1bbd771a29ce", + "observation_id": "606d8d21-7148-4a75-944b-84feabb3d520", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "e85a4288-dd30-468e-892c-ddd2ad762fc4", + "observation_id": "773f3651-12fc-4f94-a359-12ff671a1731", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_beg/render_e_camera_pose.json b/data/camera_study/Scene12/k3_beg/render_e_camera_pose.json index cef5fc8..324f34d 100644 --- a/data/camera_study/Scene12/k3_beg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k3_beg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:32Z", + "created_utc": "2026-06-02T22:46:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_beg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_beg/render_g_aruco_detection.json b/data/camera_study/Scene12/k3_beg/render_g_aruco_detection.json index 8d7b712..0a18b4d 100644 --- a/data/camera_study/Scene12/k3_beg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k3_beg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:31Z", + "created_utc": "2026-06-02T22:46:36Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "202f0fac-03d0-4905-a77b-a13b7bf48a40", + "observation_id": "a83e299c-ff05-42fd-90b8-ada9f731b430", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "fbbc1bc4-f5a2-47ff-b9b3-5b8989f6a060", + "observation_id": "b4059d81-8d04-4e74-b41b-1a4038c8eb08", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "d7ec32ad-05ec-4032-a06c-d60c043a5065", + "observation_id": "82f7605c-02f7-4abe-b330-23ee5f23ab66", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "885efbf7-b62b-4522-8e3e-360199974a49", + "observation_id": "04cee6e2-6537-461e-aec5-635f6ef64846", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "8ad36a91-c265-4b7e-9e6d-cfbbf044cefd", + "observation_id": "cdbd744d-411b-443c-a0cf-923919c6ef69", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "04146cb9-4fe5-4f77-b3f5-e990a9381291", + "observation_id": "66e2873d-c24e-4bdd-87e5-c2ecdad72730", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "4e142ebe-4f55-4402-a96a-c01e19c42289", + "observation_id": "1cf50e9d-59a1-4c75-a84a-84ca3397fe08", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "2e3dd8b3-94c4-48ce-b4c9-b6cb3786bd64", + "observation_id": "01b2f6f2-9e68-4e9d-915d-777c55116dd2", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "fc54a359-b84e-44cc-8c40-21e076e8fe57", + "observation_id": "b69bfbae-9fa9-4c30-ae63-1843cdff2770", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "4cdc6c24-7bf4-4650-9c12-3db81ac0644f", + "observation_id": "9ceb5347-0458-4aa5-87ab-691af2f5a33c", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "96a349ad-1f33-4203-a189-17b0a6bc04f6", + "observation_id": "d9750b84-e255-4da0-b442-a85042e4c031", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "22693508-cab4-4f13-a376-4123c17e6ed3", + "observation_id": "4de95c1e-c352-4c2d-a70c-236010793b59", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "e7c0e0c3-4237-49a6-8987-e265db8d8795", + "observation_id": "b2afe034-dec4-44c1-a3c8-6f0d13411b53", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "60974b23-9947-471e-acf2-0e53ee38ae83", + "observation_id": "ead26b03-8903-4981-a234-07e0316936a3", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "9d770456-fe1d-4555-9b63-bfc656b5f6cc", + "observation_id": "71d3583a-ee27-4cd0-8c69-e4a9fd73bbcf", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "cd1c85fb-73af-40b0-9cce-9fd690e851ff", + "observation_id": "0858a486-994d-4c4b-822f-b86b1e251e6b", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "56786bae-d72c-42e6-9d8f-4c7f4e213f2d", + "observation_id": "cff05480-564f-47f3-8765-069d930e796e", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "3fbc2c4e-b20d-4b52-add3-eb7bacef9c03", + "observation_id": "e948bf3c-d4e3-410e-87ae-9534353f32c2", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "177cdd6f-013c-42c5-87d7-d4e689f92c15", + "observation_id": "5ef45cf9-6faf-4abd-84a4-bca5dcf9c951", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "fbe01cf3-7abf-4153-96fe-480578b409cf", + "observation_id": "1319e153-dacd-4ed2-acca-dbabd9821b95", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "e48f1ddf-0461-47fb-a079-82f108f60c1b", + "observation_id": "af3089e1-6c6f-4fd4-9a97-15c35e6188c1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "fc69b844-e7d4-4b0e-ab4f-1e922f9e3430", + "observation_id": "458c6771-c75f-47c7-a333-870f36e16deb", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "544d910e-ef0c-4bc9-b698-7f35503e7b97", + "observation_id": "f7f2246b-8c0d-4b83-927a-959b8c0b4493", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "ab5578d9-53aa-4c7b-a5ba-0f5a93df4e83", + "observation_id": "0bb8bed0-e04b-4fac-8abd-73ffe6ca0663", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "c371fdc7-4075-4200-b8eb-ef32e3b802bb", + "observation_id": "d4601819-bf03-4700-ba2a-aa177ea89d8d", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "5a338a72-cc63-4768-a5ad-8cc975121bfd", + "observation_id": "b2f6da5c-37c1-4f36-a708-9e016320c128", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "d94769cc-cbad-4007-9d60-8269fd0655df", + "observation_id": "8026cb55-5e2f-49d0-8854-ace7f0fd6d67", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "7a9f6ce4-d901-4d99-8e5c-1680a875b68b", + "observation_id": "94d59bca-f4e6-42ad-ab9a-d88c816c6488", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_beg/render_g_camera_pose.json b/data/camera_study/Scene12/k3_beg/render_g_camera_pose.json index 2ca202a..5c2578b 100644 --- a/data/camera_study/Scene12/k3_beg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k3_beg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:32Z", + "created_utc": "2026-06-02T22:46:37Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_beg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_beg/robot_state.eval.json b/data/camera_study/Scene12/k3_beg/robot_state.eval.json index 2ec300f..3358754 100644 --- a/data/camera_study/Scene12/k3_beg/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_beg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.5567500448348994, "mean_abs_mm": 0.07049825737259141, "max_abs_mm": 0.07049825737259141, - "finger_error_mm": 40.427785820714504 + "n_unobservable": 3, + "wrist_error_mm": 2.4308674997763173, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_beg/robot_state.json b/data/camera_study/Scene12/k3_beg/robot_state.json index c43f9b3..f75451e 100644 --- a/data/camera_study/Scene12/k3_beg/robot_state.json +++ b/data/camera_study/Scene12/k3_beg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:34Z", + "created_utc": "2026-06-02T22:46:40Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k3_deg/aruco_marker_poses.json b/data/camera_study/Scene12/k3_deg/aruco_marker_poses.json index a5f3ab0..d7fce53 100644 --- a/data/camera_study/Scene12/k3_deg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k3_deg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:32:14Z", + "created_utc": "2026-06-02T22:46:33Z", "summary": { "num_cameras": 3, "num_markers": 10 diff --git a/data/camera_study/Scene12/k3_deg/aruco_positions_initial.json b/data/camera_study/Scene12/k3_deg/aruco_positions_initial.json index 19f6626..e401fd7 100644 --- a/data/camera_study/Scene12/k3_deg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k3_deg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:32:13Z", + "created_utc": "2026-06-02T22:46:32Z", "summary": { "num_cameras": 3, "num_markers": 10, diff --git a/data/camera_study/Scene12/k3_deg/aruco_positions_optimized.json b/data/camera_study/Scene12/k3_deg/aruco_positions_optimized.json index ed578ba..0185a90 100644 --- a/data/camera_study/Scene12/k3_deg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k3_deg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:32:14Z", + "created_utc": "2026-06-02T22:46:33Z", "summary": { "num_cameras": 3, "num_markers": 10, diff --git a/data/camera_study/Scene12/k3_deg/render_d_aruco_detection.json b/data/camera_study/Scene12/k3_deg/render_d_aruco_detection.json index 1e1ecd0..481b347 100644 --- a/data/camera_study/Scene12/k3_deg/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k3_deg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:11Z", + "created_utc": "2026-06-02T22:46:30Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "da6c1be9-7b26-4734-9f3d-f1d7efcfa623", + "observation_id": "d09d69de-eebd-43d2-bc95-114bbf84017c", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "6780f3e6-fe12-404f-8510-66545c46ff66", + "observation_id": "6c7aedce-46d4-4129-b416-3874f798d651", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "d0806296-fba0-4676-88f2-efd9ae54deda", + "observation_id": "e382752f-6dbf-4b25-b503-54b87e67527b", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "0d26bc65-0895-4b38-89d3-6f6d2b1a0157", + "observation_id": "b0d06682-66fc-428d-8a6e-a09f9d61407c", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "dc0a04a6-cb7d-430b-903c-d056ddea9fc7", + "observation_id": "4fdd305e-94cd-4c0c-af28-73f68eda4445", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "5e7002bb-1b3e-4ebd-bfff-a2cb66cf5377", + "observation_id": "6d0dcc8a-6aea-4d57-bdc3-094dd67eed43", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "4fb50ebc-60ac-444c-a7e1-d0dbbca65ad9", + "observation_id": "1216d1bf-56af-4f92-a642-f4d534fe05f3", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "c2954b18-b2a4-4936-aa46-98503f984968", + "observation_id": "8633ef32-e418-4b65-9f87-4312a5380929", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "a72d1922-14a8-49ad-9ecd-7c3170e1b926", + "observation_id": "0e9caa1e-7b76-445c-b012-a855c7e529ed", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "2bab3139-bc3c-4a0e-b115-5cdcf991ab2a", + "observation_id": "6b4ad762-083b-4ec2-9434-06824bd69e02", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "24d66756-5326-4b4e-a0f7-67b7c749030b", + "observation_id": "6699f121-83a9-4eb3-a7bd-d30dd4cf1bef", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "3616d0ea-cc69-48d5-9f8e-893fbfb4d33e", + "observation_id": "f6213bdd-3ee7-486a-a73a-18b4772b7ab1", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_deg/render_d_camera_pose.json b/data/camera_study/Scene12/k3_deg/render_d_camera_pose.json index 5cc5cb0..2323adf 100644 --- a/data/camera_study/Scene12/k3_deg/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k3_deg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:13Z", + "created_utc": "2026-06-02T22:46:31Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_deg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_deg/render_e_aruco_detection.json b/data/camera_study/Scene12/k3_deg/render_e_aruco_detection.json index 6770c04..73aa725 100644 --- a/data/camera_study/Scene12/k3_deg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k3_deg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:12Z", + "created_utc": "2026-06-02T22:46:31Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4f65ef84-159f-4f96-95d3-df22bc51b8bf", + "observation_id": "88f8421f-dbf1-44c4-af66-f8bf0a706c95", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "d2094e83-4f34-463e-864f-4131f87b80c0", + "observation_id": "3005e255-4cc2-4905-9d10-ca5a6761096e", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "c94587fb-1497-43fb-b93c-cfb34f3523a1", + "observation_id": "cb86efb2-de02-44db-96a6-669ae9cec453", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "63c5f67f-d923-4168-b796-6b110b7d4e1a", + "observation_id": "4ad0b5ce-138c-4538-b30e-99978f14dacc", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "bfc3759d-4028-4df8-b2fd-961296613c2f", + "observation_id": "dad4126d-fa14-47fa-9e39-9c4dd8c985ec", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "0c2639d7-baa8-4e26-a8e6-e71bc76095f6", + "observation_id": "70ea5738-ea8a-492d-ba19-ee23d01468ed", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "e537fd23-e5b9-46ce-9c70-9954fe069c44", + "observation_id": "db3e9c56-d20b-43e5-a6d4-c2e4b7cfdb76", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "40d180cb-8acd-4166-b5a1-663a55f198f8", + "observation_id": "8c818693-9b15-47be-b9da-74be5cf3acc5", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_deg/render_e_camera_pose.json b/data/camera_study/Scene12/k3_deg/render_e_camera_pose.json index 5dfb460..f559523 100644 --- a/data/camera_study/Scene12/k3_deg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k3_deg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:13Z", + "created_utc": "2026-06-02T22:46:32Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_deg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_deg/render_g_aruco_detection.json b/data/camera_study/Scene12/k3_deg/render_g_aruco_detection.json index 989cf89..be254cf 100644 --- a/data/camera_study/Scene12/k3_deg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k3_deg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:12Z", + "created_utc": "2026-06-02T22:46:31Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a2b16c17-175a-4ec5-bed0-283a64a06b9e", + "observation_id": "273a6216-9851-46ff-a9f6-4607956c76c8", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "e01ec573-95b1-4a61-ad31-bdb65cf5f0f6", + "observation_id": "4991aa75-feee-4ae4-b7b1-70d4a08c002e", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "3f0c927e-b427-44c0-a8c5-6ef5fae15b75", + "observation_id": "5eb90698-0d78-43d5-9800-b19685561dfe", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "6955c675-eeb0-4587-a79f-b2ae30834cab", + "observation_id": "c18a3cbc-8b5f-4411-855a-fbf71487b89e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "af2ca531-07ab-4971-9350-6778db0fde65", + "observation_id": "d4dfc3fe-4f54-4dc9-b7e0-5b68b6b569e9", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "386ff839-709c-4df7-8fbe-f6c917de15b2", + "observation_id": "8156e9d0-005a-4798-aeb0-b6a31f124619", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "0a1df39e-c88f-451a-9b15-3b3d6ee7b867", + "observation_id": "a29d0eac-b0f0-424b-971b-794b2b8060f4", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "4440daf0-2929-4fde-8ce9-e3c71307d119", + "observation_id": "efac16a4-0c49-4fcd-8f10-346f47fbd87f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "a4c27edd-f91b-418c-82b0-c6df60c7c508", + "observation_id": "66abebe0-7be4-4470-ac7b-2ecee334ea1b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "d853e088-4fb5-437d-b0b9-b628016beb7b", + "observation_id": "7ae65150-842d-4c4c-8301-dd9f6e0137d2", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "96218378-500f-41bf-a69c-466e69c4365d", + "observation_id": "85fc2faf-2a10-467e-8e65-d7580f1c0406", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "77503476-6298-4f4d-bf2c-9c0a3332fd39", + "observation_id": "6bea50be-c9ca-4f28-bde7-05c65614cbd8", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "96a8eb48-a810-467f-a7d6-41009d0c3943", + "observation_id": "be59a9e8-6e2c-4f69-8b9d-3e57dd32b717", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "e6ab5153-bead-4930-b8df-a946096edcce", + "observation_id": "648504b5-128b-4559-8cbc-2fc95e8723e6", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "ef1d6b92-63d1-49d1-ba1e-44936f007198", + "observation_id": "032d929b-2e99-4d91-a2c8-ead80c2f87b3", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "75b30e39-a126-46a4-9f38-de3cdd29a388", + "observation_id": "eacd14a0-af76-449c-b80e-513c177289e3", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "4c6b47b5-f5b4-4973-8a20-b70029f3e5d3", + "observation_id": "3f91d37a-881d-4c7e-984c-399bc813a4b8", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "1e77fd05-ce5f-46f0-8a65-39ae69bb142d", + "observation_id": "49476884-2e17-4a2e-baca-81487edb6b4e", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "2ae340bc-1df4-4040-a7e2-5607368de781", + "observation_id": "a6b1e3bc-c22d-44cc-a8b5-83a2d3dc47d1", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "1f7d743c-b00e-440b-a592-6d33c28d3964", + "observation_id": "08712543-0558-459a-b86e-736448aad6ff", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "e98dbeec-f203-4894-8d68-8dce5dc6c3c1", + "observation_id": "8b5fa0cb-b0fb-4515-9d23-56960e8f1a30", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "5a03d1ba-7448-4d3c-8cb1-09e4aa7e1e54", + "observation_id": "bf48fdd6-87b9-4053-964d-cc5a5b877be5", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "b359f935-5065-4f4a-b85a-8c9ca01fcc0f", + "observation_id": "15f6c038-ae61-4505-8ddc-34bcc8694f77", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "83af88d7-2af4-4f9b-aed8-ade516fbd2ee", + "observation_id": "2d8d1423-0e31-452c-9119-c9342b742d8a", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "3415e958-c997-47fe-94e9-9f47431f593d", + "observation_id": "a0783dae-968a-4fe2-b3ff-1d9440da619e", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "3f6d0be2-5ed6-494d-bd92-2cc2baa6771c", + "observation_id": "f780aba4-c920-49a5-b5bb-71310d6b31fd", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "3c2bb544-5328-41f3-a614-ebaac4c770c5", + "observation_id": "2b3eabc9-c3c5-4491-9df7-8490ad67d3ad", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "fbe34e58-fc36-4447-94e9-db271c0a9a97", + "observation_id": "4a5d9fb4-e52f-4dec-bf72-6178d10847dd", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k3_deg/render_g_camera_pose.json b/data/camera_study/Scene12/k3_deg/render_g_camera_pose.json index 7952c9e..f1c0e68 100644 --- a/data/camera_study/Scene12/k3_deg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k3_deg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:13Z", + "created_utc": "2026-06-02T22:46:32Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k3_deg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k3_deg/robot_state.eval.json b/data/camera_study/Scene12/k3_deg/robot_state.eval.json index 2fde0a2..206eab9 100644 --- a/data/camera_study/Scene12/k3_deg/robot_state.eval.json +++ b/data/camera_study/Scene12/k3_deg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 178.33967933593095, "mean_abs_mm": 9.932351065748449, "max_abs_mm": 9.932351065748449, - "finger_error_mm": 553.0442215530177 + "n_unobservable": 3, + "wrist_error_mm": 499.9066449424863, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k3_deg/robot_state.json b/data/camera_study/Scene12/k3_deg/robot_state.json index d5e4122..b5e56e0 100644 --- a/data/camera_study/Scene12/k3_deg/robot_state.json +++ b/data/camera_study/Scene12/k3_deg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:32:15Z", + "created_utc": "2026-06-02T22:46:34Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_abef/aruco_marker_poses.json b/data/camera_study/Scene12/k4_abef/aruco_marker_poses.json index 56c7bcb..cf32851 100644 --- a/data/camera_study/Scene12/k4_abef/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_abef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:34:32Z", + "created_utc": "2026-06-02T22:47:43Z", "summary": { "num_cameras": 4, "num_markers": 40 diff --git a/data/camera_study/Scene12/k4_abef/aruco_positions_initial.json b/data/camera_study/Scene12/k4_abef/aruco_positions_initial.json index e1e7968..76d30df 100644 --- a/data/camera_study/Scene12/k4_abef/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_abef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:29Z", + "created_utc": "2026-06-02T22:47:40Z", "summary": { "num_cameras": 4, "num_markers": 40, diff --git a/data/camera_study/Scene12/k4_abef/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_abef/aruco_positions_optimized.json index d3edbe1..394c452 100644 --- a/data/camera_study/Scene12/k4_abef/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_abef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:34:32Z", + "created_utc": "2026-06-02T22:47:42Z", "summary": { "num_cameras": 4, "num_markers": 40, diff --git a/data/camera_study/Scene12/k4_abef/render_a_aruco_detection.json b/data/camera_study/Scene12/k4_abef/render_a_aruco_detection.json index a51290a..8dd0e84 100644 --- a/data/camera_study/Scene12/k4_abef/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k4_abef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:26Z", + "created_utc": "2026-06-02T22:47:36Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4d9f8634-80d9-494e-b66b-34222789c4ec", + "observation_id": "8751994f-68ae-4005-bbdd-64f7c746b1b7", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "5988570d-098c-44fd-a31e-3fb8fc2d39d3", + "observation_id": "691d7a62-61a4-4461-81e6-cbc8381d89aa", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "e88cf589-8282-44c9-aab0-4e39f1451d7c", + "observation_id": "60c0012b-218a-4487-9250-4089d8546128", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "ddc4ea98-9bc4-4601-ad04-08a0cf68e06b", + "observation_id": "c91cda8a-ce49-4b1d-a630-343e42c6b69c", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8492885602498799 }, { - "observation_id": "adea711e-3678-424c-a9a0-b101c9cf9fdb", + "observation_id": "22d1b153-755b-4ad6-85ad-a1dbeb1d8b71", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "57ccf981-13f4-4fd9-a7d0-adff323732a0", + "observation_id": "c61917a5-996b-4c3e-b10a-1c96eafbeb27", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7225899346789976 }, { - "observation_id": "5fb45b12-aaa0-4a96-81d8-1a09edd3ec2a", + "observation_id": "b1328172-9d17-43c9-bbbb-f1d21276d73a", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "cc382f98-cd1c-47ce-a7b2-c5decc5605c1", + "observation_id": "77ea02d5-b78e-4ea1-9b85-da38976c82e0", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7653498798574592 }, { - "observation_id": "28a1d117-0df9-4ea2-9ddf-424f190eb757", + "observation_id": "fbe6a228-7946-440f-91c9-b3263300c822", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "b50a822f-a6ed-4111-b8b0-004530ece0b1", + "observation_id": "390d6ff7-5655-46a0-a8ed-be18a1c1f441", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7309457014059588 }, { - 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"observation_id": "fa14422c-ec7b-4b2a-a1c7-b0270e784b8a", + "observation_id": "e192dd5a-bc2c-4cd2-a305-d14d9b5ab651", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_abef/render_a_camera_pose.json b/data/camera_study/Scene12/k4_abef/render_a_camera_pose.json index 5576254..b3f6945 100644 --- a/data/camera_study/Scene12/k4_abef/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k4_abef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:28Z", + "created_utc": "2026-06-02T22:47:39Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_abef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_abef/render_b_aruco_detection.json b/data/camera_study/Scene12/k4_abef/render_b_aruco_detection.json index 841bb5a..8ccbd08 100644 --- a/data/camera_study/Scene12/k4_abef/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k4_abef/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:27Z", + "created_utc": "2026-06-02T22:47:37Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "34ce3c2c-3f01-4e48-9b9a-7a8db2533a3e", + "observation_id": "cefa5dec-4f17-4ba5-967b-5833ecb7ab09", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "5c8f3c03-3d36-47bc-82fe-82f670d5809c", + "observation_id": "354f8fdb-ee55-4a65-9692-220a722d0ead", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "c62e632d-a7b9-4d59-8b29-25e6856aa141", + "observation_id": "39e26e64-f652-4803-a1ee-36da82e1b5a4", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "791c3941-77da-4381-bde7-8b8be553c9a5", + "observation_id": "0c9fdfae-3aa5-4261-a352-f8670a604a89", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - 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"observation_id": "7bb62b58-cb10-4b2e-8475-4ee9e81c5c42", + "observation_id": "3791dfdd-e94c-4689-91c6-8ba57427e702", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "37cc1243-c9de-48f3-9ca0-2f7e9922483b", + "observation_id": "c9aabbd9-1b25-466c-8b1e-04cf519a609e", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "a95dae32-88df-4864-9ad6-e056c656276a", + "observation_id": "630d652a-0a98-41b3-91e3-208df3bd0a20", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "49ce648c-dd98-455e-b8ee-9171d716ab48", + "observation_id": "8255232d-e95c-4a6d-b7cc-b8cfcd4b919e", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "30b0a376-a058-40ff-9deb-f12e58eeedc0", + "observation_id": "be401600-71c9-448a-86a3-dccdce5e413f", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "7bcfa7d0-f538-46c1-b371-e5864bc15960", + "observation_id": "2e71f288-4914-4ccc-a751-af2cc1d90c99", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "4bc42f2f-aa18-4c92-ae7c-045d874a5a1b", + "observation_id": "3ff6090a-a3c2-4826-84f8-828e99840a9c", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "d5cb2169-3bc3-4a60-8141-cd2f5c1a020e", + "observation_id": "2e947e10-86f1-4ffc-a2a1-09eeef699569", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "f2a654f1-72d9-4b37-81c9-562c03392060", + "observation_id": "07af8d72-80a5-4d41-bf7c-efe3df3b257a", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_abef/render_b_camera_pose.json b/data/camera_study/Scene12/k4_abef/render_b_camera_pose.json index c9ff481..76cc2e4 100644 --- a/data/camera_study/Scene12/k4_abef/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k4_abef/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:28Z", + "created_utc": "2026-06-02T22:47:39Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_abef\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_abef/render_e_aruco_detection.json b/data/camera_study/Scene12/k4_abef/render_e_aruco_detection.json index 1f262a8..b218312 100644 --- a/data/camera_study/Scene12/k4_abef/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k4_abef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:27Z", + "created_utc": "2026-06-02T22:47:38Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "aa9975e2-54a9-43b1-8c67-34c13b974827", + "observation_id": "b98f299f-4654-417d-9c14-52a29808201e", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "0e3aafa5-4d06-41e0-94cd-9bbe3292a678", + "observation_id": "6c33008c-410b-406f-a09e-5f7dab24c543", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "96f4ca61-a206-4fef-886c-115be996f1d2", + "observation_id": "be57b827-6ff1-4138-8ca1-9051c67b6240", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "c41159d1-e834-45db-9db3-39c7e992e79a", + "observation_id": "41503cf1-8419-4fb9-bbcf-d5bd90644051", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "0c26ae14-8d41-4a40-9c67-435f62161701", + "observation_id": "0029aab6-884e-4066-8ac3-73ef445f1a19", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "8c79ae23-f1c0-4cb8-a8e2-d54d54add492", + "observation_id": "b8cef9e5-5d26-4c63-8cee-0a6ec1f8dff4", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "cb5d5b86-c671-4093-95f6-f428b92195a3", + "observation_id": "cfd86f4a-048b-442a-bc02-f4bef364b626", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "e607f4d9-5252-48db-844d-95eef5ed8f37", + "observation_id": "b9553da9-b061-454b-ba3a-01996fca7e77", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_abef/render_e_camera_pose.json b/data/camera_study/Scene12/k4_abef/render_e_camera_pose.json index 0f675c8..a655a56 100644 --- a/data/camera_study/Scene12/k4_abef/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k4_abef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:29Z", + "created_utc": "2026-06-02T22:47:39Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_abef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_abef/render_f_aruco_detection.json b/data/camera_study/Scene12/k4_abef/render_f_aruco_detection.json index ccea857..9692199 100644 --- a/data/camera_study/Scene12/k4_abef/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k4_abef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:28Z", + "created_utc": "2026-06-02T22:47:38Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2a2a79f3-5766-4cee-849b-5cb17644091d", + "observation_id": "ba4ed858-47ac-435e-94ba-0e9484ffa362", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "3935837c-99cc-49cf-97ef-5613bedbf549", + "observation_id": "530cad00-c41f-412b-bee4-1e6f7e322b6b", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "8d778f5b-f961-4981-86b9-eecd71d9645f", + "observation_id": "672c32db-4fa1-4154-ba70-e7ec33f837ff", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "2cda2f34-2e34-4838-8425-f925ff91e253", + "observation_id": "64c5743f-2d4d-4425-90b4-d23582eec015", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "ac583055-5a7b-48b2-9168-30419f08fa5a", + "observation_id": "cc75838f-cc64-4443-80ce-5caed81426ab", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "8f3e2491-6248-4baf-a048-d3436c1139ff", + "observation_id": "ea6c4c5c-d487-472b-bf58-eef0f4cfb581", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "57b69959-16bf-4940-8198-8dcc4b216534", + "observation_id": "a05c92c0-15d3-4153-bf7b-07003abfc89e", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "e023328b-cadd-4c70-b66d-243b8dd680fc", + "observation_id": "18b6a129-8820-4cab-95fb-615bf88743b1", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "158d5708-49b1-4964-8d18-06dd8bbfa2ba", + "observation_id": "4da94e61-61bd-4e92-98b1-38d3401e7c41", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "f958a777-d002-4982-bebb-a0feac02776f", + "observation_id": "3e429126-3ab9-4840-a371-dde832c9b2be", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "46a4981f-291d-4df3-b959-ee237267c1b2", + "observation_id": "3d1c749f-03f2-492f-b340-d7ec4767edef", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "4db4d47a-4c39-434b-a35b-a0a76c6a4d26", + "observation_id": "1d60b812-f7e9-48e6-a115-0f1ce5e989c0", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "e94a7edd-5fd4-4365-8d75-5c2ad3e9e744", + "observation_id": "ef537223-b0c0-4c7c-b56f-29f329548cde", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "eadc1038-6fdb-4655-b127-e92c94ab3411", + "observation_id": "3c5217d4-234a-45d1-85c0-902725c65f0a", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "d522a947-7adf-47d3-aaec-345dc80b6c78", + "observation_id": "ab7aba2a-ab05-4260-928c-9c5e1474b040", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "102c0d57-3c5a-4c6f-8619-39a2be28e94d", + "observation_id": "326703b5-8df7-4821-9081-a7f65cc3acc6", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "856fc8f9-d88e-4534-b994-18c2847bcb39", + "observation_id": "2e401803-83d7-477f-80c7-e9dc4d9c8ebc", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "94b68e18-5ad3-4c8d-9fea-ffe2d81c9d13", + "observation_id": "4da0a34c-6596-40b8-9732-ce948ebf7b9d", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "55912da5-2b11-446a-a902-0cd6a6118054", + "observation_id": "134c52a8-c720-4f99-9550-f79e4788b0af", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "e4f8989e-7ec4-48a9-a0c8-06104a3ed841", + "observation_id": "8044387e-4b1d-4dbb-86fb-4c7ee3b988a5", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "806622e4-baf6-4c01-a2f4-2a310f82612a", + "observation_id": "0cc4b440-37fa-4ffa-a2df-11597feeeaf9", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "2c5609a8-d550-4836-9b39-20dbacbea144", + "observation_id": "3c594229-e421-4d9c-ada5-1ed2d035fbda", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "ed5da408-de09-4c35-9601-e2b9610aa200", + "observation_id": "819dea28-15cb-41ec-8c9d-0407fa9fab67", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "d8fe7c84-93c4-4f0c-bcd0-9c4d1afb5df9", + "observation_id": "47b2f999-7d4d-45b1-ad11-2809ea8f081f", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "14e7f571-37cc-4a55-8e72-c53de757e530", + "observation_id": "27c5764e-58b2-4b7b-b566-dd9e8a64ac08", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "ac7fbbb5-6c4f-457b-bf39-7bad7c037636", + "observation_id": "6fb385d9-7bb8-496a-809f-1dfc498649d6", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "ade1d182-bd44-4769-8018-f7c6cacc69c4", + "observation_id": "77a13835-7834-40ef-bc95-338bc6c33bd7", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "41b97189-c12b-44d7-b9da-370c26e616cf", + "observation_id": "d0974c8e-381a-4c9a-81e3-a754672c357d", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "d774c0b6-2724-43dd-9a3f-80302130fec8", + "observation_id": "8aad894e-0368-4e97-936c-cbb2124b533b", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_abef/render_f_camera_pose.json b/data/camera_study/Scene12/k4_abef/render_f_camera_pose.json index 178dc1d..cced519 100644 --- a/data/camera_study/Scene12/k4_abef/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k4_abef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:29Z", + "created_utc": "2026-06-02T22:47:39Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_abef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_abef/robot_state.eval.json b/data/camera_study/Scene12/k4_abef/robot_state.eval.json index 3aa6001..42e80e4 100644 --- a/data/camera_study/Scene12/k4_abef/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_abef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.4130406221897829, "mean_abs_mm": 0.32815689380785074, "max_abs_mm": 0.32815689380785074, - "finger_error_mm": 39.58958052698873 + "n_unobservable": 3, + "wrist_error_mm": 1.8200791908527845, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_abef/robot_state.json b/data/camera_study/Scene12/k4_abef/robot_state.json index e4b8c9c..67ec68a 100644 --- a/data/camera_study/Scene12/k4_abef/robot_state.json +++ b/data/camera_study/Scene12/k4_abef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:33Z", + "created_utc": "2026-06-02T22:47:44Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_acde/aruco_marker_poses.json b/data/camera_study/Scene12/k4_acde/aruco_marker_poses.json index fff644d..96d029f 100644 --- a/data/camera_study/Scene12/k4_acde/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_acde/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:33:43Z", + "created_utc": "2026-06-02T22:46:50Z", "summary": { "num_cameras": 4, "num_markers": 10 diff --git a/data/camera_study/Scene12/k4_acde/aruco_positions_initial.json b/data/camera_study/Scene12/k4_acde/aruco_positions_initial.json index 3e26b11..8972030 100644 --- a/data/camera_study/Scene12/k4_acde/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_acde/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:33:43Z", + "created_utc": "2026-06-02T22:46:49Z", "summary": { "num_cameras": 4, "num_markers": 10, diff --git a/data/camera_study/Scene12/k4_acde/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_acde/aruco_positions_optimized.json index 2f705f5..7762f41 100644 --- a/data/camera_study/Scene12/k4_acde/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_acde/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:33:43Z", + "created_utc": "2026-06-02T22:46:49Z", "summary": { "num_cameras": 4, "num_markers": 10, diff --git a/data/camera_study/Scene12/k4_acde/render_a_aruco_detection.json b/data/camera_study/Scene12/k4_acde/render_a_aruco_detection.json index 7d1aa6b..b8c13e2 100644 --- a/data/camera_study/Scene12/k4_acde/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k4_acde/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:40Z", + "created_utc": "2026-06-02T22:46:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0cb465b0-3e00-4c77-91ea-1963ea48d5d2", + "observation_id": "03b70e08-eabe-429c-9df3-165d4564187a", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "3926aebf-9f71-4491-b3f4-0f463134c401", + "observation_id": "62eff72d-1653-47df-a86d-4ed60e2731dc", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "9a0760c2-8375-40cb-8df0-e889e0b88ac8", + "observation_id": "91d231bf-bfa3-4968-9d20-a5538e9ac687", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "32b9c542-69b5-4ca1-8915-afc936a32805", + "observation_id": "2b9ec19c-3b51-413d-9bbd-a468fcf31174", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8492885602498799 }, { - "observation_id": "fa48c6f5-f225-4bb2-a88a-fba55ab3df8e", + "observation_id": "f0231db4-ced7-4857-aa9b-3832d4dcbae3", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "f3093bb5-1713-4612-a967-6bab1e63b9b7", + "observation_id": "e3c61c5a-8388-44a5-ade4-13b141f1f711", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7225899346789976 }, { - "observation_id": "3e462337-dcd3-4115-98c8-3fc5adb59397", + "observation_id": "d1644a05-ba59-45fe-88dd-77625548c9d8", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "8a88d965-7bf2-4b83-9968-a6e6d3803941", + "observation_id": "a5f8950f-061a-4221-b1f6-1201e6b1c278", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7653498798574592 }, { - "observation_id": "fb6b922e-f7eb-424e-919d-c709c5aabf82", + "observation_id": "f78bb8bf-2bca-454d-b5ab-8b5b570845ab", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "c59d3ea7-60c7-41bd-b9e7-59bd92719797", + "observation_id": "48e2c2eb-51f0-4307-8939-06d94c2394db", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "4d251095-f5a3-462d-875c-528ea6d78633", + "observation_id": "23c3a2de-0a54-4c18-818e-2283376b34f7", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "bcdae982-e44f-4a40-b188-440ae036dc1e", + "observation_id": "047ca28b-b3ad-4478-895b-db36beb5c3d6", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "bc657f1e-2097-4114-883f-be176defcff7", + "observation_id": "2ecb7790-5242-4292-ad1a-b9d57589fd52", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "c93e3d78-7963-490a-81bc-da2466d0d854", + "observation_id": "801b92f8-7c9b-4805-8780-c6dfb3dbd929", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "ed53f936-95b5-4760-8e1f-e8905eba3ba0", + "observation_id": "70a7939e-30e2-4ddf-9125-e86f1d40f88e", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - "observation_id": "7c203b6a-541c-4b19-90cf-c2f6e8477080", + "observation_id": "1bb2f00c-457b-4df6-b349-8d02ffc4e457", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "f0210cdc-2264-496c-a5dc-ac3a450b04de", + "observation_id": "d0bb7a5f-96b4-4c58-92d7-1f170cbc1fe1", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6589361768588983 }, { - "observation_id": "15e2a6a8-7418-4e0a-b1e3-3582d0b795ad", + "observation_id": "94457d4e-1883-4497-96a0-37371383a086", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "1103147a-acb6-40ce-9c3f-f011141b0504", + "observation_id": "c751e6a8-1628-4247-9b53-5768ab33ad6b", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "38e4ebb1-1021-4802-8ec5-6cc44485c4bf", + "observation_id": "156a9145-bd92-4033-8aa4-189d281880af", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "180bc467-2dff-44f5-90b8-eb7f606cd154", + "observation_id": "65151aca-0f0f-4e2d-8619-1c5986025ecc", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "0049f88c-5f34-4ffb-9e08-33569d13e592", + "observation_id": "1287ca31-86c1-42b0-bb4e-992afe3cb8af", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "86d71375-8f3e-4415-812e-3660b2029518", + "observation_id": "a30aaa7e-d233-4d93-8b5a-e475b613a81c", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "09fdd2be-ed72-4569-a0b1-1aa956b9dff6", + "observation_id": "9be04094-de48-46d2-8aec-177f9dd6671b", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "48fc7266-e62a-4d0d-b66e-4fd8bf9ebf8c", + "observation_id": "9d43f99e-5254-4fe0-bcfb-9b9a94239076", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "3ecd6e07-64b5-4f9b-bb98-8e688526f952", + "observation_id": "3466eccb-e347-4147-85b2-c67193b2440f", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "c1edf44f-7c60-40d3-9b1a-bf0774a43909", + "observation_id": "d6a0aafb-dbf9-4179-aebf-4ea91cd06305", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "d070e59e-bc6d-414c-bbf3-37100d21b3f3", + "observation_id": "8800c2c6-afea-4998-8272-cd33a6740b0c", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "2ed315d8-3a9a-4be2-bace-51733d9f823d", + "observation_id": "848e0b0b-cffc-4fbb-95a1-925ca511103f", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "faf3db23-9ae6-418a-b255-97312173c0cd", + "observation_id": "f5a23335-b2ec-4ec1-a7ba-781558882fc0", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "f2f4592f-e210-408f-bfe1-72217f2f1632", + "observation_id": "ff6432ad-36cd-43c8-879f-4b4efb25b4ca", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_acde/render_a_camera_pose.json b/data/camera_study/Scene12/k4_acde/render_a_camera_pose.json index 72731e8..b5dc9d4 100644 --- a/data/camera_study/Scene12/k4_acde/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k4_acde/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:41Z", + "created_utc": "2026-06-02T22:46:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_acde\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_acde/render_c_aruco_detection.json b/data/camera_study/Scene12/k4_acde/render_c_aruco_detection.json index f4e09a6..cbde94e 100644 --- a/data/camera_study/Scene12/k4_acde/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k4_acde/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:40Z", + "created_utc": "2026-06-02T22:46:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "dac1a518-ff2f-439c-950d-9090ad7287b2", + "observation_id": "95dd1c70-6481-4cc4-a056-7de7929c7c8c", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "0bad702e-94ed-475b-b43b-50eb7d857702", + "observation_id": "d3fc7ab9-2f10-4609-933f-3b84aede4fec", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "1c209754-aa33-4773-a4e9-5fa74c3b3a0e", + "observation_id": "c2e58834-fa26-41e7-a5d2-a0fc4224dd19", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "7151a2d9-06e3-45b5-9771-b821afd72ef2", + "observation_id": "84efe265-59f0-4e08-8bcd-ec87e65ef269", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "f15c737e-c47c-4d31-84d7-a396be7648c7", + "observation_id": "5266469c-c488-485e-b125-8ea6d5d2c3ea", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "fb520626-8be8-4cd1-bd5c-1d645546af32", + "observation_id": "cc33a524-672c-4191-ac16-32e9c38d38ae", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "5b63a9c9-d75a-4167-85d3-df6c6ba58a32", + "observation_id": "5d2375a0-3c24-4bd6-8f8b-32f0b6e34c69", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_acde/render_c_camera_pose.json b/data/camera_study/Scene12/k4_acde/render_c_camera_pose.json index 7e0a93e..e024692 100644 --- a/data/camera_study/Scene12/k4_acde/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k4_acde/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:42Z", + "created_utc": "2026-06-02T22:46:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_acde\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_acde/render_d_aruco_detection.json b/data/camera_study/Scene12/k4_acde/render_d_aruco_detection.json index a46d41a..ccf77af 100644 --- a/data/camera_study/Scene12/k4_acde/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k4_acde/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:41Z", + "created_utc": "2026-06-02T22:46:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ad625811-487a-42e4-a941-4144af26425b", + "observation_id": "13f6c197-e9e3-41ba-87ee-bb56a2e2e483", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "c66bf392-3ac8-4065-ad60-938ae18d2592", + "observation_id": "95902f01-5e15-4d81-8b2e-a5291a3358d0", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "3eca2e57-cdd4-4134-bbca-7a44afb292f8", + "observation_id": "44f49203-f95c-4e1f-8811-99538541f0b6", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "8fbfcedf-2229-4dbb-8c94-3f76ac8e3941", + "observation_id": "46047463-9a30-4b1e-95f7-13905a318557", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "b1f0322f-63fa-482c-8a41-6894cd7ff7d1", + "observation_id": "46fa74e6-33ff-4ad1-9906-fc866def47d7", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "5fd3b85d-dc8b-4a6d-a46d-26b66105ad84", + "observation_id": "622bc7a0-e654-4328-8ef8-2a3bd5ceeef5", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "e7654c0a-5ecb-486c-ba2e-417ccbe78eab", + "observation_id": "3c9c17f1-52a0-4b0f-9605-b8565bd7d939", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "124876a7-0f2b-4f4e-ae03-eced9ee25ec7", + "observation_id": "47c26839-7a1a-478a-8562-c92a7c6f746d", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "926bd3c5-f6c8-484d-a4fe-4fb2392b0e33", + "observation_id": "97d63c47-413f-4e72-842a-4ac18e89bd59", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "a3da1375-8e08-4305-9029-1e791b336d47", + "observation_id": "b6e50de5-2552-4c9f-9ac0-c63e80e3e528", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "a4a43e38-36ee-4702-afc0-208d19c0b3d5", + "observation_id": "3ccff42e-9161-4e06-8f31-e8847e1d0f50", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "fe06f49d-fad3-4a04-8d20-3eb8931cd39d", + "observation_id": "f3c9312f-44bd-4452-8ff9-b61e8ba1e8fd", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_acde/render_d_camera_pose.json b/data/camera_study/Scene12/k4_acde/render_d_camera_pose.json index 8fc486c..951173b 100644 --- a/data/camera_study/Scene12/k4_acde/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k4_acde/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:42Z", + "created_utc": "2026-06-02T22:46:48Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_acde\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_acde/render_e_aruco_detection.json b/data/camera_study/Scene12/k4_acde/render_e_aruco_detection.json index 3012bf5..e7b29da 100644 --- a/data/camera_study/Scene12/k4_acde/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k4_acde/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:41Z", + "created_utc": "2026-06-02T22:46:47Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "eeeb4c6f-b913-4fcf-a0a5-a369359e860f", + "observation_id": "423a92d8-abe5-4ec8-87a8-0635e7cac2b8", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "8ac6e62a-f9ca-49c8-829f-43d6e7e8a1d9", + "observation_id": "b3309837-24c4-45ed-a1e3-2ea1e2f9372a", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "1e3e09f8-be9a-4437-a358-cccb5c4957d4", + "observation_id": "910bfa48-7d53-4e44-aab3-6269fbc9d706", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "8bdb31ff-2612-48f4-9aea-66a4f35694f7", + "observation_id": "9dee92bf-a51b-4d7c-9138-35d4b4f6d2b8", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "ba708dd2-bba4-4955-bc9e-6a0bb0342762", + "observation_id": "96d046ba-5e72-4b9c-a233-483fe24bd65d", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "a94a131d-48df-4b3a-a3f1-4fc53a0c1976", + "observation_id": "169c80ab-2142-48c4-a2ee-e853c8074ff1", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "6b24a25b-4f90-452f-a28f-696ddfe663ec", + "observation_id": "51260802-8b60-4c63-894c-98667ce68d8e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "2d597d74-d9f8-456f-8fd2-5698ed1361aa", + "observation_id": "0fc2ff7f-b091-448f-a694-82d13701e095", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_acde/render_e_camera_pose.json b/data/camera_study/Scene12/k4_acde/render_e_camera_pose.json index 07c3ae7..ce7aee8 100644 --- a/data/camera_study/Scene12/k4_acde/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k4_acde/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:42Z", + "created_utc": "2026-06-02T22:46:49Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_acde\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_acde/robot_state.eval.json b/data/camera_study/Scene12/k4_acde/robot_state.eval.json index cc8fe21..dd23e14 100644 --- a/data/camera_study/Scene12/k4_acde/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_acde/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.0502497482926287, "mean_abs_mm": 0.1375909048455597, "max_abs_mm": 0.1375909048455597, - "finger_error_mm": 39.87074721383147 + "n_unobservable": 3, + "wrist_error_mm": 1.8124221127979445, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_acde/robot_state.json b/data/camera_study/Scene12/k4_acde/robot_state.json index 66bcd98..9c1cd26 100644 --- a/data/camera_study/Scene12/k4_acde/robot_state.json +++ b/data/camera_study/Scene12/k4_acde/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:44Z", + "created_utc": "2026-06-02T22:46:51Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_adeg/aruco_marker_poses.json b/data/camera_study/Scene12/k4_adeg/aruco_marker_poses.json index 5a63a57..5c7f341 100644 --- a/data/camera_study/Scene12/k4_adeg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_adeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:34:02Z", + "created_utc": "2026-06-02T22:47:10Z", "summary": { "num_cameras": 4, "num_markers": 23 diff --git a/data/camera_study/Scene12/k4_adeg/aruco_positions_initial.json b/data/camera_study/Scene12/k4_adeg/aruco_positions_initial.json index c4a0f2f..521f99b 100644 --- a/data/camera_study/Scene12/k4_adeg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_adeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:01Z", + "created_utc": "2026-06-02T22:47:09Z", "summary": { "num_cameras": 4, "num_markers": 23, diff --git a/data/camera_study/Scene12/k4_adeg/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_adeg/aruco_positions_optimized.json index 46eab8e..a882360 100644 --- a/data/camera_study/Scene12/k4_adeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_adeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:34:02Z", + "created_utc": "2026-06-02T22:47:09Z", "summary": { "num_cameras": 4, "num_markers": 23, diff --git a/data/camera_study/Scene12/k4_adeg/render_a_aruco_detection.json b/data/camera_study/Scene12/k4_adeg/render_a_aruco_detection.json index 2233df7..1417625 100644 --- a/data/camera_study/Scene12/k4_adeg/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k4_adeg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:58Z", + "created_utc": "2026-06-02T22:47:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "42a3a1c5-2e77-46ee-a974-05136e81fc0f", + "observation_id": "5dfd6ccb-2576-4b70-9c64-6a9ae91a46ed", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "0e86c63b-8935-42c7-ac8b-9398464414bf", + "observation_id": "60043a92-22ad-4ced-b82f-99cbed004e53", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "22f8c01c-31ef-476c-943a-37a946e3513b", + "observation_id": "794f1a2a-f58a-4ef3-bcf4-e0c3cbd0838d", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "c5007eb0-b66a-41d8-9ff6-de6953936def", + "observation_id": "e3f980de-6cef-4724-9fcf-c386d3899cc5", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8492885602498799 }, { - "observation_id": "cbb349dd-8b69-4497-9aeb-5035c44a2fed", + "observation_id": "a3dfec63-c6ff-4aaf-a028-6e222ebde079", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "0784121c-1b4e-47ba-abd8-297b239c6103", + "observation_id": "e75351e1-af61-4b90-a375-dabc6abcc57c", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7225899346789976 }, { - "observation_id": "0198b0e1-6514-4848-9897-7e21a35c64c5", + "observation_id": "e5622a40-47d3-4cce-b18d-14d257d4e1c1", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "7dda1185-152d-4be9-928b-3d58486f7212", + "observation_id": "1c10322c-5019-41dd-8f57-5f4c45f766cb", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7653498798574592 }, { - "observation_id": "bf428fcf-2ed3-48ae-9356-c2b61db33d28", + "observation_id": "cc9d2257-8802-4579-8120-6aea2cb5da6e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "72c4c3d1-2121-4a94-b697-0955691479f0", + "observation_id": "4d950bf8-4397-4c06-bf1d-1a760f892909", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "2d69dda6-6a30-45ba-8ceb-3f50afd6d6f5", + "observation_id": "6049f353-791b-4d99-8875-39dab5c637fe", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "4ef37627-a21a-4c33-a00b-bef9510f1c9c", + "observation_id": "a7a2aa5f-0540-4ff0-846a-a189c7d81f74", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "5ada07bf-2d0b-478d-89d1-3657857cb7bd", + "observation_id": "e19b093c-1139-4c4f-972a-d4b4e2859dd5", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "f738adc3-69cd-4eb4-a9be-8daacc462b6f", + "observation_id": "2d2800b1-8b8a-4afd-a66e-d7b20b335d0d", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "e82c5b9f-26fd-42e3-9813-2346f566d4b8", + "observation_id": "30cb349c-c147-4b47-b7a0-e95df4c2f255", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - "observation_id": "938e0b43-88ec-48b1-b20b-b3347ad4f1e8", + "observation_id": "fb1b567b-f0ec-40c0-aeb5-9e583aa525fb", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "d5b861de-115e-41a5-a831-9a17328dc8c8", + "observation_id": "26e9bf0f-a913-4ebb-a189-304a0acbcc22", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6589361768588983 }, { - "observation_id": "7fdaebe9-c737-4e5a-8734-7e69a8507af6", + "observation_id": "05ca75f4-8110-44a6-a030-2c0b64daebeb", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "e119b32a-f6c3-409d-8310-7a270d476b8c", + "observation_id": "b0ed49d0-5156-4405-95d8-3f37e91683e4", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "9aef191c-a0b7-4d8b-9373-68b32c0b13b2", + "observation_id": "13b62f4d-503d-4e2c-b50e-3dc9c7c094b8", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "ffcb343d-127a-45e9-a5e8-75536f84625f", + "observation_id": "57fe7604-4a33-470f-b3c7-89ad1dffc2e1", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "d2802351-f09f-4f1e-ad27-0fe15d4dfaa9", + "observation_id": "92083ded-0317-47b0-8947-911b5dfe01aa", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "a5cda9b7-2b24-41d0-90ac-1d47caa688ee", + "observation_id": "c4d169f5-2068-4671-a063-a086339c2198", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "e8f0951f-fc7e-4a32-b125-98e2bb26d7ee", + "observation_id": "b0f6a181-4dc4-4459-9c0a-55630247b25c", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "faa4da88-a0ec-48c8-817e-5505cad19ef0", + "observation_id": "62cb0175-4aa9-4310-9898-3e10ccc540cf", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "9788c836-eddc-4496-822d-6a6291012bbe", + "observation_id": "a05d0f8e-7493-40f0-ac27-deb77441839a", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "4be7ba1a-6847-44b1-8877-fe8f0f9b92d7", + "observation_id": "bdf5a5f1-724d-43a4-8336-53a4ff887b95", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "6b1bb29d-e918-4ea4-abb9-a326bfb6752d", + "observation_id": "794aa211-4fce-4b04-a461-1963302797aa", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "95f10dc1-f550-4af7-84a9-ffd8894aac91", + "observation_id": "73a170e2-9fd6-4f8f-bb2c-bdc914dcc39a", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "912e1896-1825-467e-98f7-fc5996a0403c", + "observation_id": "aba7a2d7-6045-4c1f-bf8f-1a99e3eaf340", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "eec16f76-f12e-41b6-b3af-9664d55afa55", + "observation_id": "b7be9ace-02d5-49cd-9f1b-5f7d3bf98e81", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_adeg/render_a_camera_pose.json b/data/camera_study/Scene12/k4_adeg/render_a_camera_pose.json index 24bdce3..5030471 100644 --- a/data/camera_study/Scene12/k4_adeg/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k4_adeg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:00Z", + "created_utc": "2026-06-02T22:47:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_adeg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_adeg/render_d_aruco_detection.json b/data/camera_study/Scene12/k4_adeg/render_d_aruco_detection.json index ba2f15b..5b85360 100644 --- a/data/camera_study/Scene12/k4_adeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k4_adeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:59Z", + "created_utc": "2026-06-02T22:47:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "47c809c7-28db-4ffc-a2fb-9ad06d0e121f", + "observation_id": "1dace5e3-6db2-4c29-853d-905fffe4e5d9", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "e62b7279-bec4-4a09-a2a3-c06773d5d059", + "observation_id": "1a658ff1-4531-4ae0-bf94-9f9efeecb5d7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "6b835324-d675-4335-8767-e2c4a782e973", + "observation_id": "e6059524-445f-46d3-8461-781c1dde7338", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "15fc04ea-56a0-48cb-8db7-07dd202969d8", + "observation_id": "454829fe-aae5-4cab-8c5f-b99fac99b193", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "9870bb4d-00e9-40b0-869f-33004bb89bfb", + "observation_id": "03aa3dee-00bd-49ff-bfca-e10db14fa3a0", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "9ad17922-a851-466b-9bed-333e1fae8cba", + "observation_id": "25373618-d868-4331-a915-18addef924f4", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "2ee30050-06a4-41b4-bf2f-adfb3ea69503", + "observation_id": "3bfec893-4fd2-4bd5-ad82-06e00a2f6618", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "fcfa392f-5a63-4a80-a37c-bd9a1f2cec0f", + "observation_id": "a6f0fecf-1ee2-4e1f-93f0-dd21a00d3641", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "6c76a84a-e9c3-4fc1-9b3b-af7bce21fffd", + "observation_id": "bd4624e4-9e45-475b-8228-37982b82b729", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "5b3814d4-bfc5-4984-82e8-72d68e5de6cb", + "observation_id": "ec4babcc-64f9-4a29-bf3b-5e235139c9a7", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "196489a6-d4de-4a47-917d-900dbd1b7d43", + "observation_id": "2fa33fcf-8690-4962-b75a-6bacd2376534", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "2529b716-57f8-418a-a22b-aa3d8bad9dac", + "observation_id": "eecec36b-709f-4a4d-ae9a-5fe9e0845a09", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_adeg/render_d_camera_pose.json b/data/camera_study/Scene12/k4_adeg/render_d_camera_pose.json index f2dc758..b64a70d 100644 --- a/data/camera_study/Scene12/k4_adeg/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k4_adeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:00Z", + "created_utc": "2026-06-02T22:47:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_adeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_adeg/render_e_aruco_detection.json b/data/camera_study/Scene12/k4_adeg/render_e_aruco_detection.json index 736f8e5..836c8d3 100644 --- a/data/camera_study/Scene12/k4_adeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k4_adeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:59Z", + "created_utc": "2026-06-02T22:47:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "662106a2-9e13-4cbb-8b21-065a8c1fa5b8", + "observation_id": "2a051933-2caa-49cb-85eb-23c3d52d48dc", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "83b7a4f6-dedb-422a-a3a6-e516611f8402", + "observation_id": "1cbb4838-791f-45df-9135-977ab3b0fb52", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "4cd776d9-ea3f-41b6-8afb-000eff674aeb", + "observation_id": "11adf1d3-09eb-4aff-a2c7-8996d5d5471b", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "3160e082-55f1-4430-957d-02698510ae6d", + "observation_id": "a0667841-6e74-445d-b905-fe8d8fd4d398", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "e343b31f-311c-4af5-8e58-bb809ff2698a", + "observation_id": "2f9ae749-82b4-4a9f-b763-467573448eb2", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "466e104b-279f-453e-be35-bdffba1a1a7c", + "observation_id": "d9d08acb-f88e-4823-b3b7-236db64460ba", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "9825a155-7df2-458f-b804-043414770838", + "observation_id": "f5bd3b61-1877-4349-997e-699d4792a2a2", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "0266aa09-ef0a-40dd-bb80-5ddfe4689425", + "observation_id": "017045b4-c1b1-41aa-b94f-cf89ba390621", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_adeg/render_e_camera_pose.json b/data/camera_study/Scene12/k4_adeg/render_e_camera_pose.json index ae343c0..6027e72 100644 --- a/data/camera_study/Scene12/k4_adeg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k4_adeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:00Z", + "created_utc": "2026-06-02T22:47:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_adeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_adeg/render_g_aruco_detection.json b/data/camera_study/Scene12/k4_adeg/render_g_aruco_detection.json index 0dc914f..452abb4 100644 --- a/data/camera_study/Scene12/k4_adeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k4_adeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:00Z", + "created_utc": "2026-06-02T22:47:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "43c1faf7-fcb0-4ff6-831e-4069df69ac64", + "observation_id": "e2ca0a9c-e7c6-4bdd-a30c-0657b283b219", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "83e845de-5199-433c-83eb-0a251b43b928", + "observation_id": "481c120e-79f0-49f4-9f10-5e8ca3867608", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "4bee0e62-b675-4e4b-9b57-fc3cb6985dcb", + "observation_id": "f12c3444-0a2c-43f0-9edc-0d919b66fa3a", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "da998cf9-a73e-4707-8fd5-4575b727129f", + "observation_id": "322ae6a3-2a35-452c-acbd-8eb6623364b9", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "ea7bc99d-280a-4dbc-a6d5-b392aef924c9", + "observation_id": "2473d0a4-c503-4e61-a284-5bdd3e8b9d15", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "55370291-2b55-4f76-9d81-513836988e43", + "observation_id": "f8aba5c7-aafa-40e1-aef1-a1122513dda9", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "d4271fd0-846e-40a6-9050-b6ad44702f94", + "observation_id": "895db6ab-0562-4e83-b0e5-63b96a54cd95", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "75344d36-bd44-4b7b-8148-0c049a0bd761", + "observation_id": "c4a5d0a5-26d0-46df-aaec-f338848b46f5", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "c8f7886b-8185-487e-b833-c7886d7a71e1", + "observation_id": "88cb06b0-a76d-424e-b3a1-879714541d2a", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "7b9711b1-bb55-4952-b2a8-cf89b53de908", + "observation_id": "6eccf39a-d758-4cf4-b5d8-a16ebaf22952", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "ba0f17fa-3327-4632-a21b-7de3a0912ea6", + "observation_id": "664728b3-e64b-4558-939b-b81a476175eb", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "1bbfed50-788c-4ad8-9c47-2d8df359f05c", + "observation_id": "db8515e0-36af-4b1d-a031-1178b5bf65cc", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "3aa60397-e97c-4879-9e4b-1c49024ec85b", + "observation_id": "9bd0f096-fd3d-4a25-8ae1-8b82c6860027", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "7d32913a-e3e7-4ac4-8c8c-85aeafd52b4b", + "observation_id": "c98d0476-733e-4319-b292-2daca56ed0ef", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "b99e1eb7-6d87-4dd9-8566-b92402ec0637", + "observation_id": "429ce306-8d4d-4800-a310-2c9750b4dc4d", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "eebaa96e-518a-4071-bd63-28650db43529", + "observation_id": "30b078d9-b453-4eea-bf63-4062495ee1ce", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "f9a82175-b405-4618-bac9-344cec8fb823", + "observation_id": "526fec2d-736d-4289-b3bf-c3c0a72804e2", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "86343c3e-1812-4a06-83d9-681046b25b78", + "observation_id": "111e8977-1e4d-492a-aca1-e6cd6e749728", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "2c84a014-f453-47b7-ab35-27797b392920", + "observation_id": "b97ed3aa-c2ec-4de3-a430-cd04cc78d1b5", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "145908c7-739b-4a04-9c03-cacba0882e56", + "observation_id": "2a68bef3-3e25-4bbf-aefd-efbed5b998ac", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "8cf75d55-70af-4392-a2b7-82ba06ed0b37", + "observation_id": "5dcded14-a6d4-4ac6-beb7-c085bc2dfcc2", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "e2159988-7b9e-48ab-880c-0a706970623f", + "observation_id": "4e9e85e6-8d51-4012-940f-9b73618eb70c", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "327549fa-31dd-4fd8-8c83-fa47e51aac47", + "observation_id": "744737ed-7511-42cc-8de2-570d948824bf", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "55cf9e41-41f4-4b06-af9d-92da6c78f7a5", + "observation_id": "fbabdc9e-fc59-466f-bb65-efd0041adcf5", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "c8808ad1-4daa-4a46-b322-591314da7fd1", + "observation_id": "97d44294-f94b-4a0f-9681-92b954a65913", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "b50c6ce6-f5e6-4717-a0db-762d60d396eb", + "observation_id": "ba6d3f2a-71a0-4e26-827d-490d20916d3a", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "5cd42f22-fad0-4dfc-a656-7f3651b6f62b", + "observation_id": "98cd9fe1-e1a8-45a4-9cac-4f2022e9cff8", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "e454aa7b-a3b1-49cb-902f-49a974a1eeb5", + "observation_id": "6c6a5c64-69e7-4c1b-bfdd-ee79831c7f2e", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_adeg/render_g_camera_pose.json b/data/camera_study/Scene12/k4_adeg/render_g_camera_pose.json index 399f42a..b3938e8 100644 --- a/data/camera_study/Scene12/k4_adeg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k4_adeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:01Z", + "created_utc": "2026-06-02T22:47:09Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_adeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_adeg/robot_state.eval.json b/data/camera_study/Scene12/k4_adeg/robot_state.eval.json index ccdaef1..ce3645c 100644 --- a/data/camera_study/Scene12/k4_adeg/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_adeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.0242409874632585, "mean_abs_mm": 0.6809562138832916, "max_abs_mm": 0.6809562138832916, - "finger_error_mm": 39.02110785453303 + "n_unobservable": 3, + "wrist_error_mm": 0.9952613502518461, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_adeg/robot_state.json b/data/camera_study/Scene12/k4_adeg/robot_state.json index a698d1b..c7a6b6a 100644 --- a/data/camera_study/Scene12/k4_adeg/robot_state.json +++ b/data/camera_study/Scene12/k4_adeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:03Z", + "created_utc": "2026-06-02T22:47:11Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_bcde/aruco_marker_poses.json b/data/camera_study/Scene12/k4_bcde/aruco_marker_poses.json index cffa41f..210e66a 100644 --- a/data/camera_study/Scene12/k4_bcde/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_bcde/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:34:13Z", + "created_utc": "2026-06-02T22:47:22Z", "summary": { "num_cameras": 4, "num_markers": 17 diff --git a/data/camera_study/Scene12/k4_bcde/aruco_positions_initial.json b/data/camera_study/Scene12/k4_bcde/aruco_positions_initial.json index 9edfbd6..15157f3 100644 --- a/data/camera_study/Scene12/k4_bcde/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_bcde/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:12Z", + "created_utc": "2026-06-02T22:47:21Z", "summary": { "num_cameras": 4, "num_markers": 17, diff --git a/data/camera_study/Scene12/k4_bcde/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_bcde/aruco_positions_optimized.json index 1a3f37a..8cf27ee 100644 --- a/data/camera_study/Scene12/k4_bcde/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_bcde/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:34:13Z", + "created_utc": "2026-06-02T22:47:22Z", "summary": { "num_cameras": 4, "num_markers": 17, diff --git a/data/camera_study/Scene12/k4_bcde/render_b_aruco_detection.json b/data/camera_study/Scene12/k4_bcde/render_b_aruco_detection.json index 986e169..03f0c53 100644 --- a/data/camera_study/Scene12/k4_bcde/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcde/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:10Z", + "created_utc": "2026-06-02T22:47:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c2774053-fd8d-4aa5-bb11-6ff5de17ad2c", + "observation_id": "22b16a95-aa95-43ea-9a0c-619e412b20dc", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "8a48831b-de74-4592-9568-deba0ca1da19", + "observation_id": "d527e716-d9a0-427a-96e6-0dff6cb11350", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "60569926-cbf1-4942-8825-62e2bc8eba5c", + "observation_id": "1e970deb-d6f5-4449-8224-0b69d6379610", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "5463c280-a5c1-45ea-96be-1538139a6399", + "observation_id": "3ef3ce5c-b3b9-4662-9f5d-81ae6668cc83", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "ceab9e43-4f84-4af7-8a52-74730caed87f", + "observation_id": "d6f6debc-ec06-4b36-b4a5-7294b75bc058", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - 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"observation_id": "0fb30359-0dce-4642-8906-16c30eaff33e", + "observation_id": "664f01b3-366f-4c8d-b52e-e277bbb3756d", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "0d0b6f50-dc6d-4c37-ac18-74f3ac8e767b", + "observation_id": "54c2baf1-1879-4f6b-b8de-82428702831f", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "e6f533ef-4fb4-46bc-b9c8-fa6f6f36c5e0", + "observation_id": "e146f3b5-051b-444b-b268-825f13f3ab97", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "0e928df6-8c87-4609-b92e-ef178a70ba3d", + "observation_id": "d5e0565e-fc6a-43bd-baba-ea7d7ffeaaa0", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "ffa87bd4-0912-4b6b-a3d7-c859ea59b36a", + "observation_id": "391e2742-8edf-4b74-8ef0-14dd501dabbb", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "fe29e95b-037b-4f49-807a-fea68a352e15", + "observation_id": "adacb386-684a-47c0-a1de-51477001d920", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "5c5e6209-99f5-471a-9d41-fea9f401059a", + "observation_id": "932e61d1-adfa-4d51-a299-e3a13d2780fa", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "b86bd461-4a3a-4d88-b835-60e77f7a1c9e", + "observation_id": "df6d2255-59f9-4c59-8766-add356d28988", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcde/render_b_camera_pose.json b/data/camera_study/Scene12/k4_bcde/render_b_camera_pose.json index 6221b78..72bd969 100644 --- a/data/camera_study/Scene12/k4_bcde/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcde/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:11Z", + "created_utc": "2026-06-02T22:47:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcde\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcde/render_c_aruco_detection.json b/data/camera_study/Scene12/k4_bcde/render_c_aruco_detection.json index 8a21f25..4df80aa 100644 --- a/data/camera_study/Scene12/k4_bcde/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcde/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:10Z", + "created_utc": "2026-06-02T22:47:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "709158bd-4c94-40c8-8434-94cc9ae6fcfe", + "observation_id": "5a4b39a2-6d43-4a8e-acb7-8a979dfcfca4", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "904342d9-f370-49ce-b736-53eb22ef1d9e", + "observation_id": "c980b0bb-b73e-4dfc-ab06-7ea94a9308ea", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "18156584-15ce-4e21-b4b7-b6cf0ab1ec39", + "observation_id": "e6e280e8-054a-43c7-b3c4-f5fa5af8404a", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "48b95b2d-1136-45af-81d6-142fd9f5f86a", + "observation_id": "c8f19e11-b94f-4c1c-ac9c-ff540596567b", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "d9c51c5c-43fb-402e-8dcc-3be5a629da0d", + "observation_id": "b5b87269-e186-4639-9d2b-42ce646c22ac", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "479fdefb-b650-4eed-a0d1-6819f86b99f4", + "observation_id": "7ce6bc06-8296-4bc8-97c9-459865bbf561", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "7e8233d7-dfeb-4204-a97e-c37792d2b0e8", + "observation_id": "8ca8bf50-1342-42e8-8ab5-92e9143b65b9", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcde/render_c_camera_pose.json b/data/camera_study/Scene12/k4_bcde/render_c_camera_pose.json index f0c4a6c..54c0f35 100644 --- a/data/camera_study/Scene12/k4_bcde/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcde/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:11Z", + "created_utc": "2026-06-02T22:47:20Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcde\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcde/render_d_aruco_detection.json b/data/camera_study/Scene12/k4_bcde/render_d_aruco_detection.json index 7f0a710..0e33a79 100644 --- a/data/camera_study/Scene12/k4_bcde/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcde/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:10Z", + "created_utc": "2026-06-02T22:47:19Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "06b4d112-3805-4be2-8289-6f25c19289da", + "observation_id": "4a8c5237-4222-453d-b4c0-1f313e0441ea", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "af5f54ed-68a9-4de4-8d4a-c971e4516928", + "observation_id": "c53a7f7a-c635-4b3a-8c64-8dcd95e514ee", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "9e4c5751-4426-40dd-9f61-04a14de1b7c1", + "observation_id": "f9dbcd1a-c03c-4d37-8a4f-476a2ecc033e", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "51ec5544-bc70-4a06-ae58-f4457ac4da5f", + "observation_id": "7d3890b5-41ce-4f4f-8986-a511a9a8d3eb", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "debbb060-5ec2-44e7-a18d-672111d8da58", + "observation_id": "e5f06da4-c975-4d77-8c2a-3defa72fbd4a", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "2c866228-3411-47b4-a3a4-3d1371e8f73f", + "observation_id": "4319b745-2588-4861-91f0-d20008e05fc5", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "4f1ae6fb-8379-4e21-8af2-c11cc8d0c61b", + "observation_id": "23dea3fb-b9e5-401d-8068-2b3c997fed19", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "541e1bee-f7ac-4bef-97e2-16ea3ddf423e", + "observation_id": "7e996625-b23c-4016-a253-81fb410fe60f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "39ce7449-17ab-4369-8eeb-ad3e8e96c291", + "observation_id": "fce4c908-727a-4b38-8b02-39112cd226ac", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "16415c5c-fe5e-4f82-b64d-6172e65243e1", + "observation_id": "094afbb5-47db-4667-93da-86fbc187022e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "8e5cb880-3193-4d0f-a3bf-3fb6c9404129", + "observation_id": "53bdd46e-1623-46f2-b5e0-edbcfd11de5e", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "25af8212-3620-4e60-9ea5-6a9ea6e1d601", + "observation_id": "08a91d95-bd6b-4f17-9c1b-2c7abba173bf", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcde/render_d_camera_pose.json b/data/camera_study/Scene12/k4_bcde/render_d_camera_pose.json index d852003..961f60e 100644 --- a/data/camera_study/Scene12/k4_bcde/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcde/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:12Z", + "created_utc": "2026-06-02T22:47:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcde\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcde/render_e_aruco_detection.json b/data/camera_study/Scene12/k4_bcde/render_e_aruco_detection.json index 3ab249e..fc88f37 100644 --- a/data/camera_study/Scene12/k4_bcde/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcde/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:11Z", + "created_utc": "2026-06-02T22:47:20Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "896b636a-cf78-4e89-8850-281e0fb72239", + "observation_id": "e0f464e8-dfd7-46a5-ba8f-2759fbd7e4f8", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "0be20086-381c-4d7d-ab4b-13cdf6b7726a", + "observation_id": "0f1d8303-ecaf-4ba7-b653-e9e12216557e", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "7a7def3f-c970-4eb4-891b-0f7625648dbd", + "observation_id": "ea7896eb-0d17-4d59-b3dc-5eb3c4fc9e26", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "66c82f1c-89db-43d2-9b6c-f2ae226e9b5a", + "observation_id": "50af561f-23ea-4f61-957d-4cbf281dbb5e", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "ab68abf4-c57f-4367-9cf4-2b4847d4bbdc", + "observation_id": "e97ba0d2-514e-44cd-8334-258cf8bf6e41", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "74853714-eac5-457d-b3fc-9993f69bf5fe", + "observation_id": "5667ba5b-bed1-4d4d-9041-97a114fbb821", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "59d42000-543b-4968-af5c-e78a8fb32a60", + "observation_id": "89b69b68-ae8b-414c-9563-4fd63e323c45", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "67aa15b5-b682-48c0-be56-e5d304a97794", + "observation_id": "75bdeed3-e660-4978-ba3f-d16e71fef874", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcde/render_e_camera_pose.json b/data/camera_study/Scene12/k4_bcde/render_e_camera_pose.json index 05a038c..0de52ec 100644 --- a/data/camera_study/Scene12/k4_bcde/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcde/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:12Z", + "created_utc": "2026-06-02T22:47:21Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcde\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcde/robot_state.eval.json b/data/camera_study/Scene12/k4_bcde/robot_state.eval.json index ccd95bd..0b8e0ff 100644 --- a/data/camera_study/Scene12/k4_bcde/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_bcde/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 2.135236692953754, "mean_abs_mm": 0.3285707213307063, "max_abs_mm": 0.3285707213307063, - "finger_error_mm": 43.72443160218134 + "n_unobservable": 3, + "wrist_error_mm": 5.67461373041151, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_bcde/robot_state.json b/data/camera_study/Scene12/k4_bcde/robot_state.json index d0884c4..a2ee873 100644 --- a/data/camera_study/Scene12/k4_bcde/robot_state.json +++ b/data/camera_study/Scene12/k4_bcde/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:14Z", + "created_utc": "2026-06-02T22:47:23Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_bcdf/aruco_marker_poses.json b/data/camera_study/Scene12/k4_bcdf/aruco_marker_poses.json index ff9c240..a2e5704 100644 --- a/data/camera_study/Scene12/k4_bcdf/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_bcdf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:34:38Z", + "created_utc": "2026-06-02T22:47:49Z", "summary": { "num_cameras": 4, "num_markers": 24 diff --git a/data/camera_study/Scene12/k4_bcdf/aruco_positions_initial.json b/data/camera_study/Scene12/k4_bcdf/aruco_positions_initial.json index f2c292f..11e783c 100644 --- a/data/camera_study/Scene12/k4_bcdf/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_bcdf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:37Z", + "created_utc": "2026-06-02T22:47:48Z", "summary": { "num_cameras": 4, "num_markers": 24, diff --git a/data/camera_study/Scene12/k4_bcdf/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_bcdf/aruco_positions_optimized.json index c24c4f6..66748a0 100644 --- a/data/camera_study/Scene12/k4_bcdf/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_bcdf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:34:38Z", + "created_utc": "2026-06-02T22:47:49Z", "summary": { "num_cameras": 4, "num_markers": 24, diff --git a/data/camera_study/Scene12/k4_bcdf/render_b_aruco_detection.json b/data/camera_study/Scene12/k4_bcdf/render_b_aruco_detection.json index ba00656..75c1b97 100644 --- a/data/camera_study/Scene12/k4_bcdf/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcdf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:34Z", + "created_utc": "2026-06-02T22:47:45Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "f643a3b1-19e8-42c1-b50e-dbd3e82d28e3", + "observation_id": "0b89b474-2058-4307-be70-6c06182a1cf4", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "0b5f2de9-8eb6-47f8-bc0d-1edc3a1305c3", + "observation_id": "3a9c4aca-ddd2-45d6-bcbd-c824ba294295", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "2bfd57a0-31cb-4abe-a6bc-4b054c53c605", + "observation_id": "13b16344-7cff-41e9-a9ab-7c277b039101", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "72140259-892a-4e7b-afd2-d482fcc88458", + "observation_id": "11631414-aa31-4cce-85b1-2808ebcae56f", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "f648de47-fa07-41ed-9499-6c54049fd525", + "observation_id": "15bc6b73-bcc5-47b0-a978-03ba41ec517b", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - "observation_id": "c3b5b2b6-fedb-4a1d-ad3f-cfe73b615d1b", + "observation_id": "7df3ddd9-14fa-4102-abfe-e126cb5abf7c", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5337876600066706 }, { - "observation_id": "bd0ecb35-c5ce-4e6b-b655-67f52a3f8cd2", + "observation_id": "45d414e6-1fec-42eb-b3e7-2b6d1aa24c0b", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6849598669171316 }, { - "observation_id": "b4d9df74-95eb-42a0-b47f-e46bb7ccb4fd", + "observation_id": "976fa1fc-6b53-4225-ac05-80088f542693", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "323872b8-5a60-45e7-bd76-dc8dcbf6fbd1", + "observation_id": "061c3c1a-9ca2-4f6e-a151-0dfe94a7756f", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6513610457098532 }, { - "observation_id": "ca05d96b-2391-47aa-8a9f-0bb27f0a94fd", + "observation_id": "59bbbbc8-f54b-42e6-9bcd-e57fa7891928", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.630961575157087 }, { - 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"observation_id": "e0781969-23f8-4326-a0d3-a7cb47236235", + "observation_id": "733a4bd3-957d-44a9-9e49-14cf429b77d7", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5918000254950889 }, { - "observation_id": "a7c4a4cd-b162-4027-bb7e-75228622ef3c", + "observation_id": "d8c7f3a0-dab6-45e5-9d32-b66d0adfddd5", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.608276252746582 }, { - "observation_id": "80cb33e2-cbd9-4e68-92bc-0e07abe987c8", + "observation_id": "c1b7eddd-cdee-4406-a2b6-7cff01d1b9b1", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "25a9280f-54b6-4e9f-bcab-0ba885f8eb96", + "observation_id": "1cf36e02-80fc-4642-8505-8c42172bb335", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.575866171800068 }, { - "observation_id": "a308ddf2-ae28-44ce-b151-1b05923d3844", + "observation_id": "de149587-f474-4517-bf95-4c8d0ea0c6b4", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5222013240250092 }, { - 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"observation_id": "86627a7d-b9d6-4cbb-b465-65d19ff00189", + "observation_id": "20097b35-d7cd-4215-bf53-eec2c87ca4a4", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.4387585454601719 }, { - "observation_id": "1f9d89b9-14c1-4340-bf5a-1a0c80864d87", + "observation_id": "6093ced7-8e20-4d87-95ec-1b946276c8d5", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "d16e2173-af35-4b17-a95b-000a4630b9d4", + "observation_id": "e7a420d5-96d7-4a4a-9a21-e2188187c14a", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.40836112125901974 }, { - "observation_id": "8f1024bc-79ff-483a-a59e-2357510acce1", + "observation_id": "57c1dbb3-0e5c-4044-8e60-4cdb4fb289bc", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.23853923230852397 }, { - "observation_id": "6cdacd22-76c6-482c-9168-13a6a5eabb9c", + "observation_id": "1614f868-018b-4e7c-8bd6-ce7ae3333fb3", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "4d6aa5c5-a13a-4f3c-b0bb-c3ca63f6032f", + "observation_id": "ac6dbc61-77b2-4243-a0bb-3dbec62ee2f3", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "8ff9bbb8-a63b-4f85-8a7a-7080523e2aff", + "observation_id": "85aa0dbb-e99c-4920-8e6b-548ccdcad5fe", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.3135142237541464 }, { - "observation_id": "e7d27dcb-2329-45fa-aa7b-bcbceb6c7d9b", + "observation_id": "67ab737a-b8c7-4182-a894-40a95dc889fc", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "7c2659ba-9c7e-4a8c-871e-bef19e68bd31", + "observation_id": "23d0c20f-11d7-4814-9034-e5b680b4116d", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "9704857e-c920-4efb-98c7-3e96c0adc90a", + "observation_id": "d5c3cfb9-a0f3-4739-b2e5-979e0247fc98", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "be9b49b7-28be-450d-9901-29b85141327b", + "observation_id": "381335c0-d3d1-463a-9b54-656ac23aec17", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "37ae0222-950c-4bf2-a087-70f4b070b648", + "observation_id": "0b4e5b2b-d7c6-48a3-9fde-279fd297ab93", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "d6efdc03-f596-447e-bd49-27276179b708", + "observation_id": "13e6f037-330d-4e14-be43-8accb9cfd958", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "6d806812-3fda-452f-a3a8-bc1113281b24", + "observation_id": "1a9d5c61-3ee6-46a5-84f3-214ba9142805", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "32c293f2-b07a-43cc-a6ee-96e4bbf8a33f", + "observation_id": "d7d43e26-e6f1-4651-b596-1dfacc5f8bcd", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "155d3ef8-3ddf-4e27-9fe0-a50879334cf8", + "observation_id": "19c94bb5-a92b-4e17-b3d0-037768a2cb60", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "c8c47fec-92a6-435e-b7f9-a8949f7f6432", + "observation_id": "cad23590-0490-45e6-903f-a291f4529e9b", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "4333323b-b66b-4b5f-9b0c-25e7b08daaba", + "observation_id": "5d1d5bea-a944-4350-90f8-efc34e416b22", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcdf/render_b_camera_pose.json b/data/camera_study/Scene12/k4_bcdf/render_b_camera_pose.json index 4db8f52..927c4d0 100644 --- a/data/camera_study/Scene12/k4_bcdf/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcdf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:36Z", + "created_utc": "2026-06-02T22:47:47Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcdf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcdf/render_c_aruco_detection.json b/data/camera_study/Scene12/k4_bcdf/render_c_aruco_detection.json index 7cb29ae..f22cd9f 100644 --- a/data/camera_study/Scene12/k4_bcdf/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcdf/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:34Z", + "created_utc": "2026-06-02T22:47:45Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "44b09ef1-41cf-470a-b7ea-4eb857d427d2", + "observation_id": "9eb15286-1315-42ef-a093-f594ed9cf674", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "1a18caff-a430-46eb-a98d-5f6e6e3b7bf0", + "observation_id": "c6af49f6-b7ba-46d8-b780-8f7c8f2c19d1", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "ebb747d4-efdf-4377-abd4-de2cc9d69467", + "observation_id": "3f262915-1097-47fd-8c9d-cc67d2718c42", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "f3431612-0e1d-42c3-ab09-4d00ac772090", + "observation_id": "78681353-a5a9-41e4-8e16-61e0e78c89ab", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "9532cc2d-7132-434e-8370-bd14c5a32f4d", + "observation_id": "22e6f4e5-d2bb-4ac9-bbfd-0db4367f2a3d", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "3085a281-7073-43a7-ae67-c4c78c5dd97c", + "observation_id": "db2f7f7b-49b0-4bb4-b092-825a4d03d806", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "e327ea31-1cdb-44c2-adde-4f1e9c13b362", + "observation_id": "8a4f32fa-2198-4345-b627-ad765587ab2e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcdf/render_c_camera_pose.json b/data/camera_study/Scene12/k4_bcdf/render_c_camera_pose.json index 740d1ea..e96d5a8 100644 --- a/data/camera_study/Scene12/k4_bcdf/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcdf/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:36Z", + "created_utc": "2026-06-02T22:47:47Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcdf\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcdf/render_d_aruco_detection.json b/data/camera_study/Scene12/k4_bcdf/render_d_aruco_detection.json index 9395b0d..4671e62 100644 --- a/data/camera_study/Scene12/k4_bcdf/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcdf/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:35Z", + "created_utc": "2026-06-02T22:47:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "da929659-96b0-44e4-be2a-c541b73ce46b", + "observation_id": "49eee346-03de-4b9d-a3bc-7e4018ac61ed", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "a7f61789-c85d-463e-a855-480600d551aa", + "observation_id": "9725d398-b342-4f46-9e69-5538e3240d73", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "e0cefe26-d751-4e08-a9f4-59cd7f246573", + "observation_id": "7ab626fc-644a-4881-8f7d-4acc08446b3b", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "3dce4336-5daf-4142-9eb1-9306167f9831", + "observation_id": "49082798-416f-4c74-a560-69697c42bb1a", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "551ab865-e966-4166-af3a-536f2fecf133", + "observation_id": "78439902-d0d4-45be-b4ac-d1ffee74766e", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "15572ea9-a3ec-4e0f-99b6-366a852d3d33", + "observation_id": "9eebb81d-5986-4b13-9012-a38d5cf74947", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "976b9ff8-d6da-47f1-b218-21b1dea723ac", + "observation_id": "ef0fe546-7c89-4c6f-b88f-264126ddb779", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "fe27fdbd-510b-470a-bf0d-d2a2f6fea9eb", + "observation_id": "d7ea25bf-5aca-4d0c-9d00-f16f478eb8f8", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "f0848706-bf32-440e-8a63-753a127a8cff", + "observation_id": "e403bd11-aa30-441c-9aab-892d96cd035e", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "61f82b5c-4fe2-4748-8cd7-7a13f90708b7", + "observation_id": "2a37ec08-a7f9-4fce-ba9f-9d68abcab635", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "f48b5231-4c57-4475-80eb-68b10625afc5", + "observation_id": "d844d28c-b008-458d-a4c8-5f200b1cf74c", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "efa9ff79-8ffe-46e1-bb2f-9a121496ff90", + "observation_id": "5e8d586d-71dc-4d3c-9a21-fe908b96fb92", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcdf/render_d_camera_pose.json b/data/camera_study/Scene12/k4_bcdf/render_d_camera_pose.json index 926daf2..2b3b928 100644 --- a/data/camera_study/Scene12/k4_bcdf/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcdf/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:36Z", + "created_utc": "2026-06-02T22:47:47Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcdf\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcdf/render_f_aruco_detection.json b/data/camera_study/Scene12/k4_bcdf/render_f_aruco_detection.json index 500715d..7f0999e 100644 --- a/data/camera_study/Scene12/k4_bcdf/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcdf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:35Z", + "created_utc": "2026-06-02T22:47:46Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "680120bb-51b4-4ac3-a840-f53363d010c5", + "observation_id": "00f8af54-3fff-4066-823b-af3b65bd01df", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "4045aeb3-7f76-422e-be55-be3260fef8cf", + "observation_id": "ede007c7-cdb7-4277-9355-e777de23f4b1", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "02af6394-3d3c-42f4-872e-41cd45609476", + "observation_id": "8f998907-6c7f-4324-ad59-98bb24eaaea3", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "3c674adf-6ad5-4b41-89a9-8ea046ccf5e4", + "observation_id": "7c3ba524-1895-4e13-bdaf-2580d48ebf25", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "d25fb14e-cb99-4390-8b92-91514ee9a091", + "observation_id": "aac4b2f5-c7f3-4d08-b71f-349e28c4e7c7", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "25135c26-c240-4f85-8c13-88b98b756142", + "observation_id": "ddfc2e44-fa81-4d6d-8c5b-1d68bc49bfe7", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "aadae088-f2f9-4be7-adc9-5425afbda711", + "observation_id": "f610a303-fee0-4052-a71a-d0694032e124", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "27a99ccb-ed7b-4cf9-aeb0-0267dca0c691", + "observation_id": "6c19f4f7-c102-49a8-b13d-a812ae46e5de", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "d96fa4b3-1d3f-47d1-a4b8-f65e1af9fbf0", + "observation_id": "a7ad9e7f-736e-449b-9836-4c259538f2fe", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "8b4fc480-9584-47c4-ad3d-f7270ff310cf", + "observation_id": "32e7010d-7a1e-4c58-9f5a-d09aafd81ad7", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "0ceeb407-2f25-4fcc-a85f-fcffaa56d401", + "observation_id": "6e8f01dd-4e49-4e46-a0f4-a0ac67e882b8", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "3e5b0216-75a1-4a5d-8648-8d7e0f32f2ff", + "observation_id": "b0f88ca8-258a-43d1-8ef3-90e37e28a63d", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "4b6c9911-31ef-48eb-ad52-58cf14990e35", + "observation_id": "fc706123-f9c7-4db8-a214-10e755227c52", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "8f0c1e4b-67bf-43d2-ac4a-b18f871a5337", + "observation_id": "cfea0c35-3146-4f27-9881-e041293eb172", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "1b2bca84-aa64-42e7-8829-0160aa8ed774", + "observation_id": "b72cb54f-71d7-4a6d-bdaf-8dec0a7d68f2", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "01b43402-d2c1-45c9-b0e8-379c1a5ef2bb", + "observation_id": "ed906d0a-3a4f-4375-b012-53284ac71ed8", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "8e61924f-74db-4183-8fb3-5b12fee24d61", + "observation_id": "a42cd9ce-b453-46e4-b9b2-e28d3b480800", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "f8c864f0-040e-4dfe-a9e6-c56b4062e215", + "observation_id": "61d73cd7-8ce2-43c7-b34e-9fdea8ca0af0", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "f2e04d7b-9dfc-414e-a880-3e737be7ad2e", + "observation_id": "20555890-920f-4b37-8102-f34f625b2357", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "2ab1e52b-1096-4e6c-8ef1-1e630678eed2", + "observation_id": "e8095abe-7bfd-41cf-b46c-e3a2a7f47cda", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "10870fee-a005-4258-9d23-df7ca20e2a58", + "observation_id": "c8b8e8b9-8ef6-4faa-8b04-53bcad29dc1b", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "cd15fb05-1a2c-4514-9bf5-e3d77730ccd3", + "observation_id": "c9079102-fda8-466a-9a69-5f82e70f04c1", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "8f337f51-e0d9-4b3c-961c-950a1d123f48", + "observation_id": "b2f2fcee-5fc3-4c90-80b9-db3ede8fbef9", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "676d33a2-a30e-46d2-bdd0-4de0fc5103cc", + "observation_id": "7d716d91-7bb2-4d03-a3f7-127ac4505e77", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "a032f41d-351b-447c-90e5-ee4d6c2e6510", + "observation_id": "ce5a5c53-dd2f-4bcd-9aa4-278c8645a3f7", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "3a53aecc-2138-45d7-a31d-e28f9e7bc58e", + "observation_id": "d492084a-3232-47d5-b822-5a3478af813b", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "dbe4cc88-ab39-4f4e-a79b-d1ba70b6f475", + "observation_id": "d187e4e8-f6ce-43c2-835e-a5b603f9b064", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "f77a1b5c-0bb4-444f-8fb0-f1cd32552ff5", + "observation_id": "2c9a1c8c-cc20-4b27-8b01-e7d9c0434d45", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "37800458-af0d-4e00-9f9e-3f1bd3bf22d9", + "observation_id": "16d670cf-09c6-4e80-91d5-c2dc9330e912", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcdf/render_f_camera_pose.json b/data/camera_study/Scene12/k4_bcdf/render_f_camera_pose.json index 46bf277..1291935 100644 --- a/data/camera_study/Scene12/k4_bcdf/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcdf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:36Z", + "created_utc": "2026-06-02T22:47:47Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcdf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcdf/robot_state.eval.json b/data/camera_study/Scene12/k4_bcdf/robot_state.eval.json index 45643e7..ffefbf5 100644 --- a/data/camera_study/Scene12/k4_bcdf/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_bcdf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.3505987775167796, "mean_abs_mm": 1.7420736238802732, "max_abs_mm": 1.7420736238802732, - "finger_error_mm": 42.435344128397084 + "n_unobservable": 3, + "wrist_error_mm": 5.324769985896318, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_bcdf/robot_state.json b/data/camera_study/Scene12/k4_bcdf/robot_state.json index 778c999..77aa8f1 100644 --- a/data/camera_study/Scene12/k4_bcdf/robot_state.json +++ b/data/camera_study/Scene12/k4_bcdf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:39Z", + "created_utc": "2026-06-02T22:47:50Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_bcdg/aruco_marker_poses.json b/data/camera_study/Scene12/k4_bcdg/aruco_marker_poses.json index af6d07b..420c2d5 100644 --- a/data/camera_study/Scene12/k4_bcdg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_bcdg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:34:19Z", + "created_utc": "2026-06-02T22:47:28Z", "summary": { "num_cameras": 4, "num_markers": 29 diff --git a/data/camera_study/Scene12/k4_bcdg/aruco_positions_initial.json b/data/camera_study/Scene12/k4_bcdg/aruco_positions_initial.json index b3965e2..439232a 100644 --- a/data/camera_study/Scene12/k4_bcdg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_bcdg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:18Z", + "created_utc": "2026-06-02T22:47:27Z", "summary": { "num_cameras": 4, "num_markers": 29, diff --git a/data/camera_study/Scene12/k4_bcdg/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_bcdg/aruco_positions_optimized.json index a82520a..9fb57b9 100644 --- a/data/camera_study/Scene12/k4_bcdg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_bcdg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:34:18Z", + "created_utc": "2026-06-02T22:47:28Z", "summary": { "num_cameras": 4, "num_markers": 29, diff --git a/data/camera_study/Scene12/k4_bcdg/render_b_aruco_detection.json b/data/camera_study/Scene12/k4_bcdg/render_b_aruco_detection.json index e5f87d3..2ec8aeb 100644 --- a/data/camera_study/Scene12/k4_bcdg/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcdg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:15Z", + "created_utc": "2026-06-02T22:47:24Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "472e5b44-9fcb-4033-9cc2-5096d3eec6e3", + "observation_id": "fcb227eb-1622-4fc0-8617-8ea0daa01b0d", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "0e21ce10-9209-4273-bba1-3535e018f831", + "observation_id": "6e26be20-04a9-4f9a-aa8b-817b75dccff2", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "c90abc14-d187-4247-bc16-065fee37f02b", + "observation_id": "bfc5ea71-02dc-416f-93da-ed25c877877d", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "3e5f489e-c71f-4e2e-819d-eeacea40d886", + "observation_id": "8a1af10f-8b81-443f-ba98-1a61a18a4e28", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "a7bf783f-0e0e-4f18-a07f-dca94093a3b7", + "observation_id": "ffd56d01-9fc5-4ae2-90de-5fd6e4a8ab0a", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - 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"observation_id": "682f88c5-aaf7-4d13-a3b0-7fdd634614fb", + "observation_id": "c0c7b1c7-6fcd-4e44-9a87-5e0960fa6952", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "be7ebe8d-6a96-44c3-84bb-d9465ef1dc76", + "observation_id": "53f07adc-7b6c-4f32-872a-9530f6d8d70c", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "b979b87e-ec26-48c8-95af-d1ce9a4b5de7", + "observation_id": "92a56a30-6fe1-4fbf-8848-6e9a0a55653a", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "efe8680c-a6b9-4318-ae4d-ec7096031506", + "observation_id": "bbf9ace0-c63d-48e3-a5d7-4033cf3ed54c", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "d693e834-4c0c-4bb0-a9af-a4da2e8b6886", + "observation_id": "5e5f635e-1040-4c42-9fa9-70bdfd8d7041", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "793fc3b1-47a5-4402-ac39-a0ebb195f266", + "observation_id": "caa12c19-c4c8-4208-a26e-41fe17424a62", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "198f38f1-740b-4550-9cdc-370591006dba", + "observation_id": "03c78cde-2e1e-45a2-81d6-be11f124e7e3", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "061e8dce-79a3-4bd9-b238-57cce7e3111b", + "observation_id": "5ef13612-ddf3-4e22-b27c-c167ed276c5b", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcdg/render_b_camera_pose.json b/data/camera_study/Scene12/k4_bcdg/render_b_camera_pose.json index 6537aa2..02b8530 100644 --- a/data/camera_study/Scene12/k4_bcdg/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcdg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:17Z", + "created_utc": "2026-06-02T22:47:26Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcdg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcdg/render_c_aruco_detection.json b/data/camera_study/Scene12/k4_bcdg/render_c_aruco_detection.json index db5f51f..7742e59 100644 --- a/data/camera_study/Scene12/k4_bcdg/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcdg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:15Z", + "created_utc": "2026-06-02T22:47:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8ca8a7d5-3bc1-49c2-8f9d-2ca0635235de", + "observation_id": "a095bdb1-400e-48ea-9171-7a70c9ba83a4", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "1fac86eb-b660-4ff3-b35e-78de44ed56bf", + "observation_id": "a60cd2d5-f540-4573-8bef-1b4de070a89b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "6578d8ef-0256-4c01-b33f-b7b81706d10a", + "observation_id": "48b3f510-236e-4467-9b44-2aed96511f20", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "38a4b7c4-1b8a-4a16-b81b-6049fda07bc6", + "observation_id": "28839b2f-3b3e-4303-adf2-40f8487756c7", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "c095fe46-e474-4e71-a3df-71d1f252febb", + "observation_id": "73a1c0eb-e5fe-49e0-91be-72a28bfea34e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "57550a9d-18db-4ce0-b227-5ba5882abe10", + "observation_id": "d22bc50c-6dd8-46c4-b9a8-5732d268ecea", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "9ef4f40e-94bd-4064-93d2-0eed84b605f7", + "observation_id": "4889ccbb-5bcb-4b39-b01d-e0f052b6597e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcdg/render_c_camera_pose.json b/data/camera_study/Scene12/k4_bcdg/render_c_camera_pose.json index f868a89..5b3950d 100644 --- a/data/camera_study/Scene12/k4_bcdg/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcdg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:17Z", + "created_utc": "2026-06-02T22:47:26Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcdg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcdg/render_d_aruco_detection.json b/data/camera_study/Scene12/k4_bcdg/render_d_aruco_detection.json index bc57a82..001919a 100644 --- a/data/camera_study/Scene12/k4_bcdg/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcdg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:16Z", + "created_utc": "2026-06-02T22:47:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "55663afc-b986-4fd8-b4de-d294b6d78d16", + "observation_id": "75cc3d0d-ed3b-420e-8741-0dc0cb920c8e", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "f19e116d-f810-4a10-9a11-864f96e44069", + "observation_id": "2fa67006-1258-4c95-b20e-6821774a5ce1", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "c41b1ed2-55af-4fde-bd18-5f7e210018f5", + "observation_id": "b5968890-0c1c-4a9e-abea-24925b2854db", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "0742afc8-5562-4a34-94c9-787cb21fd2e1", + "observation_id": "64ff6b8e-79d1-491e-9ad0-9fcb279cff37", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "b3beeb4f-3074-4419-a218-37073520a28b", + "observation_id": "7b3e94a3-bdd6-4148-a9de-1548f3c46301", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "dfb6677e-1ee0-479c-b363-e4bf4920fc9e", + "observation_id": "15e8c983-f75c-4a3a-840b-fdba32d16287", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "967d5381-3166-4da1-8d3c-9952ec4a588d", + "observation_id": "04dce2e6-d117-42b4-915e-57abf4401c4d", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "eec7f969-160d-4f13-9299-e22a584ebbeb", + "observation_id": "7bc7921f-11f4-4e9a-b570-23372a90ddfe", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "3b722f0a-aa8c-4b15-ac90-cd2c742f8712", + "observation_id": "5b5447a9-8c93-4134-a433-0a731897259d", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "1c9d2216-d27c-40d8-9440-81662d274f9b", + "observation_id": "fe20b8c0-618d-409b-bceb-22fb27c1253c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "940cd0f2-3d60-46ec-a126-ba72329b1d55", + "observation_id": "6b6e6e61-e76a-415b-8e50-62c834d5b09b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "29214a46-0bf6-477a-b620-46f2d5ba3859", + "observation_id": "898754e5-cbfe-495c-b66f-efc873e5946c", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcdg/render_d_camera_pose.json b/data/camera_study/Scene12/k4_bcdg/render_d_camera_pose.json index eaa3ddc..8b59a3b 100644 --- a/data/camera_study/Scene12/k4_bcdg/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcdg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:17Z", + "created_utc": "2026-06-02T22:47:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcdg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcdg/render_g_aruco_detection.json b/data/camera_study/Scene12/k4_bcdg/render_g_aruco_detection.json index dd98f1b..f22df68 100644 --- a/data/camera_study/Scene12/k4_bcdg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bcdg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:16Z", + "created_utc": "2026-06-02T22:47:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "16a3d9c3-bfbd-4c31-8f4a-04fcdf2540b0", + "observation_id": "6289aed2-e152-4e06-b76d-0dd7a6299cfa", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "7764ca0b-7599-46a5-aa73-f15a3f591dbe", + "observation_id": "17533518-8a5e-4ff8-b86b-a48716796752", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "a92436b4-3371-4349-b7bb-9a150c52fe2d", + "observation_id": "38ca80c0-51c9-4f2a-a73f-fc74bf1c9bb1", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "df21fc66-b135-4cf3-8d62-e5d927aeccde", + "observation_id": "76433f73-80a3-4a88-92c2-1436fce5b504", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "22e256a2-fc81-4974-95cb-769ac8972c3b", + "observation_id": "ba2f1cf0-677a-4cf2-95bf-9dc4d1019d2b", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "c302adb2-c15f-418c-be21-17e1864df626", + "observation_id": "8155e3d6-bb87-423b-b938-456a68678c99", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "ae02c595-a862-4e72-805a-cbde1c7f9c23", + "observation_id": "45b0e0ba-6e14-4b51-bd59-a14e128c91ea", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "e9b99f2b-6cfe-4bbd-a9f0-8158fbb1f16d", + "observation_id": "84ab3efa-b3c0-443e-8087-42c148398075", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "12dd0192-a20f-40a3-8b87-7b6c467d1373", + "observation_id": "9543a5c4-8dbb-42b7-880b-640776f44b2b", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "edaa2d02-5ce3-4d0a-8499-16b090f1b69f", + "observation_id": "cec95a63-d0a4-49e2-99c3-ee6610958d61", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "6ae51d3c-0f66-4171-9e67-b38dc14bdf28", + "observation_id": "231c6bcb-11a8-42f0-a70c-d58bf7040090", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "719e8df3-46b1-4c9d-9d81-61659b09e0a8", + "observation_id": "2d854c1a-ff40-4dd0-bc05-928a452b0052", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "b7012f31-dc65-416f-b06f-97676b9d5b7d", + "observation_id": "73ff9ae3-8b08-4689-8a4e-9d4734a7bf7e", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "0ddf9366-5e34-4577-8471-e1c29158eba4", + "observation_id": "ddb961ef-3f35-4641-8cd5-582e6ef0133c", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "5483c0cd-58ac-4615-a410-27163adca6a1", + "observation_id": "f4956a4b-7de9-40d5-94fd-ce58cf9f3361", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "6c81c778-3850-4257-84d2-bdf0cc735e75", + "observation_id": "0d46f9cc-7d28-442c-950a-ab93fd3c3471", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "aa2c28bf-08c0-4fe3-a272-ac55c21b5dbc", + "observation_id": "8f76006a-2095-4769-afad-a1512c1f044b", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "c9de0b59-6ec9-4d62-8897-2704722a2087", + "observation_id": "d5b8d6ac-cd52-4f6c-98e0-08a86cea4aeb", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "eed43aaf-9296-4059-85b0-6636d05dae7b", + "observation_id": "81ea04a2-7768-410e-98a1-1de615db3cd2", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "8aa4b929-4cb2-4713-9633-9acd008fd7ea", + "observation_id": "b93ec901-bf56-4d6e-965d-0bb021d928fc", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "e5e7d9e3-bdb7-404b-bad7-4379a5c94297", + "observation_id": "c9234bf5-bfda-425c-81f9-900b96ea7a42", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "fdad87c0-8190-405a-828e-067c1b3308b4", + "observation_id": "ec72559a-80de-420c-ac70-120e25dcf838", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "088df3fc-f475-4868-8dd7-17571da99df0", + "observation_id": "0c721439-e2e6-4154-9ef1-4fbe15fb66d0", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "79cdce83-3f94-45c4-83b1-249139ba2d98", + "observation_id": "0976f5c3-c19d-4db1-b196-6c93da9700cd", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "40fb0f94-78ed-4388-a58d-f898a98f0c42", + "observation_id": "673c9beb-4322-43ec-90e6-2d5763d02ac5", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "c93f7a1e-8102-4a83-8837-8ecc71e527ca", + "observation_id": "15b09444-ffc3-48e5-b598-ad1029a8be07", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "451e9c9b-7843-40f3-a69d-ff797c679cbb", + "observation_id": "374fd3f4-4eff-4d37-931e-378a6488a686", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "8139685b-17a9-4929-b328-d1b315a08561", + "observation_id": "8359d1e6-4928-4f1f-92d1-e4dde8d53a70", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bcdg/render_g_camera_pose.json b/data/camera_study/Scene12/k4_bcdg/render_g_camera_pose.json index 75a720e..d9ce7ad 100644 --- a/data/camera_study/Scene12/k4_bcdg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k4_bcdg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:17Z", + "created_utc": "2026-06-02T22:47:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bcdg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bcdg/robot_state.eval.json b/data/camera_study/Scene12/k4_bcdg/robot_state.eval.json index 4091dd7..774e0bb 100644 --- a/data/camera_study/Scene12/k4_bcdg/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_bcdg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.5189361105892658, "mean_abs_mm": 1.2611233825831079, "max_abs_mm": 1.2611233825831079, - "finger_error_mm": 41.474000651060315 + "n_unobservable": 3, + "wrist_error_mm": 3.9359910581361635, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_bcdg/robot_state.json b/data/camera_study/Scene12/k4_bcdg/robot_state.json index 56db003..21469aa 100644 --- a/data/camera_study/Scene12/k4_bcdg/robot_state.json +++ b/data/camera_study/Scene12/k4_bcdg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:20Z", + "created_utc": "2026-06-02T22:47:30Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_bceg/aruco_marker_poses.json b/data/camera_study/Scene12/k4_bceg/aruco_marker_poses.json index 59b54d7..2185a8a 100644 --- a/data/camera_study/Scene12/k4_bceg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_bceg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:33:56Z", + "created_utc": "2026-06-02T22:47:04Z", "summary": { "num_cameras": 4, "num_markers": 29 diff --git a/data/camera_study/Scene12/k4_bceg/aruco_positions_initial.json b/data/camera_study/Scene12/k4_bceg/aruco_positions_initial.json index 585f4ae..24da94d 100644 --- a/data/camera_study/Scene12/k4_bceg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_bceg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:33:55Z", + "created_utc": "2026-06-02T22:47:03Z", "summary": { "num_cameras": 4, "num_markers": 29, diff --git a/data/camera_study/Scene12/k4_bceg/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_bceg/aruco_positions_optimized.json index 46d10d8..28c541c 100644 --- a/data/camera_study/Scene12/k4_bceg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_bceg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:33:56Z", + "created_utc": "2026-06-02T22:47:04Z", "summary": { "num_cameras": 4, "num_markers": 29, diff --git a/data/camera_study/Scene12/k4_bceg/render_b_aruco_detection.json b/data/camera_study/Scene12/k4_bceg/render_b_aruco_detection.json index bf3831b..8dc33b3 100644 --- a/data/camera_study/Scene12/k4_bceg/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bceg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:53Z", + "created_utc": "2026-06-02T22:47:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - 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"observation_id": "8197f747-9dc7-4dfc-9cc9-1700affe59b3", + "observation_id": "fae9f60a-724a-4ebd-81d2-da0be0a94100", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "6f3a5e37-16e5-4815-b89f-46eb33869fa6", + "observation_id": "2b245699-0e29-49c7-8c2a-c137200994bd", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "374dcd72-4d6f-4d64-a708-ffcdbf3e8cf7", + "observation_id": "6357e651-0129-43a2-a072-7f1577cd3157", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "cdce5316-6c06-4ac8-b53f-5e82a3f5e550", + "observation_id": "0b33fc7d-c091-4f60-99bf-9ecc384738f7", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "860c1f9a-3976-4a22-bb14-5ae0b4070405", + "observation_id": "aa2357e1-aa8b-48c8-a68a-9264b30e1c02", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "d5a60791-3698-4262-a940-1dfa40338af9", + "observation_id": "cb088189-7f57-41ad-b062-517ab1f744f6", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "ae88183b-f479-4a50-afe7-81b8b5911c5c", + "observation_id": "3e42cc83-20d1-418e-b47f-fa7fe05bcfb1", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "5b9b9f0c-902e-4f89-b3f9-d3c58b6f65bf", + "observation_id": "acf35a33-75ee-4da8-b3e3-0e283d607532", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bceg/render_b_camera_pose.json b/data/camera_study/Scene12/k4_bceg/render_b_camera_pose.json index f2b8138..19c1af5 100644 --- a/data/camera_study/Scene12/k4_bceg/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k4_bceg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:54Z", + "created_utc": "2026-06-02T22:47:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bceg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bceg/render_c_aruco_detection.json b/data/camera_study/Scene12/k4_bceg/render_c_aruco_detection.json index 3460466..b0bab50 100644 --- a/data/camera_study/Scene12/k4_bceg/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bceg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:53Z", + "created_utc": "2026-06-02T22:47:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "66d1c23e-891a-438f-900a-58c5fd431b9c", + "observation_id": "13a2037c-d0d3-4e2b-937b-561630c8e303", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "627857f9-2857-4c4c-b55c-8eee37ed46ea", + "observation_id": "91f7230a-7276-4ff7-ab2b-8d56bbd588b5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "3c373be0-d99d-4a66-b47e-a17711596c14", + "observation_id": "0ac134d7-5f14-4b09-bc22-f804f77c7499", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "8008cebf-7138-4ef7-968e-718cdd422595", + "observation_id": "fe8e67f8-e364-4a5d-9d51-0f84fd6c523a", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "cb924b86-14d8-43a6-ae3c-1ce341b5cec0", + "observation_id": "f28be740-2e55-4878-9eb3-cf7312eaff84", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "80ba85f2-91c0-416c-bd3f-03eb83cf70e1", + "observation_id": "033da8d0-1abf-4829-9e81-5315098a7f27", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "60fd859a-a4ce-40c3-98af-8b916a936f2d", + "observation_id": "ec7455a8-dc36-4b20-9d42-e613bcc12643", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bceg/render_c_camera_pose.json b/data/camera_study/Scene12/k4_bceg/render_c_camera_pose.json index 622475e..69f4371 100644 --- a/data/camera_study/Scene12/k4_bceg/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k4_bceg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:54Z", + "created_utc": "2026-06-02T22:47:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bceg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bceg/render_e_aruco_detection.json b/data/camera_study/Scene12/k4_bceg/render_e_aruco_detection.json index e5becdb..2c5fce8 100644 --- a/data/camera_study/Scene12/k4_bceg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bceg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:53Z", + "created_utc": "2026-06-02T22:47:00Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ec60887b-f727-45c3-967b-7ea1766a3e51", + "observation_id": "4b004d35-a476-4698-9313-d2fdcd0dea6f", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "5994aef9-2696-4a40-bfc6-fb0b6fe892a7", + "observation_id": "88e78ba3-1620-40d3-9c73-25e33ff91c66", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "bca47d70-ddf5-48b1-a30d-d52543f567a4", + "observation_id": "1c67e0eb-9614-4747-babd-54310485eb86", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "edd7bce9-b106-4e66-8c21-3568a9ca8052", + "observation_id": "8b39f540-c85b-404a-b2ff-1b9b5b3951a4", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "48958067-204c-4b4a-b920-1a1d20e35b37", + "observation_id": "05cd4913-af29-48da-861b-918009c29b3c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "6b80bd6b-0281-4c5d-ae10-a732b0dc8d4a", + "observation_id": "ea719830-330f-409f-a328-4abb78d42d94", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "e7d21a0c-afa0-4617-99c2-83f870616310", + "observation_id": "ed090294-e33d-4967-a3ba-8acb158d373d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "55dceb84-19d9-437f-933d-830cb4ee4acb", + "observation_id": "74839505-a2a3-487d-97f5-2a1effa38b47", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bceg/render_e_camera_pose.json b/data/camera_study/Scene12/k4_bceg/render_e_camera_pose.json index 7ecf172..caee5e1 100644 --- a/data/camera_study/Scene12/k4_bceg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k4_bceg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:55Z", + "created_utc": "2026-06-02T22:47:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bceg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bceg/render_g_aruco_detection.json b/data/camera_study/Scene12/k4_bceg/render_g_aruco_detection.json index b2c8f7a..5a62482 100644 --- a/data/camera_study/Scene12/k4_bceg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k4_bceg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:54Z", + "created_utc": "2026-06-02T22:47:01Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2be025f2-de74-4ed4-8c36-73113dc316c6", + "observation_id": "2bcdf7d6-f4ad-4a7d-b12d-2e65d432ffa9", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "35975dac-2191-4b4c-91b8-501660ee5388", + "observation_id": "2d9eba0c-f8a2-425a-bbb4-74795b9f585a", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "3fcc9728-5f0f-4fad-982b-bf6d77381f2d", + "observation_id": "b2231817-960f-4e87-8326-92a9370bca9d", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "a0c99bea-28b9-4af0-b28d-26e6be2368a1", + "observation_id": "0b5ece3e-0d6f-4eb4-8cf4-59a78d7612bd", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "dffd15a1-841b-40ef-81d4-65702ef40571", + "observation_id": "b0948a1e-da88-47e2-98e8-cc310834bb44", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "8771d222-1add-4208-bd0f-28b916d34f7c", + "observation_id": "2ffee1f6-6c62-4f29-be4d-2a41be39a699", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "657e2cf2-8bac-42a3-861f-66739a625bbf", + "observation_id": "b0dddc9f-96d6-498d-b072-3e2af02c3090", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "993558c2-39ac-4ff6-930f-55550b833772", + "observation_id": "21b98295-72f4-4e1a-b326-01440a5b968a", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "a63bff1c-4f31-4add-a2ae-34f32f84609a", + "observation_id": "b1d2d6d4-d306-415b-9671-cf7bb975b026", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "cc39d259-25ed-4b1e-8048-220bf0c968e7", + "observation_id": "1a6eb465-9c21-4c76-9c54-c54bc6d8ac2d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "57c7370b-b884-4ba6-9751-5600cd8c5616", + "observation_id": "1f0f78b5-9bdb-4068-8f3c-8b371860dadd", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "9132da11-816c-439c-bf9f-8bdf0b5e4a93", + "observation_id": "4b8390d3-4673-4d76-8253-e5ffbb72c47a", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "3f9804a4-48b4-454c-9e04-6a1f3d5e64b3", + "observation_id": "051ccc4a-0b0a-44eb-874d-501f5445cdd6", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "3a2bc4bb-13d8-48bd-8450-e290ddbf57d5", + "observation_id": "12fcb541-7ff1-403c-b616-74df9b64c942", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "27c75cd6-97c0-4ecb-9ff5-0c06bf768b5a", + "observation_id": "9090a6b7-68db-4b40-b626-a0d96e22b800", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "1e05a876-d946-4248-957b-7e8f04e6c330", + "observation_id": "8bef9c22-2639-4bcd-9a8b-6c8b5094dfb2", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "cbb055c6-a2c8-43d4-abf0-5e4af5b8b172", + "observation_id": "a6479315-b1c5-4062-8225-3094bb356e10", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "f18350c3-a714-4560-989b-46f98674ec5e", + "observation_id": "0b0feaa1-37a8-4e6d-987a-dc65bd02e173", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "8390b3e2-dd32-4a22-b2a1-12b5cb105861", + "observation_id": "32c90549-3ba5-41ea-bb03-f5438ce107ec", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "337d1417-a0f8-4fe2-b1da-9c363c5eb3c3", + "observation_id": "ec06cddf-8088-483e-bb1a-83f02e80d8c9", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "199f7c9d-f6e2-4aee-b9d7-f94ac61938ec", + "observation_id": "c2e3b64f-1bc7-4a35-94a6-d1ba46ba7dac", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "6ac09ff5-15d7-4d51-9389-fed6b8413437", + "observation_id": "b365aad1-52e7-4aaa-9521-6acab71160dc", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "ecd648c8-adfe-4e5a-9c71-cda10d8bf5f8", + "observation_id": "95737592-d9e7-478d-b808-f3741c79564d", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "434a95b0-7809-409a-a06a-381a2bfe7ef7", + "observation_id": "3fe3a083-64a0-4d75-b551-b5a917393a18", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "3070ccec-5758-411a-b58c-c0c02caf8264", + "observation_id": "e5dc7b15-7569-4ec6-9061-3b893a4d4f17", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "d63e142d-8f40-46dd-811d-330d4279a4dd", + "observation_id": "d36e61e4-d74c-464a-9d1e-d701dcb2d9b7", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "a05f7c13-6ea8-4899-9d84-2fcad444623f", + "observation_id": "4fe7890f-c68d-4fb0-be7f-e62d32bd948a", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "77d2aceb-8c65-4a0e-995b-c22afad15e28", + "observation_id": "7bfa2298-85fd-42b8-8f10-6cf9724043fa", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_bceg/render_g_camera_pose.json b/data/camera_study/Scene12/k4_bceg/render_g_camera_pose.json index 9ec1d62..ba4cef5 100644 --- a/data/camera_study/Scene12/k4_bceg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k4_bceg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:55Z", + "created_utc": "2026-06-02T22:47:02Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_bceg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_bceg/robot_state.eval.json b/data/camera_study/Scene12/k4_bceg/robot_state.eval.json index 79edabd..c3a9b0d 100644 --- a/data/camera_study/Scene12/k4_bceg/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_bceg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.0154355834606577, "mean_abs_mm": 1.1639107839966272, "max_abs_mm": 1.1639107839966272, - "finger_error_mm": 42.1065085654596 + "n_unobservable": 3, + "wrist_error_mm": 4.584077805174802, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_bceg/robot_state.json b/data/camera_study/Scene12/k4_bceg/robot_state.json index 6ddd958..c4ffe39 100644 --- a/data/camera_study/Scene12/k4_bceg/robot_state.json +++ b/data/camera_study/Scene12/k4_bceg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:57Z", + "created_utc": "2026-06-02T22:47:05Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_befg/aruco_marker_poses.json b/data/camera_study/Scene12/k4_befg/aruco_marker_poses.json index 2e4fed7..ba9af3b 100644 --- a/data/camera_study/Scene12/k4_befg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_befg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:33:50Z", + "created_utc": "2026-06-02T22:46:57Z", "summary": { "num_cameras": 4, "num_markers": 36 diff --git a/data/camera_study/Scene12/k4_befg/aruco_positions_initial.json b/data/camera_study/Scene12/k4_befg/aruco_positions_initial.json index 83365b5..a68f1fb 100644 --- a/data/camera_study/Scene12/k4_befg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_befg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:33:48Z", + "created_utc": "2026-06-02T22:46:55Z", "summary": { "num_cameras": 4, "num_markers": 36, diff --git a/data/camera_study/Scene12/k4_befg/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_befg/aruco_positions_optimized.json index a99d2a7..9e72927 100644 --- a/data/camera_study/Scene12/k4_befg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_befg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:33:50Z", + "created_utc": "2026-06-02T22:46:57Z", "summary": { "num_cameras": 4, "num_markers": 36, diff --git a/data/camera_study/Scene12/k4_befg/render_b_aruco_detection.json b/data/camera_study/Scene12/k4_befg/render_b_aruco_detection.json index eb7ffe3..a4a32fa 100644 --- a/data/camera_study/Scene12/k4_befg/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k4_befg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:45Z", + "created_utc": "2026-06-02T22:46:52Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8a1be14c-8898-4b61-be53-9ba116de6b8d", + "observation_id": "6898ce86-48c3-42ad-9048-16094a2aa6be", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "1f4f76f1-d3a6-44f1-b907-09e8e4438545", + "observation_id": "7bbaa1e3-1f49-4e2e-9adc-a3ced664bb24", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "942bdc1b-fc11-48fc-a2b5-cd0890d5372b", + "observation_id": "022a1874-079a-4aba-a85e-9dd752737609", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "fe46c8bf-e517-4706-98a1-c2e1782083ca", + "observation_id": "bbe1bb73-8130-46b9-a2f8-3584b78a8e3a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "3c6923b8-8b26-4a54-8bed-9afa1782e3d2", + "observation_id": "4c48050c-98c1-4163-9fad-9bd2887be81d", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - 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"observation_id": "d8713a4c-b157-40dc-9c9f-0b3b42e025c5", + "observation_id": "f2e82a79-a4e9-4b17-8aab-84be4eba06e4", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "032704b9-1d1b-447d-a95f-bfde7dfe2e55", + "observation_id": "29c362c4-a452-4675-aae7-5ef0742a7fed", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.3135142237541464 }, { - "observation_id": "d59d35b6-57e9-46bd-b30b-33b9200a15e4", + "observation_id": "30fdf65d-5e25-44fb-ac42-ff47777499fc", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "1125ddbd-1505-4bab-aa1d-778f229a4b0f", + "observation_id": "c120c429-45c1-44c5-874a-298010562b28", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "89d10935-258c-4cb4-9291-f6e6008439f1", + "observation_id": "6fc5aebc-375a-49bb-91f2-d5214ab85bf0", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "e1abdc7d-5239-4b2f-b65f-d5e6f1cb8318", + "observation_id": "81535018-7e42-45c6-9e66-d7fe18b04fac", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "3a362633-9d48-4aef-a0eb-f3b99c7bbf54", + "observation_id": "f659dbcb-8d84-46a4-a60c-59faa4f56b1e", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "ff7b2da8-b54b-4db9-8ba6-12bc41986fc0", + "observation_id": "f4a5fbff-330f-44e8-b046-3dfa40eb6f0b", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "044d251a-4140-4166-b2c8-96d3cc6de339", + "observation_id": "d9bb52ac-a93f-45e5-88a0-abe73f184387", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "e5c38686-b520-4afe-a5a3-ea2666104b4f", + "observation_id": "c805880d-bc99-4d39-b14e-2de539c7bf39", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "657eee4b-2aa3-49e2-8b80-f46726076f2c", + "observation_id": "d8c64d78-ad75-455e-86a3-469562c0be27", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "112da666-6d1c-4975-bdfa-795dcfffebd6", + "observation_id": "b3b0bc2e-c51e-4cfd-a90f-a55370950605", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "6a2e93e4-a150-42c9-90a1-c70f041ae412", + "observation_id": "755072ca-01c0-41aa-a3b6-5f6a2d6de774", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_befg/render_b_camera_pose.json b/data/camera_study/Scene12/k4_befg/render_b_camera_pose.json index 07cb96a..74fedb6 100644 --- a/data/camera_study/Scene12/k4_befg/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k4_befg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:47Z", + "created_utc": "2026-06-02T22:46:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_befg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_befg/render_e_aruco_detection.json b/data/camera_study/Scene12/k4_befg/render_e_aruco_detection.json index b5f7f70..f06c9e7 100644 --- a/data/camera_study/Scene12/k4_befg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k4_befg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:46Z", + "created_utc": "2026-06-02T22:46:52Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "cd8d37c7-af72-4863-beac-f52f061b81a1", + "observation_id": "56c06379-1ba0-4cfa-b3f4-1a70c9a171aa", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "a4edf2d4-77e8-4fe6-8476-c3d0d9b8a270", + "observation_id": "de1d20e8-c7cf-40ee-a4c2-8de3f6ca2f1a", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "45fc090a-499c-4313-97e9-5b273f587bfd", + "observation_id": "833442e7-32b1-4d69-befc-d53137a618aa", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "e11bfba5-8b60-4825-8d6b-77359cdd0cb6", + "observation_id": "7399ed6a-0c7f-4543-96db-a3f30b7e46b4", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "e438849b-5f54-4ef6-92cd-4c8c404d6756", + "observation_id": "18bc01b4-3e4a-4af9-a1a9-62da302dfc7c", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "ca6d3a17-2825-415d-9aa1-7415146acfd3", + "observation_id": "2d05930e-54eb-4a5e-b99a-95a1b6997b33", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "d194d883-191d-4e7a-8703-d4aadd1cf130", + "observation_id": "c8e74a5f-9430-44e5-b8e8-387e2c7bcab3", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "415bf29e-e7cb-45be-9c5d-fd9dbcf9b038", + "observation_id": "8ea08715-ba14-4175-ac2b-b898835487a3", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_befg/render_e_camera_pose.json b/data/camera_study/Scene12/k4_befg/render_e_camera_pose.json index 5fd283b..d19ebd8 100644 --- a/data/camera_study/Scene12/k4_befg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k4_befg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:47Z", + "created_utc": "2026-06-02T22:46:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_befg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_befg/render_f_aruco_detection.json b/data/camera_study/Scene12/k4_befg/render_f_aruco_detection.json index e3350b1..90c590e 100644 --- a/data/camera_study/Scene12/k4_befg/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k4_befg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:46Z", + "created_utc": "2026-06-02T22:46:53Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0d29db25-5f96-49da-aa09-2356260f3f23", + "observation_id": "3d543baa-cfde-4b95-aeff-e5e60cdd418b", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "e6f6277a-6a1e-4f53-9e07-0391becc510f", + "observation_id": "49669fb6-08a8-451f-bbe9-7be4ec5bd497", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "a4ccf9f5-793c-4607-bf6d-9371e447473d", + "observation_id": "f4474086-a891-47e1-84e9-7e6c40a8549d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "c2715545-086c-4827-ab98-f9fec75568c9", + "observation_id": "05b3a351-f38d-4e53-afdc-b4bc8b3cc16b", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "4047ba8b-00d9-41ac-bed0-d2623f25c55f", + "observation_id": "7472fd3c-4518-4eae-9a95-e6369f18d7e5", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "2e940f1d-fc15-4eac-bcfd-3ef689a53044", + "observation_id": "195c0fba-f4a7-4ce1-b253-0be5afa21235", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - 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"observation_id": "5cb68559-ce8d-478a-a4ae-95f99a294efd", + "observation_id": "70617ba7-b523-4061-9c15-231ebb8d7975", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "18595209-3296-4be0-aaa3-9f4d69f8319d", + "observation_id": "40c875e0-2f72-4d05-ac40-53ca8adb6f11", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "1b65d3e7-50b7-455a-9d41-c3debd72586d", + "observation_id": "4ccaa46e-68b7-46df-ba84-369cc179ddca", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "f82a86b8-7a3f-4198-9643-15d5bd7d1618", + "observation_id": "8be91b81-9649-4e46-b4a2-628733136a54", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "aacf7390-0199-4eee-b2bd-54ff40e93362", + "observation_id": "bd231ba1-79b1-44db-b9bd-15ff50e485b7", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "10df3ab5-e6ab-4311-af63-a698e01c74cd", + "observation_id": "4cf4cadc-2894-47ba-bf26-ef169ef61abd", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "d15c9373-d3a7-4675-b185-2b2c1071c4e1", + "observation_id": "c0ac5a11-7f90-4513-8d4b-0efa89e8bba7", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "8961fa4b-cc6d-4fe9-b4c6-6c126ac6eb2d", + "observation_id": "b30a9520-59c2-4672-ba39-26b43197b677", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "e7dabdfa-9126-4154-8fea-02c8d26b33ed", + "observation_id": "b16f7587-6dc2-4393-9a46-066e8904b219", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "6b0c2137-c9fe-4fd2-859d-8b9c206565a3", + "observation_id": "2aa0f250-7b9b-4d58-b881-dfd8a3925625", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "89b3f2fe-f98c-416f-aa77-e655c00d48c7", + "observation_id": "6f49897b-1124-4a11-a8cf-574ed9ab2c69", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "a5a09317-5fd2-4cd0-93b3-dee4c1d043c8", + "observation_id": "1d42ef4e-f2e6-45e7-9186-1bf4614e8b4d", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "ca2a9038-992a-446a-a97e-84e7593287f2", + "observation_id": "bdfa6512-3402-4f39-97e9-7efe8dd6b9fc", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "64a36e59-76c5-4c32-b4d7-9f3f2e15135a", + "observation_id": "3695ae71-fc24-48f3-8f16-85a17e409ebf", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "533bd360-4626-4b33-8420-bb1c03d7d361", + "observation_id": "948264c1-8c06-4388-a724-d561ebd8a650", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "e3081d2f-9dcb-4c3b-a16d-e086712872f2", + "observation_id": "ae713b64-a8bc-4906-9ef7-ebd95a73f3eb", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "76372a38-e8de-4ebe-bb93-182d82d0f4ae", + "observation_id": "5e731576-8660-4bce-a632-5e4f897bac13", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "7d0894c2-c4b6-4a8d-9c0a-3ffd565ab26e", + "observation_id": "3a40785a-e437-468e-a267-cc7d6f27e87b", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_befg/render_f_camera_pose.json b/data/camera_study/Scene12/k4_befg/render_f_camera_pose.json index 1dfaf58..c59f40f 100644 --- a/data/camera_study/Scene12/k4_befg/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k4_befg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:48Z", + "created_utc": "2026-06-02T22:46:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_befg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_befg/render_g_aruco_detection.json b/data/camera_study/Scene12/k4_befg/render_g_aruco_detection.json index 1eacb04..5cd6e08 100644 --- a/data/camera_study/Scene12/k4_befg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k4_befg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:47Z", + "created_utc": "2026-06-02T22:46:54Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8141662f-f73f-49ba-8a9c-a2384dc032fb", + "observation_id": "e957d805-4067-4056-9549-8509d0fe0eac", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "57e1ffb2-46c2-4963-b6e3-8fea8c3773af", + "observation_id": "ee9d0250-08c9-4b86-b131-8b5f01564fe7", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "cb589113-791d-4c2a-b95f-f3a35773441e", + "observation_id": "c937284a-56c1-4195-9d03-bc2255eb5a0a", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "42326be4-5a8e-4cc0-b661-943998446be0", + "observation_id": "2150c931-4907-48b4-ad23-3102a7c79ad8", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "dc01400c-cfac-4f18-87d9-d7aae2cbe59d", + "observation_id": "f5bf253f-8279-4e6c-a5ed-a4f0b385a0ed", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "be632d21-70e9-4c08-98ab-0731437e1d43", + "observation_id": "1b24ec93-fed8-48f7-8808-4de8cf364264", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "55e800fc-7c6a-4e9c-bb6c-f70d456e3000", + "observation_id": "e64e7649-d289-4dd2-9c9c-1e4b52ca7d8f", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "3063a491-e51c-4fe8-aaff-3f8ebe3d50ea", + "observation_id": "522e967b-6338-4f97-b5ce-44db4497efab", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "18a24619-094e-4d5c-9042-e0e81775721a", + "observation_id": "bb662d8d-bd3e-4101-be7b-f0d78016e019", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "6d917a2d-1d97-43f7-bde3-91d09943caec", + "observation_id": "e60c53db-b734-4b0c-9b9a-4deb268b3298", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "d71e58bf-c7ea-4600-884b-26681d463ec6", + "observation_id": "5a92d1e6-df6e-433c-a689-2ea419166225", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "e66e4924-9cfc-4933-81fb-33d3d8aac2b1", + "observation_id": "808fa0d5-5acf-428f-a0d0-d99975bb3b0f", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "4ea08f48-2cbf-41b7-b521-0e6fa4fcea85", + "observation_id": "dbbe2417-991f-4aed-afbd-0746e1a4f66f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "13b6f3b5-2d5c-4e55-b420-854e735116aa", + "observation_id": "f2d27677-9c13-4b30-b5bc-d3cbee2f526f", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "ee400c36-1657-4fe4-a30b-16520acbefe2", + "observation_id": "a02774dc-6a0e-4b1f-b228-a285d71d174b", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "1a87b487-c2d6-479d-913d-6835ef2be612", + "observation_id": "d3919f46-67a1-4961-b108-d05ea66cea1c", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "0e1cf209-8485-44fe-943f-d70a2cc2088c", + "observation_id": "07cb0c1b-31d2-4dad-a413-5db45ef3b574", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "1967b8af-36a7-440a-afcf-ad39e90afe2f", + "observation_id": "1c4f958c-3123-4c34-ae61-01f60dae24cf", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "3548c25e-8521-40be-9472-0b2b512c84c9", + "observation_id": "c88cefe0-48f4-40f2-80c4-6d1f4ab11647", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "25309cf9-5c06-4a66-927b-0e818089baeb", + "observation_id": "f5a12894-d65c-48a7-823e-45249619f71d", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "152267f6-e0cc-49d1-821b-1442afac6d20", + "observation_id": "b2ef397f-6252-4b03-8304-02591652d508", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "35251dda-1786-4c5f-a23e-9ec0a72f7285", + "observation_id": "e22b2ded-4aa1-4373-8455-e5099c192049", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "f97092d0-1b6d-43fd-8dd3-8a5ab0d6436b", + "observation_id": "0c6e1dde-9de6-4e79-b473-405ced0273e1", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "c1d53498-5327-457a-8a00-9bfc0f29c7c1", + "observation_id": "bdb28dd7-51c6-4018-b8dc-26e2a116072f", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "966dbbcd-f385-44b3-bb63-411ce0f838a0", + "observation_id": "5921c6f3-c396-43b0-9e64-c075cadd23d7", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "84d3e393-1401-4f23-b857-8d18ecc0e362", + "observation_id": "52e75f3f-0cf8-4e50-83e7-bf40b385d19b", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "f54e46e6-9351-48db-8885-26064549dcdd", + "observation_id": "7846f002-8e0e-448e-883a-0411f2de43e6", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "17d17d4d-b928-4ecb-bdb2-01d9a3e3bd4b", + "observation_id": "a9cef5cc-8837-4a7e-8b96-a91529b21c21", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_befg/render_g_camera_pose.json b/data/camera_study/Scene12/k4_befg/render_g_camera_pose.json index c2e5d61..94a4441 100644 --- a/data/camera_study/Scene12/k4_befg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k4_befg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:48Z", + "created_utc": "2026-06-02T22:46:55Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_befg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_befg/robot_state.eval.json b/data/camera_study/Scene12/k4_befg/robot_state.eval.json index 45f4183..41aae57 100644 --- a/data/camera_study/Scene12/k4_befg/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_befg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.8946829129613434, "mean_abs_mm": 0.7778088103400478, "max_abs_mm": 0.7778088103400478, - "finger_error_mm": 41.4414634542676 + "n_unobservable": 3, + "wrist_error_mm": 3.9351512787862415, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_befg/robot_state.json b/data/camera_study/Scene12/k4_befg/robot_state.json index 3d20638..c14685c 100644 --- a/data/camera_study/Scene12/k4_befg/robot_state.json +++ b/data/camera_study/Scene12/k4_befg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:33:52Z", + "created_utc": "2026-06-02T22:46:58Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_cdeg/aruco_marker_poses.json b/data/camera_study/Scene12/k4_cdeg/aruco_marker_poses.json index 8ebe8f4..e8a4b3e 100644 --- a/data/camera_study/Scene12/k4_cdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_cdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:34:24Z", + "created_utc": "2026-06-02T22:47:34Z", "summary": { "num_cameras": 4, "num_markers": 15 diff --git a/data/camera_study/Scene12/k4_cdeg/aruco_positions_initial.json b/data/camera_study/Scene12/k4_cdeg/aruco_positions_initial.json index 08dcad6..335f5b3 100644 --- a/data/camera_study/Scene12/k4_cdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_cdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:23Z", + "created_utc": "2026-06-02T22:47:33Z", "summary": { "num_cameras": 4, "num_markers": 15, diff --git a/data/camera_study/Scene12/k4_cdeg/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_cdeg/aruco_positions_optimized.json index 4b5db3e..8e6a6df 100644 --- a/data/camera_study/Scene12/k4_cdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_cdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:34:24Z", + "created_utc": "2026-06-02T22:47:34Z", "summary": { "num_cameras": 4, "num_markers": 15, diff --git a/data/camera_study/Scene12/k4_cdeg/render_c_aruco_detection.json b/data/camera_study/Scene12/k4_cdeg/render_c_aruco_detection.json index 6772086..82c1a0e 100644 --- a/data/camera_study/Scene12/k4_cdeg/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k4_cdeg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:21Z", + "created_utc": "2026-06-02T22:47:30Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "63470b04-b2c0-4985-bfe7-cb2467330408", + "observation_id": "fb996334-351a-4a61-92fb-3f943f6825c8", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "75dcd414-3653-4145-ab31-5ef29e136326", + "observation_id": "21747d8a-7fa7-41a3-ab2b-f937245ae49e", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "4f7af1e0-e0b8-4109-9f68-1e62c428dfb8", + "observation_id": "0e22e523-5539-4c37-89c5-a2c03875fc46", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "bdde0809-e1e0-41b3-b95d-800a22973fda", + "observation_id": "4331e40a-6b16-4dfc-aba0-ef378c576e69", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "b72dc6a3-d9e8-489b-8d69-b38e081f325a", + "observation_id": "04f93acb-07fb-4a13-a034-05c6ba24f2f5", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "95609711-fca9-47bb-a254-f01bcad483eb", + "observation_id": "8eab73bf-ae1e-42ca-aad7-4d39ca53741d", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "522d735b-45c4-4904-a258-24470e4f8390", + "observation_id": "587418df-969b-4090-bf75-524bc2c94b7c", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_cdeg/render_c_camera_pose.json b/data/camera_study/Scene12/k4_cdeg/render_c_camera_pose.json index f9b5c50..1e86246 100644 --- a/data/camera_study/Scene12/k4_cdeg/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k4_cdeg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:22Z", + "created_utc": "2026-06-02T22:47:32Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_cdeg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_cdeg/render_d_aruco_detection.json b/data/camera_study/Scene12/k4_cdeg/render_d_aruco_detection.json index 3969851..3fcc903 100644 --- a/data/camera_study/Scene12/k4_cdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k4_cdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:21Z", + "created_utc": "2026-06-02T22:47:31Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "053e9394-5a1e-4291-a3e0-5ab0bddcf2e5", + "observation_id": "a74b739a-b652-4a11-9831-a14b1800a258", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "ab7baf3d-0dd3-4781-8d64-c750125f13ff", + "observation_id": "2e761d7a-0eef-40a4-9337-623690e9f910", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "fbb5e6da-4f81-46c4-be65-ba22dc0cd2f2", + "observation_id": "339b2360-9d8d-4fac-8f95-e2bf0a2de336", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "dcf33abb-ece1-4f83-b345-4028d0dcf658", + "observation_id": "7e970753-8319-4f09-8809-a392d21a9e9d", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "71e8354c-cc79-4273-8af4-55892de6f17f", + "observation_id": "b8f6d9c7-5dfa-46f8-b02f-689119ee4338", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "a43cf7dd-873e-4486-8187-bdad9892e385", + "observation_id": "3f2fbcf8-c925-4d27-a208-7173a87964dc", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "334cce77-9d50-4d87-95d5-a6bd18779abd", + "observation_id": "fa065765-4c8b-46f5-a76c-093210e54157", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "929709c2-a379-4863-8bcf-446084507381", + "observation_id": "c62b6058-edeb-4dc1-a7ea-1532bd8c3b23", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "f74548ec-280d-4811-85f9-92152ae73f99", + "observation_id": "c35a02cb-3da4-4012-9849-ab9cdf5cd870", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "ec3ddbf0-2fc9-4ada-bb33-481df84e8d8f", + "observation_id": "41be4a47-28f3-44b9-a730-0a06e615f4e6", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "6382af4b-174f-45df-a45c-9f3893e0f417", + "observation_id": "767a006e-1fb6-4d40-ae78-ee1d0b60d8de", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "04a04bd4-3f6e-4c64-a728-7aa5787fb240", + "observation_id": "a3cda71a-242d-46cf-b235-06bacdca583d", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_cdeg/render_d_camera_pose.json b/data/camera_study/Scene12/k4_cdeg/render_d_camera_pose.json index aecf6f0..513dbf5 100644 --- a/data/camera_study/Scene12/k4_cdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k4_cdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:22Z", + "created_utc": "2026-06-02T22:47:32Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_cdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_cdeg/render_e_aruco_detection.json b/data/camera_study/Scene12/k4_cdeg/render_e_aruco_detection.json index 6465e3a..2e74b28 100644 --- a/data/camera_study/Scene12/k4_cdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k4_cdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:21Z", + "created_utc": "2026-06-02T22:47:31Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0b5c651b-625b-4960-8b79-419df47830c4", + "observation_id": "14a49a1f-033b-4bd2-9e5b-a16b6dfbd149", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "b0fb721e-7917-41e3-aa5d-74a8461ea66b", + "observation_id": "a6e638aa-61f7-4df3-a770-b43c8e7668ce", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "56a5f51d-7ac4-440b-8936-75b97604e730", + "observation_id": "28545464-b23d-4c14-9b6e-402422bb6cc2", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "31a69dd0-cdb6-4dc8-926f-3ff3d4b7c2c1", + "observation_id": "875c3057-69d9-402d-878b-0f200febc81d", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "a8d9c8ae-3ec0-4e7f-8450-16e5cd16ffef", + "observation_id": "ab6a36e5-b6d1-4f51-b9fc-9b0aa6342c74", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "6eaccff1-5022-43f1-a9b1-994bb1a68f8d", + "observation_id": "a42b3430-f32f-4df0-9fcb-977eac0f3999", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "284d42ab-8671-45a5-9b10-a21f5fb24f46", + "observation_id": "16543dff-a03c-46f8-b44e-15499f096fb7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "dfa4850c-b573-45af-9964-a75fb568a726", + "observation_id": "c5f431a1-d729-4746-91f1-2a07c5da3e09", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_cdeg/render_e_camera_pose.json b/data/camera_study/Scene12/k4_cdeg/render_e_camera_pose.json index a8ec256..4822b21 100644 --- a/data/camera_study/Scene12/k4_cdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k4_cdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:23Z", + "created_utc": "2026-06-02T22:47:33Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_cdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_cdeg/render_g_aruco_detection.json b/data/camera_study/Scene12/k4_cdeg/render_g_aruco_detection.json index aa4b7de..a8011a9 100644 --- a/data/camera_study/Scene12/k4_cdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k4_cdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:22Z", + "created_utc": "2026-06-02T22:47:32Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "cee45d7f-1a15-4f27-883f-79e925d9905d", + "observation_id": "7c247021-e32e-4b87-b936-0e6ea5e998ce", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "698ca77e-4b6f-4b6a-821c-d8217192c79e", + "observation_id": "f6f908a6-2a59-4fef-a9a1-1fc83ccd89f6", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "1d319ab7-5c47-44b3-8518-8a7877c5ee54", + "observation_id": "f553b3da-dc9a-4502-ac82-fd8f10f3de3b", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "0543bccf-5097-47ea-8394-40506fef4c1a", + "observation_id": "8450f667-e2a4-4c0b-b715-77eaf0ebff18", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "c5303a42-9bbc-4905-b39f-5e6b226f7371", + "observation_id": "c65942b7-135f-46ce-92a5-0202e4f46a47", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "dea57b7e-c254-4513-8eba-9587a0cabcdd", + "observation_id": "ad1957f6-de35-483c-bdab-3b39584aad49", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "57ec7b6e-d26f-46da-a19f-2359198574d4", + "observation_id": "2a50a4c8-6156-4477-9366-623344698475", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "8144561c-3f0a-4150-972c-6a11c7ef901c", + "observation_id": "8196255e-8171-4b94-8588-9d7fed32719d", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "caf29fe2-5794-40c1-8ae5-9ecabdcd3298", + "observation_id": "e7eb9eed-89a5-4fd2-a399-4f1013346353", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "3a72a5c9-3c10-4c56-ab7d-e785ab52da79", + "observation_id": "0ed92c97-0479-485d-b506-1593479efd8f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "0b086bef-58aa-4f4b-b141-0217a3151e73", + "observation_id": "4dd5378d-9476-4fa3-80fa-79476a6cce86", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "e45f0adf-d708-4b98-9dd5-0ef8b12ab965", + "observation_id": "a3f32e48-c0f0-4489-aced-d1889d298beb", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "0b0ee72a-70aa-48b7-93a0-bbc2350f8a2e", + "observation_id": "e6fa2d99-b106-4326-ba31-aa414183e635", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "0bb1f104-1a17-43a8-9e02-3d073bf9a896", + "observation_id": "5bd51128-51e2-44b7-9274-0667c8f50e33", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "0ae60fdc-2c04-475f-82b4-4d33a3fbb630", + "observation_id": "0c358d17-e4e3-4253-9e8c-1bf523d13539", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "cb142d83-250b-4691-85db-00d73f1a5023", + "observation_id": "c9e74ec9-3b10-47be-bae6-6ad9e70f8493", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "48d6a5ba-fd53-4e88-9896-aabdb6f2c385", + "observation_id": "127aeaa5-5c3f-4603-a5fe-cc5504522eb9", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "a25708fd-0c75-4a81-9a39-b3599c7a7fb1", + "observation_id": "cbf60ceb-73df-4ba8-9717-5a92023a04ac", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "5df9d56a-1571-4b6c-9ce4-1cefddf8bf6f", + "observation_id": "46fcce43-1fad-493d-8a38-6ae10368cd02", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "3a19d312-b8b7-421f-b252-6c62ecca62de", + "observation_id": "481baea1-3cad-4e2b-8b2f-50a82f9f06b1", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "6dc94bdd-2e82-43c9-ac28-c3a5a0cdf537", + "observation_id": "8880f60f-7f44-4302-bc81-3a46af18070c", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "5ced1d7e-8759-4345-bda7-6c6056d1c729", + "observation_id": "9b3f01ca-8a33-4264-99cd-74b9bcb31629", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "df7e69bd-7934-402d-bdd3-9800f1f4f046", + "observation_id": "aa27a3c3-1309-428c-8f26-ffb021c55e82", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "9c16a9de-915c-44d1-b2bd-62419a50115a", + "observation_id": "26f9ac24-f291-4a6a-901d-ef10a734bdd6", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "ecbe434c-ef6d-4045-ba76-d3f88bc0376c", + "observation_id": "6d595123-0724-4836-9706-3d7ba99c6b94", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "1c987f4d-070b-430f-b1cd-7bba92eeea56", + "observation_id": "734054b0-e844-494f-bb0f-c5cfd6e17066", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "270f5dfa-26d2-4d1d-bab2-6b2b336ea99e", + "observation_id": "0a8097da-8c8e-4de3-840c-8035ab827a23", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "c64efe08-72d7-4605-a2a9-65200c562c38", + "observation_id": "62d1fa95-9f19-4465-aa96-89764f7516b3", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_cdeg/render_g_camera_pose.json b/data/camera_study/Scene12/k4_cdeg/render_g_camera_pose.json index b824b8d..04b27b0 100644 --- a/data/camera_study/Scene12/k4_cdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k4_cdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:23Z", + "created_utc": "2026-06-02T22:47:33Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_cdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_cdeg/robot_state.eval.json b/data/camera_study/Scene12/k4_cdeg/robot_state.eval.json index 62b01e6..c6c7dcb 100644 --- a/data/camera_study/Scene12/k4_cdeg/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_cdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.9172415435330095, "mean_abs_mm": 0.8081493744129915, "max_abs_mm": 0.8081493744129915, - "finger_error_mm": 42.75484407672921 + "n_unobservable": 3, + "wrist_error_mm": 5.086796021102647, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_cdeg/robot_state.json b/data/camera_study/Scene12/k4_cdeg/robot_state.json index aa544a1..774b64e 100644 --- a/data/camera_study/Scene12/k4_cdeg/robot_state.json +++ b/data/camera_study/Scene12/k4_cdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:25Z", + "created_utc": "2026-06-02T22:47:35Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k4_cefg/aruco_marker_poses.json b/data/camera_study/Scene12/k4_cefg/aruco_marker_poses.json index cd0a4dc..c630c5e 100644 --- a/data/camera_study/Scene12/k4_cefg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k4_cefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:34:07Z", + "created_utc": "2026-06-02T22:47:16Z", "summary": { "num_cameras": 4, "num_markers": 20 diff --git a/data/camera_study/Scene12/k4_cefg/aruco_positions_initial.json b/data/camera_study/Scene12/k4_cefg/aruco_positions_initial.json index acf091d..d5a1ce6 100644 --- a/data/camera_study/Scene12/k4_cefg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k4_cefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:06Z", + "created_utc": "2026-06-02T22:47:15Z", "summary": { "num_cameras": 4, "num_markers": 20, diff --git a/data/camera_study/Scene12/k4_cefg/aruco_positions_optimized.json b/data/camera_study/Scene12/k4_cefg/aruco_positions_optimized.json index 5615658..a902a5b 100644 --- a/data/camera_study/Scene12/k4_cefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k4_cefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:34:07Z", + "created_utc": "2026-06-02T22:47:16Z", "summary": { "num_cameras": 4, "num_markers": 20, diff --git a/data/camera_study/Scene12/k4_cefg/render_c_aruco_detection.json b/data/camera_study/Scene12/k4_cefg/render_c_aruco_detection.json index d0ecb74..3bdb5aa 100644 --- a/data/camera_study/Scene12/k4_cefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k4_cefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:04Z", + "created_utc": "2026-06-02T22:47:12Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "17c37b04-4df5-4fa8-abd6-a557ceaef023", + "observation_id": "fdf118b4-da5d-4252-9439-4e3f37f5e37a", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "505db740-1463-493c-ac6d-3ed4f9bd1989", + "observation_id": "9290d7b0-2ff9-4402-bd22-55b945c8a129", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "7978a5fc-ba09-4372-a3c7-ba696570667f", + "observation_id": "36f3e93b-ef83-4a11-853a-b3ec5cb905fa", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "6949680f-0b9c-4562-8ee9-9c6d52a4093a", + "observation_id": "d95ed3f7-52ea-439c-aa46-30546341567f", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "54fed66b-e408-43b6-92de-efaf0b38a081", + "observation_id": "220b0ae1-e8d8-4637-a7c8-f5ba71876b40", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "2510bde9-147b-4557-adcb-a24b5844995e", + "observation_id": "f1f4ed26-f391-485f-b259-68fecabebfdc", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "2d33233e-eaf0-47d4-8b8f-416000579618", + "observation_id": "d45eb841-0d30-4cbe-a041-00474733c535", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_cefg/render_c_camera_pose.json b/data/camera_study/Scene12/k4_cefg/render_c_camera_pose.json index 5eb4a10..b19624f 100644 --- a/data/camera_study/Scene12/k4_cefg/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k4_cefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:05Z", + "created_utc": "2026-06-02T22:47:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_cefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_cefg/render_e_aruco_detection.json b/data/camera_study/Scene12/k4_cefg/render_e_aruco_detection.json index 0e07e12..41aa1fc 100644 --- a/data/camera_study/Scene12/k4_cefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k4_cefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:04Z", + "created_utc": "2026-06-02T22:47:12Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8ebd810e-4b3c-4da2-a5bc-8a2722aa3e91", + "observation_id": "16f83917-69e1-4181-b069-cd3ea5ec8a86", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "00706bd2-1752-49d7-ace2-dfbc9206e69b", + "observation_id": "f3a027ae-a786-4490-a13f-703d0e7fad03", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "f1130cb1-3a26-4af4-94db-633596ed2759", + "observation_id": "60dfd0d8-d1ac-46db-ac00-4dffd06d0164", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "d16226a8-6455-4315-a4a6-04cebef2d36a", + "observation_id": "5cdd2eb8-b3ae-42ab-861f-6c4cf9bf1efc", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "0fe75386-ff65-419d-a931-b310b5a77f0f", + "observation_id": "66944abe-4a0e-4057-8daf-2ea16f3659de", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "475a0510-b248-48af-851c-32301c202349", + "observation_id": "df3ff525-db2b-4261-b046-1c1e6e0df157", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "930445c8-9a15-4c2a-8416-3e311f93b760", + "observation_id": "96cbdda0-3f7c-45dc-b00a-4dbe1fb7a6fc", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "173b0856-0ae7-4d54-bb9e-43e88eeca78a", + "observation_id": "06561b55-6eeb-4509-89ec-c680ef5df3fa", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_cefg/render_e_camera_pose.json b/data/camera_study/Scene12/k4_cefg/render_e_camera_pose.json index 6e23290..f44629d 100644 --- a/data/camera_study/Scene12/k4_cefg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k4_cefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:06Z", + "created_utc": "2026-06-02T22:47:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_cefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_cefg/render_f_aruco_detection.json b/data/camera_study/Scene12/k4_cefg/render_f_aruco_detection.json index 2636581..21ae1b0 100644 --- a/data/camera_study/Scene12/k4_cefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k4_cefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:05Z", + "created_utc": "2026-06-02T22:47:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "5966e177-8ae8-4179-b6c7-0c1b6aeff26e", + "observation_id": "f41ad228-6d4b-40fc-bdfd-050b6060a1b5", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "789127fa-3948-41a7-9d63-b2c855ead882", + "observation_id": "50be7e6a-6c2a-41c3-9fd1-7e8700de244a", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "b5b9a25e-0c80-440b-a1db-ad98456250ac", + "observation_id": "ef8e0b20-734e-47bc-80ef-b8657d614f3e", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "d03994ff-2c20-4cd0-acf2-dc1758301b2e", + "observation_id": "342a4c7f-dc5f-4ff8-95cb-2de8463ee827", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "87861ebb-84af-4fff-b648-cfdb6d9e35f6", + "observation_id": "87e3f655-fb37-4695-bce0-262f68bf6880", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "66135697-a491-46bf-b2f5-d9a18df2c391", + "observation_id": "df491256-65fd-41c6-8404-67893a1a274e", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "24e2e374-bdfc-49d6-9d83-be73cc84ee74", + "observation_id": "87b79c03-e506-4aad-bd35-cac75f366ad0", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "3a495d16-d42f-45f0-b1e3-9d85bfa5750d", + "observation_id": "3fb65781-e860-42ff-ade7-0e61d01ac922", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "2d3d4fce-5c09-45e3-9e56-45ab1628cc54", + "observation_id": "6f4c78fb-269b-4d15-a586-d6651f8656fe", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "109ddf13-8241-496d-9b17-a16e590099cd", + "observation_id": "4a7a6fd6-fc8e-4c30-8e52-96468c25dcf2", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "dbe9f8f0-2d98-4565-b737-a2aa47de2f3d", + "observation_id": "917642ca-d375-4139-9fdf-3e003c7c8155", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "d9db6821-d92c-405f-9cc8-5234cda66b0e", + "observation_id": "9159f6e4-02fa-431f-9141-4dc5b678642e", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "423f91b9-9dd4-4518-9268-d46e0f981d36", + "observation_id": "78d7e23d-6c18-4dd2-a1a1-7e928ef6c058", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "248eea0b-ed9a-48c3-a959-3c2103a9f48c", + "observation_id": "bef19e6c-56a8-43a3-b66c-6146a38d5533", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "cbef7a36-110b-40f3-9414-63dd958facc2", + "observation_id": "87b7614d-eba5-4fca-a23a-9e7724f75513", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "c0d7e5d4-2968-4154-85d8-a9778ff7da72", + "observation_id": "bac46a16-bb48-4465-9d6e-1f87339575d1", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "20e2ad15-a546-4991-a5e8-60eea837dc19", + "observation_id": "bc51027f-cf53-42bd-8881-2cde12bc3b59", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "33ccf0ff-5ee5-47b5-b25c-a6f6cf3cfc45", + "observation_id": "24c22732-75a8-40f6-ae5c-2249e520bfe3", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "ba9b2f7a-2dea-4f00-9f81-d39bc3531fc0", + "observation_id": "91213a51-afc3-4b90-a737-1a52ab0bff14", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "2d07c206-c7da-42d0-aee5-96ff82804618", + "observation_id": "ae159b2b-1f6f-4ae4-8321-0c75da3c5a44", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "80da572f-d577-44cc-b1af-434d2fee9ff8", + "observation_id": "eb9690bc-3e3e-4db8-9e1e-ee55d107e4dd", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "ff0ff85e-7eec-41e5-b3c2-d105d7a193b8", + "observation_id": "b929a833-07ea-42ec-98b1-43a67e779b40", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "068f683f-a113-4480-b854-4c5d1fbd50f1", + "observation_id": "64c159af-3dda-4958-8316-47b33dcbb141", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "7c3c3594-0e3f-4795-a96d-9c47af2a6215", + "observation_id": "1d99c433-5266-4261-87c4-482a0b745a4e", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "77002970-2c05-4892-8f53-669f73e21d58", + "observation_id": "7c4c8aa9-33da-4e95-856e-5dec9393bb7f", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "a1568dde-c3a1-498a-a45c-6833a86009b5", + "observation_id": "7ad9793f-6696-4a6f-8c73-2cb3093cf425", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "297411e6-4fca-4cc7-a53a-a0a3d39790a7", + "observation_id": "2394e64f-b605-4930-a7d5-d0b0e78855e8", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "36b9a833-5d29-440a-a0b7-333faabd547a", + "observation_id": "211e296d-0c1b-40ce-9ff8-f5fb41d7cfa0", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "e7a65165-1864-49f8-b76f-27fc66370da4", + "observation_id": "f16165ab-4184-4465-9839-1dede7f7f223", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_cefg/render_f_camera_pose.json b/data/camera_study/Scene12/k4_cefg/render_f_camera_pose.json index 25554f4..835c3a1 100644 --- a/data/camera_study/Scene12/k4_cefg/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k4_cefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:06Z", + "created_utc": "2026-06-02T22:47:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_cefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_cefg/render_g_aruco_detection.json b/data/camera_study/Scene12/k4_cefg/render_g_aruco_detection.json index fcfc5d7..6aa61fa 100644 --- a/data/camera_study/Scene12/k4_cefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k4_cefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:05Z", + "created_utc": "2026-06-02T22:47:13Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "de013a9b-c364-4575-adf0-573668cf0686", + "observation_id": "736444b6-ba1e-4fe3-b3dc-13c51aa1de90", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "a0223fbc-639b-4c59-bdbd-8165ba60b1d3", + "observation_id": "7c819f6c-1740-414c-bb18-03758ff61b39", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "00410861-3f54-4638-a2a7-41da88a32874", + "observation_id": "bcdceb3d-6ee5-468c-9bde-dbcd5a8da024", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "97528660-aa9e-40ad-befa-4cb2325c2d6d", + "observation_id": "607740fc-e33b-46bb-8fc0-9a2219611222", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "97454979-42b7-4ab4-9b25-30a6de0bc89c", + "observation_id": "7f737f79-5600-48ee-be5e-ee0cc41e8d60", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "387c006b-625b-4a49-b945-e01636ffbb16", + "observation_id": "5e2a7170-fa66-4fce-87ad-bb2a6bd0a5f5", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "8a86c767-3798-435b-ad48-3e2dbb2e11dc", + "observation_id": "ace8dd37-8308-4f18-b586-312046bf4229", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "fd7035af-ee11-42a5-ad34-03870c6d514a", + "observation_id": "f0d18542-de40-4f16-a2bb-1484f381372e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "e24fddc2-e5e2-4667-8dcb-909881ca14ec", + "observation_id": "035eaf62-e993-4b56-8e08-2cf4dfeb186f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "48d0f9d7-4560-4e49-a050-92253fda2e8e", + "observation_id": "4925ab8d-a7f1-4498-bca9-591d699a57d8", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "190ae47f-3b2d-4386-a365-8e15746bc7ca", + "observation_id": "a61e18d2-357b-4005-84a0-89b946d9534b", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "f5ab73f4-19a8-4e91-9559-212eb93bc689", + "observation_id": "5522075c-02e6-4942-ac8a-535674e68842", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "76a387d6-d474-4ec7-9292-64494c9bd973", + "observation_id": "e520fdfa-41da-4177-8ecf-af826a6d0d9f", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "4ed2d687-9da5-4545-9c0d-281fff40f7c3", + "observation_id": "0cdf2584-67b5-4870-b875-48707363b39d", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "650ae433-4ebf-47c6-985a-7e65d9064d36", + "observation_id": "a4dfd76b-7f4e-4b9d-b130-83d7c7304571", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "c8ddac30-d7e6-494f-8a33-1c9bc8920af9", + "observation_id": "007dd52d-5857-417a-b04f-a04c394c2bf1", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "733540a8-c406-4e80-a497-dff67e5d45b8", + "observation_id": "a6f08308-30dc-4044-b4bd-51406f0fd543", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "a602bf82-efd2-4800-8a65-525913aa71c7", + "observation_id": "8a1cf00e-007d-4d49-9bc1-c0aa1ca8b5a5", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "dbd1f74c-ddbb-4f7e-a618-053c2dd861dd", + "observation_id": "ae62c1c5-14fb-4858-bd71-6c2a0f44d93f", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "b0e3c6bc-bd7e-4ea8-9731-7004ca48fe21", + "observation_id": "f190595b-e7d7-42a6-8281-a95f85a725ef", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "0c7ec440-0194-4759-a16d-776e489aec3f", + "observation_id": "cce04db3-c3a8-4650-af70-e7ed2693f449", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "225f06aa-c252-45df-a409-ed16173e20e8", + "observation_id": "8fefbc47-ee5f-4f17-a7cc-c197774cc75b", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "ae3dd228-10e4-4847-998b-52fe3af4f47e", + "observation_id": "97f3f3ad-f6bf-414b-b3fe-e99f87ea7806", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "733738ee-cf0a-486c-a2e5-1d4ce3feacf6", + "observation_id": "acf6b25b-50ff-4dbc-824c-96587a3119a1", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "d2a43778-810b-4032-adda-92bb2cd3692c", + "observation_id": "1a1c47b8-26f7-4214-9fb1-42ec359b5cae", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "8d3242ef-df7e-4bab-b3fc-4583014952c1", + "observation_id": "7d2917d8-502f-4df2-b865-ee201071a965", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "bee8ca11-f6c4-446f-881b-afd95fcbdacf", + "observation_id": "b05117bf-0bbd-4f48-a00a-6a09e06100d9", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "8c98723b-1673-49da-89a7-9114c53a58ed", + "observation_id": "9e512204-ba0a-4e1e-be9b-81c12cd3ca88", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k4_cefg/render_g_camera_pose.json b/data/camera_study/Scene12/k4_cefg/render_g_camera_pose.json index 2152666..9aac738 100644 --- a/data/camera_study/Scene12/k4_cefg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k4_cefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:06Z", + "created_utc": "2026-06-02T22:47:14Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k4_cefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k4_cefg/robot_state.eval.json b/data/camera_study/Scene12/k4_cefg/robot_state.eval.json index 07d4eca..a352de4 100644 --- a/data/camera_study/Scene12/k4_cefg/robot_state.eval.json +++ b/data/camera_study/Scene12/k4_cefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 3.073655073150121, "mean_abs_mm": 2.508465068872475, "max_abs_mm": 2.508465068872475, - "finger_error_mm": 44.585311843790166 + "n_unobservable": 3, + "wrist_error_mm": 7.795477203428672, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k4_cefg/robot_state.json b/data/camera_study/Scene12/k4_cefg/robot_state.json index 0a63d03..d68c756 100644 --- a/data/camera_study/Scene12/k4_cefg/robot_state.json +++ b/data/camera_study/Scene12/k4_cefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:09Z", + "created_utc": "2026-06-02T22:47:17Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k5_abcdf/aruco_marker_poses.json b/data/camera_study/Scene12/k5_abcdf/aruco_marker_poses.json index 32473eb..0f02fca 100644 --- a/data/camera_study/Scene12/k5_abcdf/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k5_abcdf/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:34:51Z", + "created_utc": "2026-06-02T22:48:03Z", "summary": { "num_cameras": 5, "num_markers": 38 diff --git a/data/camera_study/Scene12/k5_abcdf/aruco_positions_initial.json b/data/camera_study/Scene12/k5_abcdf/aruco_positions_initial.json index 4073670..6b21963 100644 --- a/data/camera_study/Scene12/k5_abcdf/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k5_abcdf/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:49Z", + "created_utc": "2026-06-02T22:48:01Z", "summary": { "num_cameras": 5, "num_markers": 38, diff --git a/data/camera_study/Scene12/k5_abcdf/aruco_positions_optimized.json b/data/camera_study/Scene12/k5_abcdf/aruco_positions_optimized.json index 254ad03..de5bb65 100644 --- a/data/camera_study/Scene12/k5_abcdf/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k5_abcdf/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:34:50Z", + "created_utc": "2026-06-02T22:48:02Z", "summary": { "num_cameras": 5, "num_markers": 38, diff --git a/data/camera_study/Scene12/k5_abcdf/render_a_aruco_detection.json b/data/camera_study/Scene12/k5_abcdf/render_a_aruco_detection.json index 3a1d822..902e64b 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abcdf/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:46Z", + "created_utc": "2026-06-02T22:47:57Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "be9dac6a-f14d-449d-9690-79bac7a162b9", + "observation_id": "d0d9b725-80d4-4f28-8cd4-ed1a537a0925", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "fa1ec118-4e55-4ff4-ada1-f7840ba1440a", + "observation_id": "e506e6a7-8164-430f-9f07-c1b281a59bd5", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "c7e0a492-1a76-46b0-a7c9-e73d38507d50", + "observation_id": "3413cb49-d5a7-4d87-b8f1-584972e29545", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "dc7362d4-2e8e-429e-bbc0-24c49734c9dd", + "observation_id": "b999eb7b-61bb-4c7f-ae96-d2f3526a3095", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8492885602498799 }, { - "observation_id": "75c50eb4-a148-40a8-8d82-4dd15c849b78", + "observation_id": "00a7be28-059f-4985-a142-6c9d68a4ff01", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "477ef0d2-3bdb-4f5f-8b27-2677f999e66c", + "observation_id": "1ca26fbf-edda-4b6b-aeee-a6d078739a41", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7225899346789976 }, { - "observation_id": "12131f09-ab9b-468d-9811-e7610117244b", + "observation_id": "436a83c2-5adc-478e-ae24-4294392d1e09", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "37da33a5-01b3-478c-95d1-f1be5dccafb4", + "observation_id": "854b67e2-7aea-4ede-9021-053bdf67cb28", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7653498798574592 }, { - "observation_id": "0768de81-ed4c-48e9-aae0-a95e16d7afd2", + "observation_id": "e7a5bc70-eea8-4de6-8d9f-ab18e71e282a", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "2216f27b-7aef-419e-9d23-f837733414ee", + "observation_id": "5655edd4-c29a-438f-b482-ba9a02f4b0a1", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "7d4aff8b-97c9-4ad3-b764-ca9cd0511685", + "observation_id": "6cf2d308-aa55-400a-9136-cfd1117d1ce4", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "ce551d23-8c12-4db2-a4a0-b61beca64758", + "observation_id": "266556b3-5407-4858-8393-51cc27c66b43", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "644b2c8c-fabf-4aa1-a97a-3fb849c7f233", + "observation_id": "712a40e7-cf4f-44a0-b6a3-716b348ae978", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "62031013-c108-4941-a334-6341367afa4a", + "observation_id": "727de100-9719-4331-b1f1-211568e7b7f6", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "fd43d84b-a016-4e6e-a820-917bacfb30c3", + "observation_id": "5c3d369a-e447-43c6-848f-38b50a1f8b0c", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - 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"observation_id": "667e9300-f9b1-4a77-a4c1-61ade8c237ef", + "observation_id": "d1c0d23b-4e2c-4c4f-8f68-1b7718246357", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abcdf/render_a_camera_pose.json b/data/camera_study/Scene12/k5_abcdf/render_a_camera_pose.json index f282cab..8555946 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k5_abcdf/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:48Z", + "created_utc": "2026-06-02T22:48:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abcdf\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abcdf/render_b_aruco_detection.json b/data/camera_study/Scene12/k5_abcdf/render_b_aruco_detection.json index 91ae0dd..6e8bc18 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abcdf/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:47Z", + "created_utc": "2026-06-02T22:47:58Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "507134eb-3f93-40f5-b4b8-75d07983e03c", + "observation_id": "d23067a0-d34c-4e84-85c9-3dc4174b6fa0", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "f3c2b058-cc79-4039-a735-ce5c76213842", + "observation_id": "f4bac427-054e-4ffd-a2da-2ba176c6dfe4", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "b39da151-6dd5-44a6-90e5-1c23380e30a9", + "observation_id": "d91a8bcc-904a-44f8-bdea-b420fcc39a0a", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "bf4072ee-2804-412c-9a67-28af255bef16", + "observation_id": "2c8dc9bd-04f1-45ac-b0ce-a8d78fb653e4", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - 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"observation_id": "13c9ce84-91bb-4076-8197-e121f837010f", + "observation_id": "f0f258d1-bdf3-4be9-98ec-4d1dc946d71f", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "bf701cc7-24f5-4d71-a542-6b79f5383e7d", + "observation_id": "fedc5fb5-5aa4-420f-a359-4b83189757cf", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "be3b7a5c-00fe-4a0b-99b1-356ea1567f56", + "observation_id": "df3849e7-fbc4-4c3d-b79a-647ef1596a89", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "a14f93e9-2a0e-40c7-a473-e4d7d6d1b3f8", + "observation_id": "a938016b-4c87-42c4-b97e-b7f224367fed", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abcdf/render_b_camera_pose.json b/data/camera_study/Scene12/k5_abcdf/render_b_camera_pose.json index 6aa86cb..9ee6fb0 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k5_abcdf/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:48Z", + "created_utc": "2026-06-02T22:48:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abcdf\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abcdf/render_c_aruco_detection.json b/data/camera_study/Scene12/k5_abcdf/render_c_aruco_detection.json index 3b0f08d..e247248 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abcdf/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:47Z", + "created_utc": "2026-06-02T22:47:58Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c23b1a12-5ac2-4915-b536-1c2e89b05990", + "observation_id": "5fc8a80d-340b-4a7d-b9c4-fa5d08ea9df5", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "d0a500bc-f9b7-4c53-bee2-3b0c472bc218", + "observation_id": "97f697ab-adb4-43ea-8a2b-f23b4c1d644b", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "208d1edb-15bf-4fbf-b036-dd75531f724a", + "observation_id": "ae2b536e-87b0-4329-ab68-ae9534433c98", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "ee255064-d78f-452e-a960-1e8bbce69bb9", + "observation_id": "1c1d2231-14a9-4c78-8b8c-7f3c596e9afd", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "39e4ca8b-7d75-4a73-8632-dd2c2f267dd1", + "observation_id": "60bf8e71-4ec5-4253-a126-f392ae482e51", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "4606409e-fabd-4c1f-bcec-4a898d16e3a0", + "observation_id": "48a2fdf1-288f-4984-ba45-b6c63faf7056", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "c0cef9ce-8c1f-459f-9e52-5b69de574fad", + "observation_id": "9b90eb26-9c7a-4e2d-b311-fb7b156b2e9e", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abcdf/render_c_camera_pose.json b/data/camera_study/Scene12/k5_abcdf/render_c_camera_pose.json index d5809cd..c0adbb0 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k5_abcdf/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:49Z", + "created_utc": "2026-06-02T22:48:00Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abcdf\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abcdf/render_d_aruco_detection.json b/data/camera_study/Scene12/k5_abcdf/render_d_aruco_detection.json index 1e339f6..1d0de98 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abcdf/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:47Z", + "created_utc": "2026-06-02T22:47:59Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "3a594576-7539-49e5-b343-dba6868ec621", + "observation_id": "003a6dab-3c09-4f1e-90a1-614e8bd901ec", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "ca92b362-3427-40a0-b4d9-207608f48384", + "observation_id": "695b385b-45d3-418f-87b6-2319141654da", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "7ea92745-cc79-4a4b-a19a-67be7dfadbbc", + "observation_id": "eeced148-aaf3-4aa1-be85-3c0ee5f2ae10", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "05e9370d-3663-442f-a01c-aa33ca111e24", + "observation_id": "3348d5c2-9157-4a32-8ba4-f46c94e994bf", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "f7433109-4a01-43a1-9f4d-1a0422f04a89", + "observation_id": "0563bcda-761e-403d-8582-485976904be3", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "bdfb1a41-434e-46c8-b904-2a8ae2928f6f", + "observation_id": "bc878d67-b2d4-4e31-b940-2e2d19fc9a9f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "4327eba6-6c9d-489b-9516-42a0d2f2fa84", + "observation_id": "6468a818-8eef-4cc6-aae2-773a5f801854", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "900f3103-bb27-465e-b758-5efb859acbab", + "observation_id": "d7786c80-5318-4e34-8c8f-5d9c8c18337e", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "753db746-0953-4eb0-92fe-ef47b2c22384", + "observation_id": "dd1e8d35-7199-44ea-a663-74f08554003b", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "c01d7639-9afe-4a3f-b8b3-d4fc3043cc42", + "observation_id": "9aecbf4a-0ac8-4041-9903-9087ef9a25e7", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "c4033f9d-a7c2-44f4-8f57-3f2c17543be6", + "observation_id": "90e7da19-edea-4234-ba0c-87c177c2a583", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "d5fcd5c6-28a1-4239-a473-95fc620a89fb", + "observation_id": "962f0505-3724-499f-a201-0ab12080cc77", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abcdf/render_d_camera_pose.json b/data/camera_study/Scene12/k5_abcdf/render_d_camera_pose.json index 4e04e0a..127e608 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k5_abcdf/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:49Z", + "created_utc": "2026-06-02T22:48:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abcdf\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abcdf/render_f_aruco_detection.json b/data/camera_study/Scene12/k5_abcdf/render_f_aruco_detection.json index 5ef2c21..2e925cc 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abcdf/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:48Z", + "created_utc": "2026-06-02T22:47:59Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "7be7ea6c-b184-4e6e-95f9-90bc0dba9d7f", + "observation_id": "953f8226-b55a-48ba-b54b-a6e661d0101f", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "c8b73b6b-0056-430a-85ad-99298b7647b9", + "observation_id": "1cbe93f2-6ab6-4960-9077-d3318084e7ca", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "bd9fdca3-fa97-41d4-9060-d1a2d861d42d", + "observation_id": "228530e9-f8b8-4e5e-80ec-aa93a7065857", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "1432c6b2-4717-4168-81ed-45d6c45a180f", + "observation_id": "8da8d015-bb4b-49c4-9247-57dd09eb1ec4", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "d3b0644b-57c6-4454-b145-9fd7d6a6d3cf", + "observation_id": "36f427e8-06ae-44c3-890e-8688490999f7", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "1517ee4d-d420-4113-8e5d-19afaa0e8785", + "observation_id": "2cf00d1a-60f8-42f3-910b-f3d6381f41db", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "dd3b4c27-2a0b-4738-9328-6723649f691b", + "observation_id": "f3c12aec-68c8-400c-9146-85a3b294c552", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "5c58e474-e567-4307-b0bc-b99e20f473a9", + "observation_id": "e402368a-bb7d-4bd5-9029-fadef5f8de88", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "bddb1eac-8a50-408b-b867-0afcf197f8dd", + "observation_id": "fdc1de23-c183-45b6-8b8c-e0a3042b4d5e", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "aaebcf4e-3419-43d9-87d6-05aebe6a30b5", + "observation_id": "525e31a3-d90a-4a87-9b40-8d4d5d358596", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "6b9fcdca-24fd-40d0-a667-079c93794d5a", + "observation_id": "43354b35-0572-41a6-b95a-22dac8ae2d22", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "f58a9eff-bf91-43ee-bfff-42d3ef801565", + "observation_id": "e3ef33a0-ded6-42bd-a72f-921dc4be29d3", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "05029f1e-0ae7-4e00-990b-c30bd148bf38", + "observation_id": "1fb1a741-ff63-48e5-bd98-8e585fac8754", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "ebf2a018-90a9-4622-afd1-cfa39eac8a79", + "observation_id": "7fdb39d8-c1df-4e34-8edb-e579423b9313", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "ae2d5db5-124f-4483-9c3c-3dd8a4ef230e", + "observation_id": "ed820c1a-61e6-42a7-b510-4e8e423928fd", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "7e9f686d-2f01-4b19-b84d-83f22c51cc4b", + "observation_id": "8b789f47-8e16-4d45-a11f-4e84662a9ed5", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "744facf8-774a-468d-b79a-b5e946c97a17", + "observation_id": "6159c4e4-db5b-4a68-8134-589eec1d0a37", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "c9a0ba22-c8f6-40ba-ba12-0b5e85c9ed38", + "observation_id": "649220a8-55c7-4fd9-8254-ae8a21a35477", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "a3dd899f-0564-4bc2-9281-7f4b77a04dbc", + "observation_id": "2454256b-ac1b-4492-9b47-9416a2aa0cc4", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "c6a465c3-2a28-41ff-8b21-e4fc8f503485", + "observation_id": "e80eb661-804b-4a35-87a1-f329874183a7", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "eaa2f0fa-7c73-4156-bc8c-b632281d479c", + "observation_id": "289664bd-e0b6-4942-856a-eae2d0709d9a", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "aee3daa5-5b1a-442a-aaa3-3fe9d62e6c65", + "observation_id": "ef6ef509-b93a-4a19-a88c-fad3c805c0a8", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "c9c3ac5b-7ee3-4cfe-a28f-7023b27757c1", + "observation_id": "cfd4edc4-178b-43c6-8eea-2bf330d27f64", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "6fec339d-de9d-4804-a2c9-939080285d45", + "observation_id": "11b7d884-a07f-460e-95b8-89a883617b70", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "7f4256e5-8a6d-49b7-9ccb-bcd71b6724dd", + "observation_id": "1a917969-c60b-45a0-bed1-09fa42f0de40", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "e029da6c-4d44-4bb1-b215-4058452fcd96", + "observation_id": "489a8dab-1b24-41ec-a42b-ebbffeb43df7", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "1fe2d8b0-3e27-471a-baa4-208e6bf903c5", + "observation_id": "9c8e5b01-f07c-42cb-884d-94df3534909f", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "3ccc81b8-55cf-4697-a489-c3106e41f132", + "observation_id": "43b85f43-ca8f-4c8c-b298-aa6460d1049d", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "d70632fd-7ee3-4433-bd1c-65785f43dd1f", + "observation_id": "8fb759de-438d-4620-ac2e-d18701b4b541", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abcdf/render_f_camera_pose.json b/data/camera_study/Scene12/k5_abcdf/render_f_camera_pose.json index b7f38ae..d7a29c7 100644 --- a/data/camera_study/Scene12/k5_abcdf/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k5_abcdf/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:49Z", + "created_utc": "2026-06-02T22:48:01Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abcdf\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abcdf/robot_state.eval.json b/data/camera_study/Scene12/k5_abcdf/robot_state.eval.json index 90e1a05..d0bbf86 100644 --- a/data/camera_study/Scene12/k5_abcdf/robot_state.eval.json +++ b/data/camera_study/Scene12/k5_abcdf/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.999453012909953, "mean_abs_mm": 0.6430455818467564, "max_abs_mm": 0.6430455818467564, - "finger_error_mm": 40.72578133909302 + "n_unobservable": 3, + "wrist_error_mm": 3.000990012965954, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k5_abcdf/robot_state.json b/data/camera_study/Scene12/k5_abcdf/robot_state.json index 1e67ca9..adc710c 100644 --- a/data/camera_study/Scene12/k5_abcdf/robot_state.json +++ b/data/camera_study/Scene12/k5_abcdf/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:52Z", + "created_utc": "2026-06-02T22:48:04Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k5_abceg/render_a_aruco_detection.json b/data/camera_study/Scene12/k5_abceg/render_a_aruco_detection.json index 7d637a9..b7d769b 100644 --- a/data/camera_study/Scene12/k5_abceg/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abceg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:26Z", + "created_utc": "2026-06-02T22:48:40Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ffa17859-e23b-496c-b634-e91074974cc4", + "observation_id": "2d4883e9-cc78-45a1-8fd6-d5bdee7b7033", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "cadbe834-c62a-4ae9-aa62-ff38739bede2", + "observation_id": "01a50d8a-02f5-4ea1-9f6e-66e2aca6da8c", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "fba33186-0de8-4076-8afd-ee02de95e152", + "observation_id": "df8b6c6c-8e56-4b02-8e5f-925ca3832aa6", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "0ed3e699-b8d9-40dd-b0cf-90eceb6c4997", + "observation_id": "d6d977a1-78f5-4311-8c1f-0182aad1e9d2", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8492885602498799 }, { - "observation_id": "6f8405c6-a92e-4c2c-ac98-21a455fe35bb", + "observation_id": "3a93d3ae-aba5-4797-8a0d-94a41c9d8fa3", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "54d2c832-b4ea-48e5-bda3-ea963b32bbce", + "observation_id": "bcaedad1-7a56-4109-ad0e-86da777f14fd", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7225899346789976 }, { - "observation_id": "d77609b9-15fd-4fc9-8403-922e23ef659a", + "observation_id": "ce99ac29-75c5-44ca-94ca-3c019badbd2c", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "1733107c-77a2-4445-a061-fc3b31b002a7", + "observation_id": "79e0f15d-5aa1-457a-b70b-9e52589d2150", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7653498798574592 }, { - "observation_id": "51026c84-88a0-4892-aedc-a65f1658c6a8", + "observation_id": "4ecdc077-dade-4568-8caf-c3ed986b385e", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "da3f9637-4aac-478d-b523-8922ace74e53", + "observation_id": "dae16c7f-dd77-49a2-b41b-db08c2ee1855", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "31179e91-a4db-4db5-8c95-b0dfd4acfce3", + "observation_id": "6dc8d02b-0ee2-4d78-9363-de47ef19be84", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "67d1b28d-6073-4212-b717-f27a6f717ad2", + "observation_id": "6d42cfa2-86b9-4c4c-abd2-ffa3172e83ca", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "8f56d512-5e34-4c43-a61d-7fe2cc79ca49", + "observation_id": "679ec39b-cb1b-4204-875f-cf5f16ab4baf", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "48802624-a8ce-43d8-ace7-aac4897ce856", + "observation_id": "1d250e18-8d20-437b-a717-4f76c8f2e3b3", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "af477f9f-6a2a-4d14-88c6-44f6cb8decd8", + "observation_id": "c06fc20c-ee0b-4be5-981d-fa338c8a6a43", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - "observation_id": "136d328b-53ee-4748-814b-9fdea8028e0f", + "observation_id": "d36ca220-e857-455d-8f02-eb8b543047c0", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "40bb87b7-c4a5-4af0-8e08-41d232429b66", + "observation_id": "ebc90c21-5910-49d4-9cce-ae74ee6b5cc7", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6589361768588983 }, { - "observation_id": "0db85187-fca3-4087-81ae-a625b3bf7d02", + "observation_id": "a1f877a7-0819-4d4c-8c21-cfdaf1d191d2", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "8e6785c4-d394-47b0-a75e-f88f4441e0a5", + "observation_id": "32b46022-dabe-4998-918c-014c7b7a8ed5", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "a070267a-99e3-4d33-8ec5-3f8974672dc8", + "observation_id": "1a36f2ba-7fbc-4ed4-9053-f4dbe43dbc0a", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "a958928c-b1f4-402c-b7ce-46edd6ffd7f6", + "observation_id": "0ef61db6-d1df-47bb-bea5-262abc1911dc", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "eece4bb5-0e32-431d-8f82-71c2e79e4d5f", + "observation_id": "0aa3fa3a-de12-4ada-a756-efb619c1d291", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "d68a7e12-c137-4cc0-bf8e-5113ebe715fd", + "observation_id": "d52a2cc6-f692-4d0d-8477-c53ba5043b36", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "ce082e78-4f4b-4f79-aead-f994315f12ed", + "observation_id": "ac30333d-8e92-48e4-becb-0c1c56628ef9", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "f881e4bc-9fae-4401-9b25-4e5c460d6fb5", + "observation_id": "0222d239-2c6c-4645-bae8-58279806dac2", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "85b93e37-5e05-463e-bae4-01d772d5b789", + "observation_id": "125e7c89-713d-4cc7-846d-90ce937071fc", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "d8ae9bc6-69dd-4ca4-84ec-f90d692cba1d", + "observation_id": "b6d0f582-681c-4d23-a132-8a71372e2dcb", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "6be09cba-77f6-4961-bfc4-7146bffcfb10", + "observation_id": "17f2c72f-65ed-4985-b31c-8776160f8bcd", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "ec2b89ef-7f9d-4f08-93fa-7474dface079", + "observation_id": "da26a289-5715-4d4c-8812-83404d8d206e", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "bd96d3d4-b2fc-440d-8907-9117c74703c3", + "observation_id": "ed607ed0-782b-4dd2-9cfb-e678f81323f8", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "b7367679-4bfe-4257-8cc0-b640f8ddf5b7", + "observation_id": "b3bd4be6-d124-4922-a423-ebb55e6c011b", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abceg/render_b_aruco_detection.json b/data/camera_study/Scene12/k5_abceg/render_b_aruco_detection.json index 9680503..751125f 100644 --- a/data/camera_study/Scene12/k5_abceg/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abceg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:27Z", + "created_utc": "2026-06-02T22:48:41Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "bcca3370-d583-479c-b2cd-15d66939ae18", + "observation_id": "9337c2ef-1b2e-4f84-ad5f-b8957b1e707e", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "69f6e44d-62ed-4a11-9fc9-4f3bdc12f7ab", + "observation_id": "599503e0-6463-49b9-90b4-558536746d40", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "1e1024a0-de43-483c-b12e-184c11e09108", + "observation_id": "f9dbbfbe-71a8-4cc6-9306-767dafde7f4e", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "a12541ee-995c-4f9b-8880-a6f010f95133", + "observation_id": "a64a86a7-271a-47a0-adf4-762dd87643fd", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "b2081d7b-d0f1-4e1b-a03f-29a25d01aef7", + "observation_id": "40e64dba-de26-4f7e-a3f1-772e2d7dcbbf", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - "observation_id": "8364b74b-9f83-41ad-9c9e-9c304cf23117", + "observation_id": "5c9251e1-e3d9-49cb-8c3e-6e514662f750", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5337876600066706 }, { - "observation_id": "c26c2648-4e22-418e-b48d-05af8661c8cb", + "observation_id": "174253d5-4829-4040-886a-76860f1742ea", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6849598669171316 }, { - "observation_id": "367c27cd-f9dd-48b6-9a5a-b3bb503424d9", + "observation_id": "19b684e5-d031-4740-bddb-9e6dd91be875", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "0643b2c7-c979-44da-ab06-6f62738d3134", + "observation_id": "e1f44591-6aa5-4a6d-bf56-a337caf79b8a", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6513610457098532 }, { - "observation_id": "4d9deed9-2c84-4d60-bad0-94fc36dd0351", + "observation_id": "e72e320f-4c57-4272-a37a-865a66758766", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.630961575157087 }, { - "observation_id": "240657cd-10a2-44de-b997-30a755f338aa", + "observation_id": "e1c94d63-b39a-4bac-9f34-b0c2fd926200", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6481492643993982 }, { - "observation_id": "8673c450-503c-4d93-b871-da3d7123e25d", + "observation_id": "ec66d483-1551-4405-97b0-13a5f161a9f9", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5997552616991532 }, { - "observation_id": "f1a24f35-0342-4658-8841-32f1d50d5a7d", + "observation_id": "1f1b28c4-0e3b-450b-9ca9-d8d1b113fc83", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5469722222222223 }, { - "observation_id": "57f591d8-1b17-4e6e-94c2-0398c517839b", + "observation_id": "aa86d853-6b07-417c-8adb-0f306c6482cd", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5243541825374566 }, { - "observation_id": "5fd21a03-f852-41b5-ba6a-cf8e07987268", + "observation_id": "3f7fe71d-bace-44e1-acb4-109e579fada9", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.23705641289279722 }, { - "observation_id": "66fb796e-fb77-49d6-9a3b-b8813c0cff3e", + "observation_id": "b6408079-196c-411c-a333-9c56fe042273", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5918000254950889 }, { - "observation_id": "8262929e-7c3e-415d-8874-b702dbd173cc", + "observation_id": "23443965-1a6d-4ec9-92a0-b3531ec40ab3", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.608276252746582 }, { - "observation_id": "4e3d0149-d702-4a25-9e51-98d15f9cd4c0", + "observation_id": "846358e9-dc96-45da-9e11-c1a51359d492", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "b2e855f4-4858-4926-a1e7-47dfc416c828", + "observation_id": "09a7a718-36d8-43fa-89fb-98d90873f2f4", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.575866171800068 }, { - "observation_id": "2edeb59c-93e9-442a-b483-ea59435b6f77", + "observation_id": "704a9e13-1889-472e-93de-f0aa20359a71", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5222013240250092 }, { - "observation_id": "e707d8e8-aa2d-4e4a-b571-83b9c32db0c0", + "observation_id": "64b1285b-1693-438f-abfe-0e8d6301beb8", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5371779083705701 }, { - "observation_id": "2f1ca43f-2b74-43be-adaf-c02adf5fc596", + "observation_id": "bff95525-1794-45d3-b597-231a0d2c0ecb", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5147474747474747 }, { - "observation_id": "8a2a2d9b-e8d7-44cd-b85d-b3633701520f", + "observation_id": "e0f1aa8b-ba3c-49db-8999-66623b691841", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.5240808080808081 }, { - "observation_id": "dcbfba4d-0149-42cf-8e9f-c8b288b84161", + "observation_id": "16af6ea5-2b83-45e2-bb76-4819e440ffad", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.528147602404417 }, { - "observation_id": "a35ad700-2f44-4631-863a-4e9c853cb673", + "observation_id": "08eca003-3adc-4e3e-aeb6-d6b02abe1425", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.4523581982780906 }, { - "observation_id": "704b6ac0-7b70-4af7-bd21-2fe8d0930b51", + "observation_id": "7a2af796-4cba-4cc9-acf2-f98f4c847247", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "75f7073e-3589-417a-b61f-d9c51a3e6e02", + "observation_id": "d4447e30-be8b-4cf2-97aa-a04876d69030", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4461531673319199 }, { - "observation_id": "f8e0f8f4-71a5-4129-9d8c-024c412f44f2", + "observation_id": "b4511be1-3113-45fd-8e73-e1ade126e768", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.42861533927775625 }, { - "observation_id": "26b2579a-4dfb-41af-bb02-850b55c47482", + "observation_id": "38feb127-e75b-4e26-a032-1910623ed22c", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.42023766965581094 }, { - "observation_id": "988282d4-d4cd-4534-9d0e-7d39b587066c", + "observation_id": "84dca30d-fdc7-4f05-a1a6-060e75ae2c2c", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.4166666666666667 }, { - "observation_id": "ff51d7f1-d570-4940-a2ed-172b5f92f0e0", + "observation_id": "5978a874-6520-4e4a-b5f9-259ca9ebf70b", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.4387585454601719 }, { - "observation_id": "d57ca851-252e-498e-8dcd-01b68e1a4891", + "observation_id": "34ea3e43-a162-4bef-9c1c-36ac29573937", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "d8d07f62-80c8-4527-9c6e-326e2d676a13", + "observation_id": "19b677d0-ca9e-4db0-96c1-2d02d27429c0", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.40836112125901974 }, { - "observation_id": "ebd654e9-0ac1-42e6-8007-2322ecec2d36", + "observation_id": "7cd8d25d-6aac-4c28-b496-4c4c8200c0b5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.23853923230852397 }, { - "observation_id": "8dbef40b-788a-4a64-8668-3825acaa5c73", + "observation_id": "85e4bb43-542b-4146-8a4b-6b9776e5eed4", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "39992fa7-caea-4215-a7f7-38fe108a7364", + "observation_id": "649763a8-ca53-47e9-ac72-49f6943e98af", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "49d547c9-76e0-4a63-a342-de9fe039af49", + "observation_id": "562b7a12-b6f5-4a2a-bcea-20f39b6a9fca", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.3135142237541464 }, { - "observation_id": "5af305bd-170b-4ee4-a4f2-10911940012a", + "observation_id": "79693cfc-ded6-4531-bd2e-687b7fba3e15", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "240757ef-b1fe-485f-95d1-aa1409cccf08", + "observation_id": "83ff0e46-b77b-4525-8e3f-745754e4e543", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "7cde387f-6940-4ea9-b5da-d37e40396118", + "observation_id": "cbb2b5f8-6607-46a4-a544-46be71dbb9c4", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "56af42c0-2fb0-4c9b-a560-287868f2f743", + "observation_id": "5fc34055-187d-48f5-b820-114221518a8c", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "f921404e-6cf1-44a3-9cda-2a99bd60e594", + "observation_id": "4959174a-4697-4702-be1b-b1d5018ca34d", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "18a5e1d7-a742-4a6d-86c1-87a10599995b", + "observation_id": "35e671b4-8206-4169-91cc-07d43b573579", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "4ebf88cd-da38-43a8-966a-3b0365118d6f", + "observation_id": "8284edab-d3c4-4fd9-9bb2-627145ffe294", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "29f172fe-62c6-4f54-81ac-1408e33fa882", + "observation_id": "fdd0d61e-7fb5-42ea-930a-e080d035d7f6", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "b3677c66-9f03-4e14-a8f0-b6dbe605310a", + "observation_id": "328f64e9-e8d8-4b3a-8710-b71809bf6a2b", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "9721bbdc-100d-4f65-85f0-6180c18b4b2d", + "observation_id": "69b15566-6f91-49aa-b2c6-9ceddcc84187", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "09d84145-7119-47f0-852d-91a80f96628f", + "observation_id": "20c746e2-5aed-4e34-9181-00f9b80683ae", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abceg/render_c_aruco_detection.json b/data/camera_study/Scene12/k5_abceg/render_c_aruco_detection.json index 04f8b88..964a008 100644 --- a/data/camera_study/Scene12/k5_abceg/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abceg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:27Z", + "created_utc": "2026-06-02T22:48:42Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8baf825b-3fe9-42c4-afaa-65870e9425b1", + "observation_id": "d8688234-585d-46df-9f4a-31ac941c8690", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "a7942c65-899a-4e56-b1ed-ea6b6e4803c8", + "observation_id": "405d3089-b32f-4048-a5c3-746d3f723c8d", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "c42b20c5-7db6-4aec-b401-ed56c81a6cec", + "observation_id": "283921f3-3d91-43da-ac75-4873aa3bc3ce", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "aa8114c9-6e36-4958-8ef3-66e7be47ddc6", + "observation_id": "3d74ad69-5a23-4c42-b155-c63c724b9727", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "c910d450-a505-4331-af5a-288c0ff1edd9", + "observation_id": "fe2fdf48-1fb4-4feb-8bf3-174f1e54e134", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "4d1d6f8b-e434-48f6-b2f8-ffd0d3523480", + "observation_id": "5567f4d4-3a55-4858-8098-639bf0f50a1f", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "c3ac1e24-1b68-438a-afa9-6aa5ba0431b2", + "observation_id": "8022684f-11b7-4cf8-9a2c-6ddb99786040", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abceg/render_e_aruco_detection.json b/data/camera_study/Scene12/k5_abceg/render_e_aruco_detection.json index 7b2da57..929683d 100644 --- a/data/camera_study/Scene12/k5_abceg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abceg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:28Z", + "created_utc": "2026-06-02T22:48:42Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "0d311627-d6f3-46b4-82e3-5d27a7efb9a4", + "observation_id": "d83e97ed-ab65-4ce2-81b1-54e6a94607bf", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "4977fcc2-e13a-4014-9131-04cb66092fc3", + "observation_id": "9fa7c31f-8f2c-45e5-92ef-27a03886308f", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "180988a6-86f7-420a-8bfe-a37ce855d0c3", + "observation_id": "07e8fe2e-abfc-4862-9376-dfbdc4776729", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "ab7c4c43-6545-4b9a-a46a-625a7935df0b", + "observation_id": "f6bffa27-ba05-4cf4-b3c7-8cc1b52a666d", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "e7966335-673c-45f8-9721-c11e98e4fc13", + "observation_id": "17cc7543-bfa2-4250-9dc3-77ebcf2db7d1", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "058213bf-daf3-4a51-a819-89eb281d5302", + "observation_id": "7a89781e-3fbd-4908-9320-4a2a925e2eae", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "e26c85a9-bfcf-4f33-b0e5-51733daf3533", + "observation_id": "63c88030-f0fd-4cfd-9cb2-a14968abdc98", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "43e7f38f-f358-4210-87c5-353d994a443b", + "observation_id": "2aa6c995-6ea2-4e05-9905-73fa620eeb15", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abdeg/aruco_marker_poses.json b/data/camera_study/Scene12/k5_abdeg/aruco_marker_poses.json index 4860b9d..b02ac86 100644 --- a/data/camera_study/Scene12/k5_abdeg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k5_abdeg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:35:02Z", + "created_utc": "2026-06-02T22:48:13Z", "summary": { "num_cameras": 5, "num_markers": 41 diff --git a/data/camera_study/Scene12/k5_abdeg/aruco_positions_initial.json b/data/camera_study/Scene12/k5_abdeg/aruco_positions_initial.json index a9dafcb..4cf33b6 100644 --- a/data/camera_study/Scene12/k5_abdeg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k5_abdeg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:57Z", + "created_utc": "2026-06-02T22:48:09Z", "summary": { "num_cameras": 5, "num_markers": 41, diff --git a/data/camera_study/Scene12/k5_abdeg/aruco_positions_optimized.json b/data/camera_study/Scene12/k5_abdeg/aruco_positions_optimized.json index 1a4aaae..035be15 100644 --- a/data/camera_study/Scene12/k5_abdeg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k5_abdeg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:35:02Z", + "created_utc": "2026-06-02T22:48:13Z", "summary": { "num_cameras": 5, "num_markers": 41, diff --git a/data/camera_study/Scene12/k5_abdeg/render_a_aruco_detection.json b/data/camera_study/Scene12/k5_abdeg/render_a_aruco_detection.json index d190d3b..26148e7 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abdeg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:53Z", + "created_utc": "2026-06-02T22:48:05Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "1df50ebd-08b3-430b-9ff5-c171f8e65791", + "observation_id": "646f0682-5088-4d9a-935d-d2b237013907", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "4de497db-0d57-487b-9ea7-7d2bd56156d7", + "observation_id": "b0687354-1aa7-4ec8-b2b4-4fd3f8878bde", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - 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"observation_id": "27c5cec6-78d9-4156-8b0a-f1c94f68d2d7", + "observation_id": "d0ba7042-139e-4127-85b6-b8e8faf63b7d", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "ee85bf80-7774-4a86-a6fb-c1a603d9dc1a", + "observation_id": "c29ba8bd-0afc-469f-a023-60dd7e61fd63", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "a84cf9d1-01cc-4359-a76b-d7aa254f9f06", + "observation_id": "e515e61b-7185-4642-b5be-bdd5ae056686", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "ec1e8f83-70a9-44f1-8a94-6ac219713e76", + "observation_id": "c86c4de4-f07d-4333-8265-5018cf3a2d72", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "bf338961-67a6-4d00-8a8e-c3af700deda1", + "observation_id": "d9c7eb15-9d39-4dad-8b09-ee1e128e7766", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "02346fe8-70c2-4723-82df-badb6dee0a13", + "observation_id": "1208eb26-d16b-434c-ac63-6662b5a25712", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "1ba779d7-9c60-41fa-b5fc-7b5b06047771", + "observation_id": "b183d2d3-d5d8-4c38-b213-0e697bd4a039", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "936e414f-a9b9-4a98-888e-b57594c8c2c0", + "observation_id": "2e0da8b6-1e89-4933-861c-d3890dc0fec5", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "7e6fae55-2319-4c2f-bded-01a990fee749", + "observation_id": "0d1e34bc-9eca-42e4-9f52-50ca8c83c7ba", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "51501e62-1996-40bd-af4c-5019a889b653", + "observation_id": "8a3d67c4-71bb-42a3-a7ca-aa30b507d649", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "7b13a095-cc9c-4a34-9046-380d4a80b462", + "observation_id": "83cd038c-3cc1-43c5-b147-4832ec35cd8b", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "d6ec9257-dfbe-49f9-932b-caff17d06da1", + "observation_id": "846348dd-4d8a-4057-b217-000d54d00f1f", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "d534e97a-d68d-496a-949f-6932218fe164", + "observation_id": "d95d8f2a-0741-4e4c-8701-0c8fd6048dc6", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "56e04ca4-d215-4b7b-a611-670a2e93f18a", + "observation_id": "e97795fa-f10b-4468-85ca-6de62965cd78", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abdeg/render_a_camera_pose.json b/data/camera_study/Scene12/k5_abdeg/render_a_camera_pose.json index 23e4053..e7b8520 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k5_abdeg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:56Z", + "created_utc": "2026-06-02T22:48:07Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abdeg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abdeg/render_b_aruco_detection.json b/data/camera_study/Scene12/k5_abdeg/render_b_aruco_detection.json index 8ad807f..eb74365 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abdeg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:54Z", + "created_utc": "2026-06-02T22:48:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "73b16ec0-a5d6-4fd6-b41b-41ab059c83f7", + "observation_id": "66df2b63-b9be-4c1a-8fd2-892345252fb0", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - 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"observation_id": "129e5422-7e79-4e3b-980d-6e4263b7d7ff", + "observation_id": "eb17c66f-ddc5-48e8-abd9-da0793a4c240", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.3135142237541464 }, { - "observation_id": "caaa2d94-bc65-40fa-9b82-2cbfc6341e0d", + "observation_id": "e2c884ef-24c0-4ed9-bda9-ded91af01dca", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "6413b313-2028-4646-875e-5e64aa67aa44", + "observation_id": "7cd81a45-018c-4dec-bcf0-8034a0cf3dec", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "12415b97-cea0-4dfb-bd96-6920661aeb56", + "observation_id": "dbd60272-d1e5-40d4-ad0c-b677a209d6d4", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "134e8928-af55-4587-ab1d-a71999232ade", + "observation_id": "4b2d94de-7642-4e59-a36b-8c2c167b761a", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "159b8772-037b-4296-96b9-8b2e206e6f81", + "observation_id": "a0e0611d-b998-4893-b151-cc538ebe0706", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "d0f8bb93-ca55-4a78-80b5-d74b20c275de", + "observation_id": "942b2939-badd-48d3-869f-c44039fc26e6", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "e0af493c-42c1-4c30-8b5b-7eddab0a2ad5", + "observation_id": "23471e08-5080-447b-8777-d14e157f24b0", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "967b7bde-fe63-4aec-a94d-b2b0975c0dab", + "observation_id": "0d44ffae-c5a2-4891-aa81-d3120801ccc9", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "a477fe77-9441-4252-bb46-3f55617531e4", + "observation_id": "7159c912-2700-4ce0-b6da-9e224ecbd525", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "7157f5cb-0592-4447-bd18-2825f325b05a", + "observation_id": "d9fcb49c-7117-4242-ad54-47a81069039a", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "2738b76d-85cc-41b3-a8ac-ec98d3883ac0", + "observation_id": "8053dce7-3b9d-4eeb-ab4d-7bb38209276b", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abdeg/render_b_camera_pose.json b/data/camera_study/Scene12/k5_abdeg/render_b_camera_pose.json index 444aac2..c7a5a84 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k5_abdeg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:56Z", + "created_utc": "2026-06-02T22:48:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abdeg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abdeg/render_d_aruco_detection.json b/data/camera_study/Scene12/k5_abdeg/render_d_aruco_detection.json index 585a949..6cc8c23 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abdeg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:54Z", + "created_utc": "2026-06-02T22:48:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9e6bbc72-2d4f-4f8b-ade8-a5052e7ca7bd", + "observation_id": "c5d0855e-fd65-46f6-8f41-cef561924718", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "dc9d6aa5-8ffd-4c5a-9921-8500bc378dc9", + "observation_id": "24b16f45-a562-466c-bd33-7dff51b95669", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "2697f708-172e-4132-bfa1-943d168c1b98", + "observation_id": "39371fe1-baae-4f58-9b38-2e55e9b90103", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "a0178db8-eac6-4876-8bf9-d4161197ee01", + "observation_id": "64b86778-f9fe-400b-9ce2-7e5a105579ca", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "fbafeea4-c2a8-4171-85e8-5b048bc3d722", + "observation_id": "264c9b6a-d2e8-41bc-9341-ed77caf219e1", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "87ddc8dc-4c98-4543-892d-2eb69e79450d", + "observation_id": "a72a22cc-d7ce-4239-a81b-d89c41cec5df", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "5ae33ba5-c69b-4034-8ad6-e11c98f1e6f0", + "observation_id": "f9502229-15ae-4f05-a0e1-7138cfca8e17", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "8f4e1732-00fe-4e05-98d0-308ac67d4337", + "observation_id": "27ce869d-f66d-48b0-acb2-afa553e5cbec", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "02ed1f9d-38f4-4271-b2e3-f29372d8319e", + "observation_id": "6b8f6c1d-18cb-4d03-840c-bc683be93179", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "8ffbeb58-233e-4927-9ab1-982f4cd50cd1", + "observation_id": "b8131087-0805-49fb-bea8-1a4029dfebd6", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "1fbafd3f-91e4-4b6a-b7cf-b3135b2184cc", + "observation_id": "90194127-20ad-405b-b588-88b8dcd3c0a2", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "e5939c3e-6069-4877-8646-cd498582c6be", + "observation_id": "6746efc1-a68a-468b-985f-faf93c44e403", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abdeg/render_d_camera_pose.json b/data/camera_study/Scene12/k5_abdeg/render_d_camera_pose.json index c59486c..22057f3 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k5_abdeg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:56Z", + "created_utc": "2026-06-02T22:48:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abdeg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abdeg/render_e_aruco_detection.json b/data/camera_study/Scene12/k5_abdeg/render_e_aruco_detection.json index d060080..c933cc7 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abdeg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:55Z", + "created_utc": "2026-06-02T22:48:06Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "ebbc88d8-320f-4858-b2d9-68fe7e67c353", + "observation_id": "048bb850-c292-48e1-a9d0-dde2b24494ff", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "e0941c3f-040d-4fa6-8e40-5be63ea94ca4", + "observation_id": "d3b0bd24-b6db-4c47-aa69-2b89a389dc96", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "5661f409-651d-4831-b62c-553c73b75f2f", + "observation_id": "ae3cbfe4-54a8-4917-9036-01f2c6e3d255", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "485e7357-615a-4746-929c-0e5ed7209422", + "observation_id": "129cc90b-69df-4d0d-9a9b-69fc89f5f979", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "4cd2aa8a-9bd9-4ad3-94af-eff4092d7d3b", + "observation_id": "326c20c2-9c33-4fe6-894d-c9a771806dd8", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "41da6862-b670-4d8b-8a4b-6c4bf4213ded", + "observation_id": "fa819967-c09f-4a6a-bc3a-9d9b368663ae", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "163ec7cd-7379-40b0-93c4-c092a2d27a56", + "observation_id": "c73a0b74-3fbe-41a2-954c-fa9fef1798c3", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "b111bc8e-051f-4d21-8305-9c4e8a61241b", + "observation_id": "4beddb2a-8992-491b-9791-443625a2f67c", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abdeg/render_e_camera_pose.json b/data/camera_study/Scene12/k5_abdeg/render_e_camera_pose.json index 85e08ac..0a0c4b3 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k5_abdeg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:57Z", + "created_utc": "2026-06-02T22:48:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abdeg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abdeg/render_g_aruco_detection.json b/data/camera_study/Scene12/k5_abdeg/render_g_aruco_detection.json index eae9a51..af6704f 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k5_abdeg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:55Z", + "created_utc": "2026-06-02T22:48:07Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "112cd6f1-702c-4e99-80f7-49a501314b46", + "observation_id": "b4e2ae1d-e5c3-46ba-8643-939ac3891279", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "2c406e7d-94ff-4995-8b38-60579dee2ac2", + "observation_id": "20787766-78eb-4a8d-abe0-3b09bc98b8e0", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "4ad5c36c-129f-4a1c-9165-c394a5bfbf80", + "observation_id": "a1aca30e-0423-4789-aa5c-a9568a4509da", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "1b3ea895-f213-40c3-be72-e4ee05da3789", + "observation_id": "2e6334d2-eb6d-4b30-a2b1-acdcc28902c2", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "ee337100-97db-46fa-855b-730f5c10c968", + "observation_id": "f1d58c71-0913-4d89-af75-07bf4018085e", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "8436be7d-4e8f-4d20-abf9-b933e2c5e9e9", + "observation_id": "f316f59b-0168-415c-a7a9-1d94c02c2847", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "3b3a7c9f-66c3-4af2-8686-45ce4715d759", + "observation_id": "ffd6cec1-d45a-4543-825c-7a537b144b17", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "476dd8c4-c237-4c16-9a22-6533e217ca34", + "observation_id": "35e0c1c6-eece-4b9d-b5c0-ef631cd1be40", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "c0786f99-9754-4b35-b448-219e0710a06e", + "observation_id": "f58d4c2c-33ac-43ec-a8b6-6b99a64ecdab", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "74f3fd7c-1639-4550-b8de-f3ee115c5c53", + "observation_id": "71bd1547-d016-4a3c-a97e-d24b03b7d4e3", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "7a6f7412-f997-4b52-998e-1d0a83ffb736", + "observation_id": "b0bf3167-ed38-46e2-8351-8370eede6df1", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "6521b21b-fcaf-46e5-be94-ce8586d1450a", + "observation_id": "bca843d8-98e2-4789-ad75-576536da7789", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "620f6403-b089-4d05-a609-640080cfce20", + "observation_id": "b3051cd9-05b7-4bfa-962c-329b02f7f603", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "1f664c5b-9ae2-4434-81c7-983971f8a089", + "observation_id": "edc51585-95f2-4e7a-8600-e1b850d8500b", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "1f17994f-5745-4509-bee2-c8e6b863d93b", + "observation_id": "c686660f-4573-4c11-a679-ff9a575acde5", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "7b0b5c1a-6ae0-44e9-a4bc-550c5cd84db2", + "observation_id": "4a280de2-17b8-4bb6-82ac-928e2a724695", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "435433e3-940b-4753-be0f-833cb9a7d63d", + "observation_id": "ec3c0aba-07e7-440d-85f7-990e94570008", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "24b854d8-cf54-43a0-b0c9-51fe48031af9", + "observation_id": "a19d3da8-4152-4fc8-8188-2c252bac6ed0", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "98c29d66-1046-4ce7-9c54-0a9540306ef8", + "observation_id": "17f2166f-716d-4f35-82ba-c1dcfbe4baca", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "0d347129-8d10-4c11-8945-9e10471b30d0", + "observation_id": "b5aa7265-e8f8-4f5a-860f-7a244faaf0ea", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "d2630fec-43af-4768-a069-263e3c0e658f", + "observation_id": "0e7d8154-76b2-46ff-ac48-d42018b3098d", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "e765991e-9d4b-40b2-879d-b5d3cb2fd4a1", + "observation_id": "38f05407-0f2f-45b8-a939-dac14113882c", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "2a988138-36e7-41b4-a062-8fafa3f57719", + "observation_id": "f7d22ea4-437f-4376-b44b-cd660c3497ac", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "b9d06383-87c9-4881-972f-351343ef2078", + "observation_id": "4d7a5ffb-5959-4e22-a89f-cf639f19edda", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "a7445a9c-41be-4777-82d5-7c2a3d5bebfa", + "observation_id": "ff6aa15d-5912-4af8-a99d-ced8eb7296ac", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "92a7f05a-1949-489d-a6a3-159eee664fcc", + "observation_id": "fc565654-8f1d-4fa6-88c3-9efa23337d83", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "9dedb77a-275d-4d20-96dc-c40ed1c9b228", + "observation_id": "1f3acc28-c50a-4f5c-a7eb-f26e98bfd1ed", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "e15b1d64-71b9-45a8-adb0-bf4e0306f07d", + "observation_id": "272fbfb5-bc66-46ce-8bcd-b2ab0ac77d46", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_abdeg/render_g_camera_pose.json b/data/camera_study/Scene12/k5_abdeg/render_g_camera_pose.json index 707d683..62a0ca5 100644 --- a/data/camera_study/Scene12/k5_abdeg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k5_abdeg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:57Z", + "created_utc": "2026-06-02T22:48:08Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_abdeg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_abdeg/robot_state.eval.json b/data/camera_study/Scene12/k5_abdeg/robot_state.eval.json index 0b209b5..ef14688 100644 --- a/data/camera_study/Scene12/k5_abdeg/robot_state.eval.json +++ b/data/camera_study/Scene12/k5_abdeg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 0.8336138609379304, "mean_abs_mm": 1.4514043786627866, "max_abs_mm": 1.4514043786627866, - "finger_error_mm": 40.22464832687352 + "n_unobservable": 3, + "wrist_error_mm": 2.272984505990991, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k5_abdeg/robot_state.json b/data/camera_study/Scene12/k5_abdeg/robot_state.json index 94dd033..ee87476 100644 --- a/data/camera_study/Scene12/k5_abdeg/robot_state.json +++ b/data/camera_study/Scene12/k5_abdeg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:03Z", + "created_utc": "2026-06-02T22:48:15Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k5_acdef/aruco_marker_poses.json b/data/camera_study/Scene12/k5_acdef/aruco_marker_poses.json index 63daa2f..19069e0 100644 --- a/data/camera_study/Scene12/k5_acdef/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k5_acdef/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:34:44Z", + "created_utc": "2026-06-02T22:47:55Z", "summary": { "num_cameras": 5, "num_markers": 22 diff --git a/data/camera_study/Scene12/k5_acdef/aruco_positions_initial.json b/data/camera_study/Scene12/k5_acdef/aruco_positions_initial.json index e56e62d..9f434f8 100644 --- a/data/camera_study/Scene12/k5_acdef/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k5_acdef/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:34:43Z", + "created_utc": "2026-06-02T22:47:54Z", "summary": { "num_cameras": 5, "num_markers": 22, diff --git a/data/camera_study/Scene12/k5_acdef/aruco_positions_optimized.json b/data/camera_study/Scene12/k5_acdef/aruco_positions_optimized.json index bedc2cc..fd10d3e 100644 --- a/data/camera_study/Scene12/k5_acdef/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k5_acdef/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:34:44Z", + "created_utc": "2026-06-02T22:47:55Z", "summary": { "num_cameras": 5, "num_markers": 22, diff --git a/data/camera_study/Scene12/k5_acdef/render_a_aruco_detection.json b/data/camera_study/Scene12/k5_acdef/render_a_aruco_detection.json index 21ad6bc..194e6e5 100644 --- a/data/camera_study/Scene12/k5_acdef/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdef/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:40Z", + "created_utc": "2026-06-02T22:47:51Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - 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"observation_id": "3a4d98b7-1417-4aaa-b8e5-6b80eee4508e", + "observation_id": "e9f76d6a-509b-4f05-a587-4fe8679a7b11", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "aad2acbf-e0f1-43d0-97f9-549dfee46c80", + "observation_id": "2ec263c7-a27b-41ba-b88c-31be34263364", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "f9dbfd87-1a23-4176-95fc-061313bf6595", + "observation_id": "7a96d084-e1db-423d-ae73-57a05c0fc6d0", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "b0bbcca3-8d60-4e40-b756-c4e6869ad44e", + "observation_id": "f89bd1d1-2fd3-4841-9973-6783ed0f7fd4", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "e0eb230d-2cb4-4397-9c5c-17d805099320", + "observation_id": "b0c435a0-0cc2-4e9a-88dc-fc7f7790ccba", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - "observation_id": "59799ca6-903f-4f1b-a2f3-196aae867976", + "observation_id": "ba298a08-3b11-4baf-b935-84cfe41a7dcd", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "ee672491-9aff-4147-b2e6-78e430e6d869", + "observation_id": "11db96b8-4ef6-44c8-9eb9-d19cf46db1e4", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6589361768588983 }, { - "observation_id": "b50ae1f8-fc05-4aec-9485-9d97d4e97c75", + "observation_id": "e83b3dde-3bad-42eb-86e0-b7073069deb4", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "7047805d-c0b1-42b6-804c-08a0387648af", + "observation_id": "f550197b-2298-4932-a1a7-317aaedea395", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "ec83f8e8-9a61-44f6-babe-aac52fbbeec2", + "observation_id": "0e46049e-561f-44ed-ad5f-27cff920d9f9", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "d48e5e23-4af9-4fc5-8dfb-9157596e3911", + "observation_id": "580cb52e-b842-4601-ac8a-8938a95c5717", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "3b96fe11-818d-4b02-8805-15d1d50b84a9", + "observation_id": "72c4aed9-5fe8-4478-b7d7-4e10151644a7", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "8f9dacb4-4678-4ac9-a2cc-4b1cca636d94", + "observation_id": "02c5ec2d-abd9-4daf-929a-fbedf340543c", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "4d535b0a-8ff4-4cdd-8b20-492547742973", + "observation_id": "26d9b152-8b1d-4e24-bfe4-21e3f8351e2a", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "08595ab0-663d-4371-936a-ec634f872aff", + "observation_id": "6bb4b53e-5746-4788-9430-21aa520d3a2a", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "11320da7-3f3b-41e7-925f-18e54df1efd9", + "observation_id": "5a6fad7e-3fd0-45b5-bd36-4ab067600528", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "49307414-1e6c-4000-acb4-4ecfdd858fcf", + "observation_id": "dff9aad7-1618-4ca7-b4e7-982732c4ddbf", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "c66368cc-f349-4ea4-87e5-7b0e3bdfb599", + "observation_id": "e935187e-a55e-4a73-815c-07ddfe7c228d", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "1a46b353-72d0-49b5-b1c9-1f7c28af66ba", + "observation_id": "f5873594-a41a-43c7-80d3-6b1294e66510", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "6bf46c07-f071-45d1-be13-40688edcf599", + "observation_id": "3bd331d7-50cb-4abc-8d4c-c72d107286b1", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "db5f6f8a-2c81-43b3-ae9a-23ee56f6aa1b", + "observation_id": "b2932d9f-2a73-4f01-bd1e-ad6222395fbc", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdef/render_a_camera_pose.json b/data/camera_study/Scene12/k5_acdef/render_a_camera_pose.json index 1ff88ca..f17834b 100644 --- a/data/camera_study/Scene12/k5_acdef/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdef/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:42Z", + "created_utc": "2026-06-02T22:47:53Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdef\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdef/render_c_aruco_detection.json b/data/camera_study/Scene12/k5_acdef/render_c_aruco_detection.json index 6ed805e..e4840b4 100644 --- a/data/camera_study/Scene12/k5_acdef/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdef/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:40Z", + "created_utc": "2026-06-02T22:47:51Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a34b8aed-1eaf-4f7f-aa12-e7cda9478c5a", + "observation_id": "f3d8129e-f701-485c-9326-4a138238bdad", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "e0545c53-aad5-4120-93c5-4b6f7da42090", + "observation_id": "43883fdf-89a6-4f54-a757-bdb5f61bebc7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "ccbda0f6-1643-45de-b3fc-814afa404eeb", + "observation_id": "74596f5d-d565-42c7-9b83-70d719845a61", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "5b8cc8ab-34d8-468e-890d-0bfc7d4276d0", + "observation_id": "ccb1f8bc-0169-436e-a8f0-5bd1633b3bbb", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "f38227e3-1029-4ec4-b184-219e898ca483", + "observation_id": "14d8c719-9fab-4578-9a2e-60357971375f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "030da12a-cb7b-46ea-85f2-300dfe50f928", + "observation_id": "55024acb-1bff-4eb7-949a-e1f570d8190a", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "7661fe6f-c465-4ed1-91ab-94cdc866c035", + "observation_id": "1f6b1617-b3a4-485e-b10b-dd72b6c9e60a", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdef/render_c_camera_pose.json b/data/camera_study/Scene12/k5_acdef/render_c_camera_pose.json index 01d9f88..8299371 100644 --- a/data/camera_study/Scene12/k5_acdef/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdef/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:42Z", + "created_utc": "2026-06-02T22:47:53Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdef\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdef/render_d_aruco_detection.json b/data/camera_study/Scene12/k5_acdef/render_d_aruco_detection.json index c7b1102..134c99b 100644 --- a/data/camera_study/Scene12/k5_acdef/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdef/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:41Z", + "created_utc": "2026-06-02T22:47:52Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9fe43e6b-9d69-4e4a-abe3-fe7225c06341", + "observation_id": "d08a2312-644a-4a7c-baca-381d01fdb582", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "22020131-b66c-4623-9977-c2a429208a56", + "observation_id": "bca1f5bb-a436-4a00-9c4a-9b8062f390a5", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "b1577424-7728-4bba-af8b-0c45e770e416", + "observation_id": "e5f090e9-49f7-44f2-b99d-92cf24cead3a", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "b68e99a6-9706-4c24-b1cc-a364a4af1aad", + "observation_id": "c558b233-4adc-485e-9536-4a2ab161a2b1", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "f281ab84-d7c7-4e1a-b2ce-9e5183cfba08", + "observation_id": "00747fb4-c2df-4293-9df8-461573661a55", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "d4184056-8a20-4968-8c38-ab0244206ec8", + "observation_id": "0d6c046f-a1a9-42f9-92db-b16387e9437e", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "a48c2972-ad1c-4a40-b905-0fa6a336dda4", + "observation_id": "1cc32ab3-1471-4eaf-a2fd-66b613a2a54f", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "0c1b6ff2-52e6-4389-9564-6408df8e63f6", + "observation_id": "28c545a4-68ec-4413-b28b-bfa42a9bdf11", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "b8d5ee6a-c747-4d8e-8d44-d590ab385839", + "observation_id": "bbc4dbd1-38b1-4175-854c-0fc6f05618b7", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "c4770c95-f8b2-400e-add8-5c9f69706410", + "observation_id": "dd9766cd-9416-4b11-882a-7e1e5e1a0377", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "116d9738-f75a-4d62-8a3a-c8d9fad57a2e", + "observation_id": "daa16c70-5a71-44e2-bf58-8dda8b985938", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "de3dc315-4219-41de-a6c2-470f07fd7a4e", + "observation_id": "d73841a5-4359-4db5-8c86-db86e12b56f3", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdef/render_d_camera_pose.json b/data/camera_study/Scene12/k5_acdef/render_d_camera_pose.json index 50955f7..e5cb5be 100644 --- a/data/camera_study/Scene12/k5_acdef/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdef/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:42Z", + "created_utc": "2026-06-02T22:47:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdef\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdef/render_e_aruco_detection.json b/data/camera_study/Scene12/k5_acdef/render_e_aruco_detection.json index 6d61799..4089ae7 100644 --- a/data/camera_study/Scene12/k5_acdef/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdef/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:41Z", + "created_utc": "2026-06-02T22:47:52Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "c90d831b-297e-4291-994c-91ad38954a97", + "observation_id": "8d5c3b82-2500-48e4-9aeb-bc6b1089fc81", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "34490da2-bec6-4330-bca5-64cd1630a3a8", + "observation_id": "68758f48-2c2c-4d2c-b5f6-60865e7ec8da", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "d7fc5dc0-ad0d-4f9e-8240-f9ae4362eef2", + "observation_id": "575261c8-e47d-4e1d-9ac7-b70bce77420f", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "c23e1665-5a62-4c1c-bb44-498a0e231072", + "observation_id": "ca90e4da-ff99-4065-99a7-990fcddcefe0", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "210ba67e-fd2b-4596-8a6c-5244c755525e", + "observation_id": "b292de0b-984c-4019-8753-b63a55a40475", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "a3cd3070-abf6-4423-a391-0a2302d338f0", + "observation_id": "c24c661f-c2ec-49d3-9f81-ab52310b82ab", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "bd35fc59-4ac8-4fe8-9c12-9054172f2e4c", + "observation_id": "2a652068-2ed7-472f-932a-79247ee3c2a2", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "76d1620e-dbd6-4b12-9086-d5e4f8e6e2c5", + "observation_id": "42a855a4-cdf4-43fb-a6e7-b0ee541cce70", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdef/render_e_camera_pose.json b/data/camera_study/Scene12/k5_acdef/render_e_camera_pose.json index 978fdab..fce5ecd 100644 --- a/data/camera_study/Scene12/k5_acdef/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdef/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:43Z", + "created_utc": "2026-06-02T22:47:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdef\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdef/render_f_aruco_detection.json b/data/camera_study/Scene12/k5_acdef/render_f_aruco_detection.json index b340147..932c60f 100644 --- a/data/camera_study/Scene12/k5_acdef/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdef/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:41Z", + "created_utc": "2026-06-02T22:47:53Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "963bee71-f5a8-4703-a379-cb1e85102884", + "observation_id": "7937d44b-bba5-4665-8f2e-02a80eecd721", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "862e727f-62e6-4222-8d5b-bbb0e9af774f", + "observation_id": "6b2c413e-b662-4fdb-9da5-ab5fecec21b6", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "ae2e848a-386c-430b-a350-fa1969a8f755", + "observation_id": "e0255c99-42c7-46ac-843c-cacd9071bc3d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "51b1592f-c234-40d7-a9f2-006d78dfc9f6", + "observation_id": "9ccf2707-2918-4979-b68a-6b60e0e648cd", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "07b9bef3-f36c-4eed-a190-f868c561b6b6", + "observation_id": "fba206c4-d1bd-4354-90c1-027ca34dbbde", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "c8f5a8cb-eb8d-408d-a472-f873db20d58a", + "observation_id": "d9a6c60b-526d-4b1e-ab27-e46f22998fbc", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "3851e58b-5daf-4cad-a4d9-c00acf0db263", + "observation_id": "0861b044-8fb1-4535-b0ca-104e0c730e65", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "782aa9ee-5e7c-4d89-a731-bc711190af20", + "observation_id": "31973dee-0dec-4433-843c-230e6e594340", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "8fffdb9d-2507-4c53-afe2-69662974c5b6", + "observation_id": "9358060b-9e88-4331-a745-80418bbe57f5", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "5f190ac4-7942-415d-a6e9-9f7901e8feed", + "observation_id": "6431b8b2-ecfd-493d-8e3b-c99fdd9f4950", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "988a695d-0b5e-4656-873e-99556a4b5b6f", + "observation_id": "3bc92a8b-e2a2-417c-947b-05dac3f02567", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "f77cfcf2-03d6-4ef0-b58d-eba62f1d02dc", + "observation_id": "35278212-25f9-4155-b709-c7a6527395b8", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "05b8e748-3e1e-42c8-bfc7-d3301e820db7", + "observation_id": "ca5f0b99-c678-410b-a733-982279bbbea6", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "13958ea1-a047-4cac-a3d3-acebc73e0892", + "observation_id": "bad8b5ea-ab29-4bfc-80ca-1ba10aa86a77", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "9a38edc5-9b9f-4d58-b384-f8e93deb031d", + "observation_id": "95488d17-ad44-4c19-9f45-e0700191c261", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "e45599cd-fe37-4c8a-8381-fd53b166b281", + "observation_id": "1bf472b3-5615-46b3-9691-5dc38b6a84ca", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "8ffd026b-f193-40a1-ba03-3066e7079bf4", + "observation_id": "86b752ef-7cdf-4aa3-b8d1-9957532c56c6", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "92580e27-a40c-432d-a8db-1359a6af1513", + "observation_id": "51217128-7144-4b44-9999-43df814f5a4f", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "8084399b-5e49-47fc-b259-a850eb3dfc7a", + "observation_id": "810133b8-7380-48d0-a128-f173eb18cff0", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "6af5b6b2-653b-41d8-95e0-ab6b6c7258ce", + "observation_id": "dafa4660-cd88-431e-abdc-8511e33a6dca", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "8d50c50e-9528-45f4-8880-25df3aee99a4", + "observation_id": "73baa6b5-8886-4d52-ac2c-9503ad3530a2", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "ab894a2c-270c-4bf5-a47d-63995657caa3", + "observation_id": "711b2ba0-2c85-4df9-b508-21949c68f61a", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "2185038b-1e27-4473-ab97-d6bd95fc89ac", + "observation_id": "6ccfd6da-35f6-4f84-9004-e91d4db09d3a", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "bbbbf64f-8174-405c-842c-53ab9be4e079", + "observation_id": "8c16f112-0980-4964-a0cf-63fee4a9a082", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "0f7f86f7-8f76-4933-8b48-fb9da4c20551", + "observation_id": "5d2d8fb1-a31d-4e5b-af1c-b8746aafa88e", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "4e176711-b378-4561-af2b-24b90057c44c", + "observation_id": "18da830f-f976-4455-a03e-aa129f40b135", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "7493b9d3-223d-4837-9fa4-9020174937df", + "observation_id": "aaee1b29-549e-475f-825e-79747b8c1371", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "8ed0d94c-2b98-464b-8349-6ffc0745e409", + "observation_id": "0a9671cd-9300-4c88-88d8-f63a756b0cbe", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "20fdfb3a-ee88-458a-9912-4f1b84d88fdf", + "observation_id": "6ad467b5-9aab-4450-a01d-486235f08770", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdef/render_f_camera_pose.json b/data/camera_study/Scene12/k5_acdef/render_f_camera_pose.json index 84cc925..c9b43d8 100644 --- a/data/camera_study/Scene12/k5_acdef/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdef/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:43Z", + "created_utc": "2026-06-02T22:47:54Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdef\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdef/robot_state.eval.json b/data/camera_study/Scene12/k5_acdef/robot_state.eval.json index 0edad96..225459f 100644 --- a/data/camera_study/Scene12/k5_acdef/robot_state.eval.json +++ b/data/camera_study/Scene12/k5_acdef/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.004219117474122, "mean_abs_mm": 0.9593740438191674, "max_abs_mm": 0.9593740438191674, - "finger_error_mm": 40.723889599319364 + "n_unobservable": 3, + "wrist_error_mm": 3.3027758341214093, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k5_acdef/robot_state.json b/data/camera_study/Scene12/k5_acdef/robot_state.json index 25fdbea..d220562 100644 --- a/data/camera_study/Scene12/k5_acdef/robot_state.json +++ b/data/camera_study/Scene12/k5_acdef/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:34:45Z", + "created_utc": "2026-06-02T22:47:56Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k5_acdfg/aruco_marker_poses.json b/data/camera_study/Scene12/k5_acdfg/aruco_marker_poses.json index 6e331a9..cabb475 100644 --- a/data/camera_study/Scene12/k5_acdfg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k5_acdfg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:35:24Z", + "created_utc": "2026-06-02T22:48:38Z", "summary": { "num_cameras": 5, "num_markers": 28 diff --git a/data/camera_study/Scene12/k5_acdfg/aruco_positions_initial.json b/data/camera_study/Scene12/k5_acdfg/aruco_positions_initial.json index cf6d0d9..2ac5433 100644 --- a/data/camera_study/Scene12/k5_acdfg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k5_acdfg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:35:23Z", + "created_utc": "2026-06-02T22:48:37Z", "summary": { "num_cameras": 5, "num_markers": 28, diff --git a/data/camera_study/Scene12/k5_acdfg/aruco_positions_optimized.json b/data/camera_study/Scene12/k5_acdfg/aruco_positions_optimized.json index 8c42d68..dc71918 100644 --- a/data/camera_study/Scene12/k5_acdfg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k5_acdfg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:35:24Z", + "created_utc": "2026-06-02T22:48:38Z", "summary": { "num_cameras": 5, "num_markers": 28, diff --git a/data/camera_study/Scene12/k5_acdfg/render_a_aruco_detection.json b/data/camera_study/Scene12/k5_acdfg/render_a_aruco_detection.json index 1d69b6a..fa774c9 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_a_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdfg/render_a_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:19Z", + "created_utc": "2026-06-02T22:48:33Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "9bb8b5d8-edc0-48ae-b095-470591320a84", + "observation_id": "dc286ec6-62b9-41d6-8c79-0e6f0ce7a38b", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8144918466731644 }, { - "observation_id": "ee139504-edfc-4c88-b1d9-3521308c1398", + "observation_id": "53621b4c-c3f2-41eb-9c89-c7f32d86f1e3", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.45573027871641286 }, { - "observation_id": "9227d275-246e-4922-82a1-ada088bce65a", + "observation_id": "a7711e6b-1fba-4122-b184-5092a78dd31d", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.5455570235395628 }, { - "observation_id": "a49bb919-ee3f-4fb7-ae0d-835ccce4906c", + "observation_id": "7c2e76e0-c780-4c49-8f68-6e56f22b669f", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.8492885602498799 }, { - "observation_id": "6302237a-8852-4d2d-8f48-df508c02188c", + "observation_id": "f8aa276d-a8af-4077-8e7b-b9fc4f8c57ff", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7524431457735686 }, { - "observation_id": "5923128a-16ac-40ff-a07d-b5c856e3a444", + "observation_id": "ad567daf-79c7-4b82-a8a3-08f23175d224", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7225899346789976 }, { - "observation_id": "343e26f5-464c-400c-80ce-35a8981e0074", + "observation_id": "f48c3ed1-ed3d-4362-88c9-23434fd8db3f", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.8623788434718633 }, { - "observation_id": "87dd2040-8b9c-4655-9911-5508f99cd534", + "observation_id": "feb4e15b-f973-45fa-a1f8-1b5c19269ac4", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.7653498798574592 }, { - "observation_id": "a7f28254-50ef-47f9-bf83-2b7a5fc14850", + "observation_id": "5242e358-4135-40ec-a0bc-72236b912fc7", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.7704666026640716 }, { - "observation_id": "ca3ede11-82ab-4b35-9e27-58863d46a616", + "observation_id": "934b71cd-2176-4d9c-89f4-ae44102cefa4", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.7309457014059588 }, { - "observation_id": "bae941f7-7e13-4a82-bce5-c992d807ccb3", + "observation_id": "510aab01-eb08-416f-b8ca-c6385c5a2978", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.736949972185568 }, { - "observation_id": "65c33117-ea95-44c6-be33-8276cc078b6a", + "observation_id": "6da9ee1f-bbeb-4211-8717-61999c8465ff", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.6009158909685631 }, { - "observation_id": "e29830f3-e67a-4b49-a7ed-de7fbc91b89b", + "observation_id": "16049e70-a08b-4bb5-9f4e-70f44586c8f3", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5963354569243849 }, { - "observation_id": "4e94661a-bb02-409b-b357-cd6cf1f3bffe", + "observation_id": "409214c7-674f-463a-9243-3c9f43c3c0e4", "type": "aruco", "marker_id": 218, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5681212514690673 }, { - "observation_id": "42534f71-f5f1-40f2-bae4-d7022df932f3", + "observation_id": "e83b1d2c-9464-4383-8026-d25fcd2a9189", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.556857500290701 }, { - "observation_id": "6c7024e5-6601-4bc4-962d-043298b67fde", + "observation_id": "7c594357-1ae9-416b-88dd-0d939000bb20", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6128519038478318 }, { - "observation_id": "88fdc068-385e-44de-8188-c1f022160c41", + "observation_id": "50eaf24f-7c69-4d44-929c-4b83698b37a8", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6589361768588983 }, { - "observation_id": "eaab110e-eaf7-4e83-ad72-280bbe749737", + "observation_id": "b6651897-bd56-451b-ac11-2b3a717c1929", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.6416409063775428 }, { - "observation_id": "cc83911b-1f8c-4294-ad6b-d974b5f213ac", + "observation_id": "94342579-9418-4852-a237-46f8b7c042e3", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5188246379772157 }, { - "observation_id": "4cbe2afb-1a0c-4782-9763-df9daec48a32", + "observation_id": "376677ce-8ffe-431a-affb-e0963a3686f0", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5737366218664377 }, { - "observation_id": "dd2ef8bf-f993-4a07-abc5-378a921cc4e4", + "observation_id": "2b0b0eed-3efe-4f0b-bcf4-010a24e9b971", "type": "aruco", "marker_id": 40, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5678070300850576 }, { - "observation_id": "932e2c8b-91ca-4822-be1a-53512a813e0f", + "observation_id": "e9e2bf15-1a38-477d-a066-16d58aee4256", "type": "aruco", "marker_id": 219, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.43431156291984985 }, { - "observation_id": "ecf78865-4186-4897-9595-e8986a9484bd", + "observation_id": "a6c5aa5b-398b-477b-8335-5cffd0aeaf64", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.3538655141518615 }, { - "observation_id": "add20bf6-52f4-414d-aa32-a31bfb95a18a", + "observation_id": "0cb16535-36c6-43d3-91be-82df9bfdcc14", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.35500593874581543 }, { - "observation_id": "640b8795-fb7d-4c94-a373-c3b9a68946db", + "observation_id": "76aa6175-cbd8-4c9f-94df-98c37e520f3a", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.23237973044271648 }, { - "observation_id": "b4a56d80-850c-464e-ae86-0bf80189ce17", + "observation_id": "4efae9f3-0fdb-49c9-adc2-f7ab288587e2", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.4036300214106436 }, { - "observation_id": "d847033a-42af-4234-9536-fae76b7b887a", + "observation_id": "d2d79093-47cc-4a86-aa3a-c351a3e177cc", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.3061711135325228 }, { - "observation_id": "374e980a-199c-4eeb-b6c7-7c5361c338ad", + "observation_id": "2c572758-1ddd-4ed2-98a1-fc3882f590c7", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.33198985414097737 }, { - "observation_id": "b6eee641-fdb0-4ad8-9e9b-15f5c3d91a51", + "observation_id": "afa15151-f6ca-44be-a421-c6d7b3c03ac4", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.2694940199057334 }, { - "observation_id": "de7178d4-9afe-4bab-bd7d-279859062494", + "observation_id": "08e0b3d5-2f6b-453b-a74c-09c296d93b55", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.25141344849446345 }, { - "observation_id": "4432441e-8e9c-44b0-b5cf-9ff74f9542aa", + "observation_id": "71128206-9640-41ae-939a-6e2cbaceb7af", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdfg/render_a_camera_pose.json b/data/camera_study/Scene12/k5_acdfg/render_a_camera_pose.json index 27d30b6..567d684 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_a_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdfg/render_a_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:22Z", + "created_utc": "2026-06-02T22:48:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdfg\\render_a_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdfg/render_c_aruco_detection.json b/data/camera_study/Scene12/k5_acdfg/render_c_aruco_detection.json index 009a60f..92426f2 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdfg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:20Z", + "created_utc": "2026-06-02T22:48:33Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "a117f84a-83f3-4742-8c71-7df10e480259", + "observation_id": "bdc51303-b2fc-4456-b668-4ba9f56d58bf", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "278ef0ac-a33c-4e4a-9295-e80daad99652", + "observation_id": "41642077-3001-49d0-a660-4fb7c02d3fd1", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "2c014e23-548b-45a6-9927-ea91904d24d1", + "observation_id": "558fd5c4-0410-474b-a72d-c36983fe11da", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "8c059916-95d0-43bf-a337-450483f00fe6", + "observation_id": "488a6b22-f66e-402c-8195-00cb1fefcaca", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "36f6b87a-cc9b-4144-905a-3196e4edd9f5", + "observation_id": "d7445960-3267-4db8-9399-5d59e83342da", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "fa99fd15-f79a-436e-a5c8-c3ffb5f40974", + "observation_id": "49e9f4b5-a00e-48b7-b40f-f471688d2186", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "e14d4a3b-fb58-473d-bd0f-8d0bf19d00f9", + "observation_id": "215e6737-e8b7-4f21-b8e7-b1dfc90d9f73", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdfg/render_c_camera_pose.json b/data/camera_study/Scene12/k5_acdfg/render_c_camera_pose.json index 8c4011d..3c2b9e4 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdfg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:22Z", + "created_utc": "2026-06-02T22:48:35Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdfg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdfg/render_d_aruco_detection.json b/data/camera_study/Scene12/k5_acdfg/render_d_aruco_detection.json index ec7a912..bf9ddef 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdfg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:20Z", + "created_utc": "2026-06-02T22:48:33Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "4eeb0eb4-45db-4bbf-946c-fe026485bee3", + "observation_id": "93105c4b-41d6-454c-b878-4625cc3df81b", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "a51c8f68-a4f2-4477-9386-5617c509e935", + "observation_id": "43834946-dafd-4beb-bff8-46d758b57476", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "2ba74787-bcf0-45bc-ac9b-636eaa98d966", + "observation_id": "6a2913d2-62a1-4b3f-9172-6c5ca59f6f0a", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "f3d213b1-bb0a-4db4-b436-65a85687f93c", + "observation_id": "4d65002a-f166-4c27-bd38-c527b6fce779", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "0fc1ca37-b17e-4d5b-aeb1-b3537fac2a6b", + "observation_id": "04c9b455-6433-4e2d-a51b-155680ffd16b", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "08fa7cce-564b-46e8-b176-2b5aa00db5c9", + "observation_id": "546a5b9b-2e1a-4d98-8f32-f6d2dc7248a2", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "424e9e43-bd4c-408b-b5d9-2117c0e48bfe", + "observation_id": "d5dbb762-0274-4aae-9b6e-b66fe2175b6e", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "f9af312e-70bc-49ee-8ae7-dbccec8bae27", + "observation_id": "8a29b55e-2da6-4035-9fc0-f95c2645b7d2", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "99f5fd3c-b06d-4f2e-a35d-7d7660245932", + "observation_id": "69830c65-a9da-4a8a-83fc-b15f5424ac21", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "f9333f82-6fc4-4159-8577-45e31aaf193b", + "observation_id": "704e37be-c27d-4939-81a8-916101aced0f", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "4f87b7a4-0e92-4aa2-adca-e681fb5b072a", + "observation_id": "60015420-411d-4600-a0e1-0847f1c93086", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "7d47c162-5f8c-4012-b7a3-37ad9c0dd073", + "observation_id": "08e67364-9a8f-4573-9f72-8a9c6b242bc1", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdfg/render_d_camera_pose.json b/data/camera_study/Scene12/k5_acdfg/render_d_camera_pose.json index b7e7d94..79ad2e4 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdfg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:22Z", + "created_utc": "2026-06-02T22:48:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdfg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdfg/render_f_aruco_detection.json b/data/camera_study/Scene12/k5_acdfg/render_f_aruco_detection.json index e635ac2..8613aaf 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdfg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:21Z", + "created_utc": "2026-06-02T22:48:34Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "85514387-bf44-4b8d-bc77-ae4a1fe87836", + "observation_id": "cb90aa7b-03bf-4237-99e0-50970acd858d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "7db03b04-c1ce-4199-8274-e4f76e610250", + "observation_id": "eac6a753-3ebc-43a3-a6b6-778327c56057", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "57881a7c-19b9-4f5f-86b3-eaf2f41b4267", + "observation_id": "d91c95ea-724a-4c17-941b-b449e9220120", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "01092e01-4213-41dc-8641-f9ed2cb01264", + "observation_id": "5be33edf-ec8a-45f7-9270-9cb5b9a712f3", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "c8dad98f-785f-4240-9685-14567f028e60", + "observation_id": "abb16775-a97b-4de9-b7eb-7550cdf9e4cb", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "994c05cd-f7dc-4eaf-b192-9c3d6df6ac45", + "observation_id": "1bf59898-2968-46f7-9ec5-5fb4a302d496", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - "observation_id": "5e5eae9b-06fd-4677-8d8c-f3071947b122", + "observation_id": "3b98cf18-26bb-47cd-99c2-975c9b5dd686", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.2405163644043805 }, { - "observation_id": "153e9cbb-f55b-40eb-a897-b8de40017eea", + "observation_id": "72ff44e9-9ea5-4259-adb0-e19288eb832a", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6606581481915969 }, { - "observation_id": "13db2625-dfe6-4405-8dae-092dd1f3ded7", + "observation_id": "3fdbe597-1a3b-4c56-9bd2-cb997cc192b8", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6728883274214383 }, { - "observation_id": "0d3a3fc0-294e-49a4-beed-48481960e900", + "observation_id": "6e63329a-0e92-4ea9-aab4-ada7f6e1838f", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.6747903473348275 }, { - "observation_id": "3eba7cd5-58b2-4568-a681-f7207f7ea067", + "observation_id": "ce5d0b31-cfb9-45b0-ad1e-ae272f81320f", "type": "aruco", "marker_id": 97, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6946666666666667 }, { - "observation_id": "e969d4d5-abac-42f7-97a1-9dd784606cb0", + "observation_id": "8eed02cd-8e4d-48e5-b80c-edae8e73af18", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "38d50f0f-a01b-43bf-ad70-62cd2bff465d", + "observation_id": "1ab8ecfa-78af-41c7-b1c1-62b8d28117f1", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "eda7c8b3-af1e-4952-8340-0eaf69dea466", + "observation_id": "dee7d33b-0d50-4718-a30c-0c49afa91201", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "414e8b85-f8bd-4684-b227-167b5b1038bd", + "observation_id": "0394d799-2fd1-4da6-8d29-97cd2bd2dc09", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "e5c140a6-e097-4be8-820c-d20e3f3223ec", + "observation_id": "a59be9af-eab2-4fb2-8b80-709a537a2ded", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "1018093e-b918-421b-97f0-4f4d1fda518b", + "observation_id": "bb81ac1a-0fa7-4fa0-9c57-998da0069cf2", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "8cf1d85e-adb6-43d7-87c1-2492ac3ded55", + "observation_id": "ef2e988a-7b58-429a-b912-5a72b21e2ab3", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "e4f63b2b-0648-4956-9be9-62850eb75d9e", + "observation_id": "492f35e0-6753-4888-b076-75bd82db9a00", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "d9d2d01d-3d3b-4677-8f1a-2552f14e073e", + "observation_id": "e4cf7390-aee9-4596-83c2-f156557e4181", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "c6dec808-a652-4100-b8f1-62f9a856fbbc", + "observation_id": "82e05a9b-da89-4396-a176-ba4baa04202b", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "06fd7ff1-02c9-418b-845b-5a4872e10a3c", + "observation_id": "05caedc3-c1af-48ff-8ed1-beb17378a400", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "a3679f78-12d4-40ea-bb80-b086bda7937a", + "observation_id": "3dbf976b-d8eb-4bf6-9bf2-42e08bf48a0a", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "d7085644-09df-40fe-886f-9a5611adcb50", + "observation_id": "d702c94f-aca2-4795-aafc-7f3302ec97f7", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "3442dffb-5f39-4afa-a750-758e670eb3f9", + "observation_id": "1b34aa61-11c1-4e12-91cf-ff281f5a8c57", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "d949adc2-4c53-46ad-8565-21c0c44cf629", + "observation_id": "9364c960-0e35-4a96-be3c-f90800c9a876", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "25125545-eb66-4ecc-af17-e5e4248be517", + "observation_id": "c47721b2-b44b-4006-b6bf-09f3ad663feb", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "1759b028-94c6-44d2-8109-caa59e25cea9", + "observation_id": "2b960d81-8ef5-4677-95c7-3d26471dfa65", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "02e7834e-7f75-41a3-b4bc-6c0c2322d1bc", + "observation_id": "37a0da94-6377-414b-84f1-150762b2915f", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdfg/render_f_camera_pose.json b/data/camera_study/Scene12/k5_acdfg/render_f_camera_pose.json index 135cfb5..d4263de 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdfg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:22Z", + "created_utc": "2026-06-02T22:48:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdfg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdfg/render_g_aruco_detection.json b/data/camera_study/Scene12/k5_acdfg/render_g_aruco_detection.json index a0dd4be..ffc0b2b 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k5_acdfg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:21Z", + "created_utc": "2026-06-02T22:48:35Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "90cc780e-8ce5-4e42-9397-3d5e00ab4352", + "observation_id": "5f4f3f13-3679-4a36-aeea-b9c7f84b7530", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "f5c672f7-0b87-4fc9-aa5c-725a840af55c", + "observation_id": "3504fae3-f79a-408d-8363-002e269441c7", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "f222fd0a-cfc8-4481-8c89-4c53c6cd9067", + "observation_id": "da844237-9faa-46e6-a756-065e52122a8a", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "9c7a8ba8-4353-4352-aa9d-f51fed2b55fb", + "observation_id": "8626ce9b-0239-4c44-97d0-16827ade8904", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "25f5bd90-cf95-4f83-a683-3d3c1c92f68c", + "observation_id": "c52632be-4ea2-480c-9200-0075ecaff8e4", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "d7f8e0cb-d017-42b5-a0ca-8a90f1eaa5d4", + "observation_id": "521716c7-77a0-4aeb-874a-ee0f56d4764c", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "1417a1f1-0440-4558-ac8e-653a3e8a1f7d", + "observation_id": "d91ff505-bce4-40a4-a67b-374bb532c02e", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "153b0b3d-498e-44c2-af73-a87cb08e30fc", + "observation_id": "aa560e7d-4a07-4976-9c0d-f3035b8c83ae", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "41ecda11-ab43-4987-96aa-34bfb3a48b59", + "observation_id": "9e3fe7eb-3bab-4749-9d32-d4376846da66", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "9bb6d726-9c77-4d01-adf9-a53f53337574", + "observation_id": "eba9d658-231f-4cf9-a944-29f81fdf5e1d", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "8e9330e0-e12d-4a87-a6e6-013bb966cddb", + "observation_id": "7bcfd852-9af4-4c56-b2c0-5cdaf765750a", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "e93792b7-b3cb-455e-8d5d-1a5985b41c81", + "observation_id": "1fe96231-2f05-47c3-8faf-62ad4e5556f5", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "af9f881b-68f5-49aa-afce-e6c3f4ca7b7a", + "observation_id": "18d691dd-e3da-4410-b81d-dd347f90e713", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "46efeaea-087c-42e8-b009-c0fba0862df0", + "observation_id": "f63a2601-0acd-4bd0-a94b-b6b5b1c4ced7", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "ff583191-4041-4091-a37d-1e572664f35c", + "observation_id": "69cc5307-008a-4642-bb24-733844447bad", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "87dc7e66-d9b6-4ad5-a5e1-8b5addb94a9d", + "observation_id": "5484e469-35a8-4de3-ab6e-0655fec7e865", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "4157a3ea-6668-4132-ade9-6913dd7591f2", + "observation_id": "7ad2f315-6809-42cc-b73d-8a5e9558bac6", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "cb7f6d11-f660-4e05-88a5-84a680559d15", + "observation_id": "31880bfc-d013-470f-a077-7b896fb799a0", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "8e063a4e-2d6e-4c87-b133-b067dc375db4", + "observation_id": "bef0be05-52fa-46d8-a603-2669c947940a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "17e463f4-e3db-4545-aada-498366140eda", + "observation_id": "fc3dbead-f02c-4ad1-ab84-42687db5fde3", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "587b2b95-7e27-4da7-89f0-53f93c3f67a3", + "observation_id": "69f5766e-49fe-42d3-8936-da78ba9aa2e1", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "82ae4038-a964-4806-90be-f5d77eb00306", + "observation_id": "9be0af5a-cc52-494a-befa-c2a46449c19c", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "48f4d585-183e-4fea-b35b-efaad2a5fd35", + "observation_id": "b4caaa47-eda3-4517-9384-f5f0745da336", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "13b4282b-5498-468d-a2f8-4bcd554e1f2a", + "observation_id": "8a2ae565-bddb-45f1-9630-783c2329eaee", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "fcbf98c3-7d95-499e-a50f-b7e179f3aed5", + "observation_id": "d2aaf027-a05a-4348-bc65-0084306f612a", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "35162c05-ca3a-420f-8389-69c9a0266247", + "observation_id": "83257033-7afe-47f9-8af6-137f9a40ea32", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "6d86a49f-86f9-419c-8ff6-455bd281f744", + "observation_id": "cd634cf6-6070-41e3-b605-cbb15e01b8ae", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "b13a5fe4-580f-4179-971c-70f965f6feee", + "observation_id": "1a2d64e0-5c28-490a-989d-5f932a795502", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_acdfg/render_g_camera_pose.json b/data/camera_study/Scene12/k5_acdfg/render_g_camera_pose.json index 9583221..ffca985 100644 --- a/data/camera_study/Scene12/k5_acdfg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k5_acdfg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:23Z", + "created_utc": "2026-06-02T22:48:36Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_acdfg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_acdfg/robot_state.eval.json b/data/camera_study/Scene12/k5_acdfg/robot_state.eval.json index 24d6904..832d8f9 100644 --- a/data/camera_study/Scene12/k5_acdfg/robot_state.eval.json +++ b/data/camera_study/Scene12/k5_acdfg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.3143618253951672, "mean_abs_mm": 1.8830798179672428, "max_abs_mm": 1.8830798179672428, - "finger_error_mm": 39.99147687187692 + "n_unobservable": 3, + "wrist_error_mm": 3.1094413295483894, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k5_acdfg/robot_state.json b/data/camera_study/Scene12/k5_acdfg/robot_state.json index 01e8daa..b4c6070 100644 --- a/data/camera_study/Scene12/k5_acdfg/robot_state.json +++ b/data/camera_study/Scene12/k5_acdfg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:25Z", + "created_utc": "2026-06-02T22:48:39Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k5_bdefg/aruco_marker_poses.json b/data/camera_study/Scene12/k5_bdefg/aruco_marker_poses.json index a798db0..4fd00f4 100644 --- a/data/camera_study/Scene12/k5_bdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k5_bdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:35:11Z", + "created_utc": "2026-06-02T22:48:23Z", "summary": { "num_cameras": 5, "num_markers": 38 diff --git a/data/camera_study/Scene12/k5_bdefg/aruco_positions_initial.json b/data/camera_study/Scene12/k5_bdefg/aruco_positions_initial.json index 5167378..3fea3a7 100644 --- a/data/camera_study/Scene12/k5_bdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k5_bdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:35:08Z", + "created_utc": "2026-06-02T22:48:20Z", "summary": { "num_cameras": 5, "num_markers": 38, diff --git a/data/camera_study/Scene12/k5_bdefg/aruco_positions_optimized.json b/data/camera_study/Scene12/k5_bdefg/aruco_positions_optimized.json index ad5cfd5..c978304 100644 --- a/data/camera_study/Scene12/k5_bdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k5_bdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:35:10Z", + "created_utc": "2026-06-02T22:48:23Z", "summary": { "num_cameras": 5, "num_markers": 38, diff --git a/data/camera_study/Scene12/k5_bdefg/render_b_aruco_detection.json b/data/camera_study/Scene12/k5_bdefg/render_b_aruco_detection.json index b98c56c..f694e5a 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_b_aruco_detection.json +++ b/data/camera_study/Scene12/k5_bdefg/render_b_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:04Z", + "created_utc": "2026-06-02T22:48:16Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e06dff95-c9a0-4101-bbc9-49cd5d39dea3", + "observation_id": "ecaa3145-cd47-4805-ad46-ae8d0cb72a1a", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7823428462855211 }, { - "observation_id": "23671778-4913-41ac-b67f-9568a7c62bd1", + "observation_id": "acf74d5f-9acb-4899-bfb5-d7a49cb05d30", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7065244215454177 }, { - "observation_id": "4e9cee80-b5ea-4621-8665-f1b01a046ebd", + "observation_id": "9a45ad9c-fe44-4837-bcb1-6402635e7cf7", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6859576703883983 }, { - "observation_id": "5af4f3bd-70ec-4425-8816-2ff716d6f74d", + "observation_id": "901692ad-ca7f-449b-a5ac-be6719ecef79", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.47937995132446287 }, { - "observation_id": "c0cc58cd-a097-4664-af67-77494b49bd29", + "observation_id": "0bf5791d-54d7-45d4-a0c6-3c56a467acee", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.7070249676171251 }, { - "observation_id": "d83253b2-4403-4dee-a9a7-2e0f316728a6", + "observation_id": "19ac603d-c532-4514-944a-2ca5cc77c385", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5337876600066706 }, { - "observation_id": "897183e5-749e-4a57-96dc-e436d974ca64", + "observation_id": "c9282acd-3529-4519-a9f4-755fbfc31c38", "type": "aruco", "marker_id": 47, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6849598669171316 }, { - "observation_id": "8411f058-1a93-4c65-8ec1-fe2c9218951e", + "observation_id": "17fe1153-1d29-4797-b0ef-e250326b7b05", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6412858253535606 }, { - "observation_id": "648a18d5-5b2f-485a-8ab0-f710408a67a4", + "observation_id": "385f4bc4-f755-4788-ad8f-ba91836031ae", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.6513610457098532 }, { - "observation_id": "64c10569-79fb-4956-a6ab-946e15464eda", + "observation_id": "e119f9d0-74cd-420b-9f46-492e2575c312", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.630961575157087 }, { - "observation_id": "d5c103fd-db0a-430d-adf0-71f599a09963", + "observation_id": "bc8de390-b673-471a-829a-4a87e3e9f6b4", "type": "aruco", "marker_id": 105, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.6481492643993982 }, { - "observation_id": "33a402df-bf9e-4e6c-884f-744340197e09", + "observation_id": "2be905db-f232-40c9-849e-da58957f0cdd", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.5997552616991532 }, { - "observation_id": "4e2e3a98-6690-4aaf-8a4a-e8ae86783b59", + "observation_id": "1148b7a0-0fe2-4770-9d14-85b364a18b0c", "type": "aruco", "marker_id": 248, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.5469722222222223 }, { - "observation_id": "b4fe90fe-d057-4669-bd47-e61b522883cf", + "observation_id": "17c457b8-ffda-4712-a153-dee4700b6a5a", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.5243541825374566 }, { - "observation_id": "a03ca0ff-fb86-4856-a5a8-a95ccfd24a7a", + "observation_id": "e10745a7-08dc-4b2e-928c-e0e3212d9646", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.23705641289279722 }, { - "observation_id": "cd9e5606-e2fc-4d7a-a181-fdc031757984", + "observation_id": "c2f048f6-a979-486d-bfb2-3a9a67c81ef3", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5918000254950889 }, { - "observation_id": "20200bc1-800b-4a55-8120-2a48ebea245e", + "observation_id": "1a9470a5-a57c-41eb-8095-9261061f413b", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.608276252746582 }, { - "observation_id": "42b8f3c3-b798-4068-90c9-7ed101e7aae1", + "observation_id": "d5a7987a-dacd-4c10-ad3c-56346abf4501", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.560616051364006 }, { - "observation_id": "d0504efd-7b51-4351-ae3c-957f429dce00", + "observation_id": "eee10aa9-f1df-4e93-b47a-fc1f6f5a588f", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.575866171800068 }, { - "observation_id": "4c674c99-98c1-43fb-b0d9-01a075fec056", + "observation_id": "1b81eefd-4523-45a9-95a7-ce86ce6d4180", "type": "aruco", "marker_id": 51, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.5222013240250092 }, { - 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"observation_id": "3d408ea6-04a5-4f1a-bcd1-c526bdbc0bbb", + "observation_id": "536d07a2-b95a-4b73-a7e0-072c2d164b14", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.48645690874990066 }, { - "observation_id": "4a7dc2d9-43f9-4d7b-9b6c-c204a2dc6746", + "observation_id": "772155bb-0719-4e3c-bb60-576072e5cefb", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.4461531673319199 }, { - "observation_id": "38904a7a-0f61-402c-a9f3-ae240ef895b0", + "observation_id": "b5894520-e687-47d5-ae8d-7c6de19cfb74", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.42861533927775625 }, { - "observation_id": "ff9c23a1-c9ce-40f2-93ce-38ce244769aa", + "observation_id": "24820da4-9391-48c1-8e25-41f4bf8f688f", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1612,7 +1612,7 @@ "confidence": 0.42023766965581094 }, { - "observation_id": "6aadedc8-d2d3-449b-8f4a-9fc2e32da3ab", + "observation_id": "fa4c0394-c310-4d3e-9a98-3aaf34c83bc9", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -1666,7 +1666,7 @@ "confidence": 0.4166666666666667 }, { - "observation_id": "022e7329-ec8b-4b01-903a-d762ac8fea5a", + "observation_id": "98897040-ffb4-4b32-b284-9f7ae842f6f9", "type": "aruco", "marker_id": 206, "marker_size_m": 0.025, @@ -1720,7 +1720,7 @@ "confidence": 0.4387585454601719 }, { - "observation_id": "5dac98e0-407a-4e89-b164-e4f81e9ea91f", + "observation_id": "3631e93a-b2b0-45e5-8491-55a968e36d6a", "type": "aruco", "marker_id": 207, "marker_size_m": 0.025, @@ -1774,7 +1774,7 @@ "confidence": 0.4331870083749633 }, { - "observation_id": "ceacce95-0967-4161-8342-4cac549d39b0", + "observation_id": "e1a9ac79-9725-4f22-8e62-7476ceb87f50", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -1828,7 +1828,7 @@ "confidence": 0.40836112125901974 }, { - "observation_id": "ac39c860-7c06-4820-ad0b-1c51997839ec", + "observation_id": "34a5723f-2206-4545-8b5a-904cb53a21fa", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -1882,7 +1882,7 @@ "confidence": 0.23853923230852397 }, { - "observation_id": "a9680e61-cbb5-411f-b845-3ae5010d1bc9", + "observation_id": "92429339-a8e8-498d-b23e-424d417c38e3", "type": "aruco", "marker_id": 76, "marker_size_m": 0.025, @@ -1936,7 +1936,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "ced223a1-839b-42bc-8b46-c292acc02466", + "observation_id": "e02a45e3-ce99-4a10-8b37-d98204b37e00", "type": "aruco", "marker_id": 75, "marker_size_m": 0.025, @@ -1990,7 +1990,7 @@ "confidence": 0.2918644196082806 }, { - "observation_id": "c184346a-3028-4adb-8b5e-b4426ec2c0d0", + "observation_id": "d127e122-3bf5-468f-a30c-45596373ec9f", "type": "aruco", "marker_id": 100, "marker_size_m": 0.025, @@ -2044,7 +2044,7 @@ "confidence": 0.3135142237541464 }, { - "observation_id": "d641b09c-cf59-4773-8f0d-805d6d047f1d", + "observation_id": "13870cc5-b57e-4953-9ffd-205c10b65872", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -2098,7 +2098,7 @@ "confidence": 0.2809443528488092 }, { - "observation_id": "d19b5365-8dd0-43a2-a170-2220a56087cc", + "observation_id": "a4f643c5-0571-4401-bd17-c30d4a34795d", "type": "aruco", "marker_id": 94, "marker_size_m": 0.025, @@ -2152,7 +2152,7 @@ "confidence": 0.1100752638244629 }, { - "observation_id": "40cac633-c118-4082-8439-2a16950eff4c", + "observation_id": "ac8ee6db-2cd9-44b4-bd2f-f88eb6ac1d88", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -2206,7 +2206,7 @@ "confidence": 0.29326235019578367 }, { - "observation_id": "bfed2e00-9675-4cc8-87c4-70ffd9887e9d", + "observation_id": "73f1442c-12fa-4e07-84a6-2c761e2619c3", "type": "aruco", "marker_id": 50, "marker_size_m": 0.025, @@ -2260,7 +2260,7 @@ "confidence": 0.2744436567045554 }, { - "observation_id": "728897ec-030f-477e-a7e9-ab07bc86691c", + "observation_id": "1d227bf2-ec6a-4469-b739-566694f166fa", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -2314,7 +2314,7 @@ "confidence": 0.27188424328625205 }, { - "observation_id": "33ec9a76-d4e4-493e-bb5b-0665c60c9b53", + "observation_id": "c36fc3eb-5ccc-4354-af5e-c8fc7d2228a2", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -2368,7 +2368,7 @@ "confidence": 0.24243074898176734 }, { - "observation_id": "04552b71-a12d-4225-a584-d178459c3a41", + "observation_id": "099a772c-35a9-4df3-8891-31df1fe61be6", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -2422,7 +2422,7 @@ "confidence": 0.24277331897354426 }, { - "observation_id": "1b479472-4a15-45aa-bcee-2125ad16e3e5", + "observation_id": "98d662be-d303-492b-a946-7ef003d8dbbf", "type": "aruco", "marker_id": 90, "marker_size_m": 0.025, @@ -2476,7 +2476,7 @@ "confidence": 0.253222839086839 }, { - "observation_id": "371e2a2b-265a-4240-802b-cf27a5ffc90c", + "observation_id": "bb7d2e92-ca75-41b7-ae64-3fde7e6687f6", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, @@ -2530,7 +2530,7 @@ "confidence": 0.22106895691511091 }, { - "observation_id": "ae135d03-089b-4caa-9ae4-b9b94f4837d9", + "observation_id": "98d71853-276c-4709-b6b5-8c358bf348ac", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -2584,7 +2584,7 @@ "confidence": 0.21297804658494757 }, { - "observation_id": "50e55307-4658-46aa-9cdb-b4cf6f3d5334", + "observation_id": "48797db9-d976-48d2-a1bc-598e35fb546b", "type": "aruco", "marker_id": 91, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_bdefg/render_b_camera_pose.json b/data/camera_study/Scene12/k5_bdefg/render_b_camera_pose.json index 220b039..501ce62 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_b_camera_pose.json +++ b/data/camera_study/Scene12/k5_bdefg/render_b_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:07Z", + "created_utc": "2026-06-02T22:48:18Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_bdefg\\render_b_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_bdefg/render_d_aruco_detection.json b/data/camera_study/Scene12/k5_bdefg/render_d_aruco_detection.json index 33f66bd..cc2a5c8 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k5_bdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:05Z", + "created_utc": "2026-06-02T22:48:16Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "35eb4d7d-3a23-4330-aa89-c429b85730ca", + "observation_id": "b9896b4b-0f91-4735-9dd0-c03272fc0d7c", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "f164055e-1a8e-4ccb-a332-2b3d679e97b4", + "observation_id": "b8c0b677-9a57-4b30-af13-ab80c5b2c72f", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "f6c9a659-5a5d-4f33-b15e-f8153da5934b", + "observation_id": "904550d8-3d9f-4c50-9125-22b6e7c0836d", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "ba9e7cf4-571b-4a6b-9047-996ce4a92ebc", + "observation_id": "01727d5a-2967-4748-aae6-c506a3f4b812", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "4266d4fb-d8b5-4475-8355-a72c0424631e", + "observation_id": "2a88900b-c796-4dc7-8e78-a228dce5c177", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "248d0c58-9800-4ab9-92f8-f5182c99a3f3", + "observation_id": "992a38e7-8d9e-4bd8-952c-f058af9adbf9", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "eb3ec292-143e-40f7-82b9-b86d496a92f7", + "observation_id": "ca9c13da-3c90-4b76-a0ba-e65ae20a8d3c", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "1b8564ab-2a29-4177-a493-4462d9fcdb15", + "observation_id": "a5f94b0f-a8d4-4684-a56f-15932d832eca", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "2618c519-bbe0-4076-8c23-8a4aad0416e8", + "observation_id": "af414f73-b8dc-466f-8355-0bd90b319b67", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "145bf155-aa5e-4d27-b533-fa3f84ae70e0", + "observation_id": "813d7745-324e-4a42-a842-b5818477038c", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "2dec7cda-dd6e-4fa9-ba77-c217494723be", + "observation_id": "92103744-4545-4a16-bdbd-e2b6d9cdec5a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "1db1d29c-1af5-446c-b81c-e919b1785e92", + "observation_id": "b19a02cb-a9a1-43f6-86fd-3f5f26416682", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_bdefg/render_d_camera_pose.json b/data/camera_study/Scene12/k5_bdefg/render_d_camera_pose.json index 393e467..05ab1cb 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k5_bdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:07Z", + "created_utc": "2026-06-02T22:48:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_bdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_bdefg/render_e_aruco_detection.json b/data/camera_study/Scene12/k5_bdefg/render_e_aruco_detection.json index b56d15f..331ea3e 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k5_bdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:05Z", + "created_utc": "2026-06-02T22:48:17Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "8dfcea6b-f2da-49ce-8deb-b1258c15a048", + "observation_id": "ae82610f-adb9-44fa-baee-e3630f9e0ed1", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "eefd36a1-f057-403f-807e-701224e6a000", + "observation_id": "3eb11d21-eb16-41fd-93ab-27ba760008f2", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "4b020139-ecfe-4ae7-b94e-7e40131f6dce", + "observation_id": "a8950692-74d1-430b-9c5e-781ab8ec5ffd", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "5c75d757-7a50-49b1-a95c-7e5fdd266191", + "observation_id": "b8bb113e-e062-4806-bbdc-b95ce790e440", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "b462c006-fe08-4884-aec1-82dcf40528df", + "observation_id": "7f4bf051-6729-42f3-95b9-c0057370c9c9", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "6541c467-8dc5-4537-ba9e-a9d5dba94c46", + "observation_id": "73156251-8955-47a6-9295-8f85f27f2865", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "a58016be-0e5d-430c-a872-67cb96d0742b", + "observation_id": "6dd37d5c-8606-4e2d-a43e-9c32d4f050f7", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "d15a9edf-708c-4b7a-b9c1-f3a317cd2008", + "observation_id": "0a97a6dd-eb00-4471-bb97-e901aeebf137", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_bdefg/render_e_camera_pose.json b/data/camera_study/Scene12/k5_bdefg/render_e_camera_pose.json index 48282c9..05a39fd 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k5_bdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:07Z", + "created_utc": "2026-06-02T22:48:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_bdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_bdefg/render_f_aruco_detection.json b/data/camera_study/Scene12/k5_bdefg/render_f_aruco_detection.json index 785c179..a8952c5 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k5_bdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:06Z", + "created_utc": "2026-06-02T22:48:17Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "61264b68-b59d-4b33-b59b-7a4614190437", + "observation_id": "62b1d4ab-1bd1-45c4-9afe-5f80012bbbe4", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "b0c5170b-aa81-4841-9a65-931d33c583d4", + "observation_id": "f50499e2-864b-46ce-a98d-eadaad365ec7", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "5ab55d50-1dc9-4fe4-a15b-6c60795634d2", + "observation_id": "93fc0190-8520-42f4-9ff5-76432b0c8c99", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "0c971418-c6fb-4993-9f70-459b209d49c0", + "observation_id": "d2dd3890-a2bc-4cca-8b0c-e2b5601e1534", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "e94c3f63-ab14-4caf-b3f0-3f1955b94a2e", + "observation_id": "a67811ed-8703-4af2-866e-8d4084aa47aa", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "0dabebdc-ec9b-45e2-8dbc-9a803523f899", + "observation_id": "ee4a8226-96f0-4422-848f-884f584a6bd2", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - 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"observation_id": "85b727cb-2e8d-4b16-b22b-03d837044e60", + "observation_id": "e546c952-bdcc-41b2-b79b-f4bdae081826", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "7d8ae37f-d050-4fb2-a1e9-be6f2b04f15a", + "observation_id": "e12bf73c-2080-41ce-a4df-2250174636e3", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "8f776467-d83e-42f9-bdcd-8484444026c9", + "observation_id": "2c2fd3d0-2f55-4892-8fdf-32e5bb265cc0", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "7a044c0e-2176-48a0-a3fa-b1b9f15d28e8", + "observation_id": "4f48c28b-09bb-4a93-84a5-4c7d3e63c921", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "c742f96c-4c03-4c5a-a648-cc8f6aab603f", + "observation_id": "9c8e6d1b-3dd0-415a-8a3d-605db69e39d1", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "9d1e6b1f-14f8-4ad9-8184-76db911a9e32", + "observation_id": "7a73aaa9-9d8a-4c7f-a928-a0ea8b5feda8", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "dae59ed3-825c-4b79-a75e-7c9bf16aa351", + "observation_id": "006acde8-da55-4a53-8ec3-668c61af2cda", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "5b05fbf8-25e6-48a3-b802-13cfa1d99536", + "observation_id": "cd4b2d98-ccb6-4080-bd23-45885d5655a7", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "bc539036-8732-4014-95e4-c3a029ece6ab", + "observation_id": "8bea9d8a-1045-47e0-b857-d627f630fc50", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "ee40fd07-6410-4051-b5d9-0f971cfe18ed", + "observation_id": "bff6b76b-f78d-4f80-baaa-a62f0a995a73", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "970ad56c-fffe-4cfd-bece-7c0ebc85b6ea", + "observation_id": "fe58c604-f62f-4e5c-b934-cfe80fa1d365", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "f816ce6f-0694-4e5c-bcd3-ccf3f072d288", + "observation_id": "579a37e3-f474-4579-bf7a-0dd1797a42f4", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "ec7ea2be-75ac-44b5-8a36-35835068af2c", + "observation_id": "70c2dc03-0bf6-415e-b53a-a776fde18933", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "ec4c64ff-45c5-4b5c-bd01-9c785c1499a2", + "observation_id": "debac78d-1c06-4720-8e3a-0f37b1bbfb53", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "7254572e-4c85-4bd9-9c22-a34bd17ab63f", + "observation_id": "7ff0bf9b-3513-4218-be54-4d21a4f8f644", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "fbd1cbd7-ad69-4cd0-835a-d7ba70b4e55c", + "observation_id": "fdab9db0-d3de-4743-a0fb-df09890bdbd1", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "4612cf49-204e-4dc7-b2bc-dd9219d3600e", + "observation_id": "9eebb777-0bb6-4130-ac6a-fb480e3f5b5e", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "6f940d09-d1b2-4534-8d31-cff41a62f00f", + "observation_id": "729bf7d7-44eb-4978-9db4-96875d4b5bf7", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_bdefg/render_f_camera_pose.json b/data/camera_study/Scene12/k5_bdefg/render_f_camera_pose.json index 70ca9e0..245b075 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k5_bdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:07Z", + "created_utc": "2026-06-02T22:48:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_bdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_bdefg/render_g_aruco_detection.json b/data/camera_study/Scene12/k5_bdefg/render_g_aruco_detection.json index 7aad8c6..ccb537d 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k5_bdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:06Z", + "created_utc": "2026-06-02T22:48:18Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "1b3986e0-0d4b-45ca-b30d-cf467e9193d6", + "observation_id": "153f71ce-8b56-473b-b640-9ed75f7c52f9", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "ef66b301-d0b0-4265-bcf4-30ebc5fad422", + "observation_id": "668c8213-89de-47f3-a0dc-a2dbb20259b4", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "e8c70ab8-166b-42c3-ba8d-9c13e30e427a", + "observation_id": "78b3b10b-e950-4c20-9033-5ca073fc96c5", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "78e56e18-0708-4092-83c6-d4450a59a138", + "observation_id": "b3e89d59-bb69-432f-84b5-b39b992c2181", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "f26c12d2-eddf-4973-8230-94f006dc69d1", + "observation_id": "26007bc1-22ea-4256-8767-2d7909513403", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "9295551f-6b7c-443b-9b46-6aadb26ea6c1", + "observation_id": "9357e044-4a44-47cd-a9df-0480a26d64a6", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "c7c6f114-f866-4df6-acd3-5fa6c781754b", + "observation_id": "4e661c6e-2e5f-4ef3-8f35-89d94e3579a5", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "6a5cff2a-a181-4269-b2fb-53d4c9700b33", + "observation_id": "b47aa234-4e29-4e40-842b-aa0f774f2ef2", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "e940e8f7-2b08-456f-aa69-2d6c9e5dd464", + "observation_id": "a641f1ac-182b-44b9-b596-651186ee4e47", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - "observation_id": "f101b483-43d6-4f6c-99b1-d3ac68c9e3f4", + "observation_id": "4f2a6a92-f76c-4083-bb2a-d70948175f4f", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.4906752251774617 }, { - "observation_id": "38de0c9a-f5b0-4f7a-adae-6fb8e795f942", + "observation_id": "6a18c006-48bb-48da-a909-ca3f24a022ed", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5335095921090989 }, { - "observation_id": "91424c6d-1ae8-43f7-ae16-d0fd115113e5", + "observation_id": "e0cde14a-d770-465c-877c-22e03882dd81", "type": "aruco", "marker_id": 56, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.4578243545603675 }, { - "observation_id": "f6828b95-44b4-4d4b-95d0-33eeb41c492d", + "observation_id": "dc074dc7-1cd0-4b06-a9cf-08607b2e7b30", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.2746946127362205 }, { - "observation_id": "939ce913-0e11-471c-ac59-70cd6cd36c5f", + "observation_id": "ba4d1699-bd7b-4815-ac79-9002dbf4b8f4", "type": "aruco", "marker_id": 68, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.058885542403194435 }, { - "observation_id": "80f3a1bd-72dc-430e-a152-774b646fcaa2", + "observation_id": "52f26cb2-59aa-4e75-8002-755b5b7fd6fe", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "4aa78a5e-fb7c-4d66-ab21-c6910c42cf6f", + "observation_id": "07c20826-2f32-4e9d-8b81-24d5c7d9f513", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "025d522a-723c-439f-bfd7-22554c02ab10", + "observation_id": "0fbac08d-7ad2-48c7-a09c-0abb62d472d7", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "9c7f5451-d445-4518-8f1b-bf678a9e4136", + "observation_id": "a197599b-4777-4636-9b92-752c93419d3c", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "628e7b67-fe67-40b3-9bd8-c556eb9b4e31", + "observation_id": "417eafe9-a8be-4f35-a21c-723ac163e85a", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "0230582b-9f20-4f24-9a35-7d695a3bc102", + "observation_id": "f38dd0ec-8a17-4512-b015-b99eb42175c2", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "7668eb2f-9ea1-42a6-b921-6239d3945988", + "observation_id": "934b463a-c782-4ccc-863f-d76402326459", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "71f3f938-18f9-4f77-9e8a-80eb1d151405", + "observation_id": "3b656d4d-2a44-4515-aa69-574ea73785bc", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "1669708f-726e-4027-aa3f-2146b91838d8", + "observation_id": "def97180-9694-4082-ae29-6d7571279106", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "4091336c-040d-451b-afaf-b9d15990f159", + "observation_id": "ce997180-aed9-4117-8675-ef15887d49b6", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "17dfb945-7c4e-4ec6-ab44-3282ccc8b7b0", + "observation_id": "70ec430b-8ca2-4303-be5f-869d642c3dd8", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "4611f5fe-94b8-4a5b-8232-3a08ed448643", + "observation_id": "360fa612-a722-41c3-b5b0-90a7cf192e05", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "0081dc83-91de-459d-b71b-3bfd1655b14f", + "observation_id": "feda6c99-919e-4c48-b6b9-8024b08e6768", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "ad8f6893-ccc6-4e2d-8076-e9e0fe8c7bb7", + "observation_id": "068f70b2-dac1-4c98-9160-672082f98037", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_bdefg/render_g_camera_pose.json b/data/camera_study/Scene12/k5_bdefg/render_g_camera_pose.json index 85fca36..289d8d1 100644 --- a/data/camera_study/Scene12/k5_bdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k5_bdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:08Z", + "created_utc": "2026-06-02T22:48:19Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_bdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_bdefg/robot_state.eval.json b/data/camera_study/Scene12/k5_bdefg/robot_state.eval.json index e0b9294..5186e76 100644 --- a/data/camera_study/Scene12/k5_bdefg/robot_state.eval.json +++ b/data/camera_study/Scene12/k5_bdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.12614800933369, "mean_abs_mm": 0.6767834207824848, "max_abs_mm": 0.6767834207824848, - "finger_error_mm": 41.30967807337563 + "n_unobservable": 3, + "wrist_error_mm": 3.3388151975589757, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k5_bdefg/robot_state.json b/data/camera_study/Scene12/k5_bdefg/robot_state.json index 1af1da9..c999692 100644 --- a/data/camera_study/Scene12/k5_bdefg/robot_state.json +++ b/data/camera_study/Scene12/k5_bdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:12Z", + "created_utc": "2026-06-02T22:48:24Z", "method": "hybrid", "movements": { "x": { diff --git a/data/camera_study/Scene12/k5_cdefg/aruco_marker_poses.json b/data/camera_study/Scene12/k5_cdefg/aruco_marker_poses.json index c5628c7..8b7152a 100644 --- a/data/camera_study/Scene12/k5_cdefg/aruco_marker_poses.json +++ b/data/camera_study/Scene12/k5_cdefg/aruco_marker_poses.json @@ -1,7 +1,7 @@ { "schema_version": "1.1", "stage": "corner_marker_poses", - "created_utc": "2026-06-02T21:35:17Z", + "created_utc": "2026-06-02T22:48:30Z", "summary": { "num_cameras": 5, "num_markers": 24 diff --git a/data/camera_study/Scene12/k5_cdefg/aruco_positions_initial.json b/data/camera_study/Scene12/k5_cdefg/aruco_positions_initial.json index 2fac3fa..b92301a 100644 --- a/data/camera_study/Scene12/k5_cdefg/aruco_positions_initial.json +++ b/data/camera_study/Scene12/k5_cdefg/aruco_positions_initial.json @@ -1,7 +1,7 @@ { "schema_version": "1.2", "stage": "initial_triangulation", - "created_utc": "2026-06-02T21:35:16Z", + "created_utc": "2026-06-02T22:48:29Z", "summary": { "num_cameras": 5, "num_markers": 24, diff --git a/data/camera_study/Scene12/k5_cdefg/aruco_positions_optimized.json b/data/camera_study/Scene12/k5_cdefg/aruco_positions_optimized.json index e66337d..406335f 100644 --- a/data/camera_study/Scene12/k5_cdefg/aruco_positions_optimized.json +++ b/data/camera_study/Scene12/k5_cdefg/aruco_positions_optimized.json @@ -1,6 +1,6 @@ { "schema_version": "1.2", - "created_utc": "2026-06-02T21:35:17Z", + "created_utc": "2026-06-02T22:48:30Z", "summary": { "num_cameras": 5, "num_markers": 24, diff --git a/data/camera_study/Scene12/k5_cdefg/render_c_aruco_detection.json b/data/camera_study/Scene12/k5_cdefg/render_c_aruco_detection.json index 300d64a..a72fb1d 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_c_aruco_detection.json +++ b/data/camera_study/Scene12/k5_cdefg/render_c_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:13Z", + "created_utc": "2026-06-02T22:48:25Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "77ad9380-9cea-4577-91ba-f1fc6f1bb07f", + "observation_id": "cee1b47f-0cea-4555-b978-2adee21def3f", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.9325919204767367 }, { - "observation_id": "186029ab-80d3-476a-b376-1b5800bb3034", + "observation_id": "89a87823-ba7d-42bd-a4a5-45530e2f49ed", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.8981605924653794 }, { - "observation_id": "e747e65b-90f5-4fee-99fd-d26cecb1ed30", + "observation_id": "e2cb1ff9-7475-44d3-acae-3bf84563737e", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.3455642187784726 }, { - "observation_id": "b07d8f11-b46c-4140-9148-a006b90d7314", + "observation_id": "61d7e2bb-35c3-4e78-b139-1ea87eb47e49", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.24062095751888135 }, { - "observation_id": "96315328-4ffa-4bab-9450-f4d67e829dfb", + "observation_id": "4b66d391-fc34-4f1b-a96b-57d08897dede", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5403933035820727 }, { - "observation_id": "55c72706-320d-4dee-ad1e-e67468521692", + "observation_id": "6c360c24-e522-460c-8e69-bb8a86cde6c5", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.46771638047871156 }, { - "observation_id": "9b39da9b-a491-4eac-8faf-f9fb55db24d2", + "observation_id": "b8423212-1150-41c8-8730-78b8dc3dfbab", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_cdefg/render_c_camera_pose.json b/data/camera_study/Scene12/k5_cdefg/render_c_camera_pose.json index 51d79f7..dfe1a8b 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_c_camera_pose.json +++ b/data/camera_study/Scene12/k5_cdefg/render_c_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:15Z", + "created_utc": "2026-06-02T22:48:27Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_cdefg\\render_c_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_cdefg/render_d_aruco_detection.json b/data/camera_study/Scene12/k5_cdefg/render_d_aruco_detection.json index b56339f..fb5d49b 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_d_aruco_detection.json +++ b/data/camera_study/Scene12/k5_cdefg/render_d_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:13Z", + "created_utc": "2026-06-02T22:48:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "d6961eb2-b3f8-49a2-8761-52cfd715ef2f", + "observation_id": "4098c2b8-24ae-421f-af86-15b53eb8bfa5", "type": "aruco", "marker_id": 232, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.8191906233173404 }, { - "observation_id": "670e79d4-3524-4860-87ce-f7dfe40c64ca", + "observation_id": "c1e69b6a-1c4f-4f6e-a95e-a2921d3cd016", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.856318923379256 }, { - "observation_id": "e2a2b959-62d6-4ef3-a3b2-fac1ebd51956", + "observation_id": "80cc760e-0697-4c61-8755-a9f50c626370", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6166864494974473 }, { - "observation_id": "920bbd49-bf73-494e-a1f4-76dcafd82c40", + "observation_id": "5117f105-abf9-4651-8584-3acba3d98bc7", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.20455660482323051 }, { - "observation_id": "edd0c9e8-23e0-469a-ac23-a40e7729b5e7", + "observation_id": "668fddf2-b3d9-47ea-8197-02a772ed7fa3", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.6368872098181371 }, { - "observation_id": "e48e917a-c4ca-474e-af7c-d4feaafa1df0", + "observation_id": "e10392e8-c8e1-4ae5-b304-03de69aaf87e", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.5523199170765896 }, { - "observation_id": "c7b9e228-0e6a-4cd0-91b6-2932a4ca61d1", + "observation_id": "354c7389-8be6-442d-bf90-898f914a69e7", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.6492368798045723 }, { - "observation_id": "f7855645-e096-40ab-b25c-44a59deb9ad9", + "observation_id": "e5de56bf-e3de-4555-9aaf-df15893574b7", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.6847157012897437 }, { - "observation_id": "5159d56c-aa63-4f1f-9fc4-33448a4e76c0", + "observation_id": "3c2a4404-aed9-4a8f-bb3c-b6426b853b54", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.4199382088889765 }, { - "observation_id": "8776fe34-07df-4320-adfd-86217d0a2036", + "observation_id": "614a3556-b292-49a1-a909-3f43225c9bac", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -586,7 +586,7 @@ "confidence": 0.43336568863227043 }, { - "observation_id": "e05fe022-d53a-4e2b-9e43-3397e8c93d68", + "observation_id": "42efadf1-3606-4b55-b6d2-33d598ade45e", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -640,7 +640,7 @@ "confidence": 0.5250977526943454 }, { - "observation_id": "6bbca424-c29f-4e8a-8c0c-dd8073b95943", + "observation_id": "43216181-0e88-45b9-af59-5e1ecd3aa1e1", "type": "aruco", "marker_id": 211, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_cdefg/render_d_camera_pose.json b/data/camera_study/Scene12/k5_cdefg/render_d_camera_pose.json index d61b890..3106bb8 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_d_camera_pose.json +++ b/data/camera_study/Scene12/k5_cdefg/render_d_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:15Z", + "created_utc": "2026-06-02T22:48:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_cdefg\\render_d_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_cdefg/render_e_aruco_detection.json b/data/camera_study/Scene12/k5_cdefg/render_e_aruco_detection.json index 0801b0e..d3c57ce 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_e_aruco_detection.json +++ b/data/camera_study/Scene12/k5_cdefg/render_e_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:13Z", + "created_utc": "2026-06-02T22:48:26Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "2f794238-5e31-4cdc-a209-f0422dcea699", + "observation_id": "5370287f-50ac-48a8-b4ef-2e2b98e65451", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.49526620842323854 }, { - "observation_id": "877da70d-03db-4c46-adc2-a66375ce6a21", + "observation_id": "9a9dc5ad-5895-4e2d-b705-ae329824d121", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.12173424671007582 }, { - "observation_id": "85092023-3f2e-4405-98bc-1a54dc49bad0", + "observation_id": "9b93ad85-b148-41ff-8e87-faec825c61a5", "type": "aruco", "marker_id": 102, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6830523542298091 }, { - "observation_id": "c45b439e-cd4e-4aab-a30e-bbd4025dc991", + "observation_id": "02e33fde-8b24-46c0-a7f1-12874353ec7f", "type": "aruco", "marker_id": 244, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6260272906487316 }, { - "observation_id": "c2234cc3-ed22-4e6b-bbc5-a11095f3475c", + "observation_id": "407e9fa7-7881-4e32-8266-5adf180c4e8e", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.43374788877204123 }, { - "observation_id": "b2ca7c2e-66b2-46bb-a79c-4aed8b5b44c2", + "observation_id": "dd1273e9-589b-4fee-89fd-1a1cc11038c0", "type": "aruco", "marker_id": 122, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.28784234394732494 }, { - "observation_id": "a0cd7b53-4fa5-44cd-8514-817cdf48c5d7", + "observation_id": "6c8f5574-b883-429f-91cf-3a56cb5af064", "type": "aruco", "marker_id": 243, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.27988487073378493 }, { - "observation_id": "62382df4-fb8f-43dc-bcb1-cccc546640c2", + "observation_id": "794d6dd7-fc54-4c7e-bc07-353d02fa8171", "type": "aruco", "marker_id": 124, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_cdefg/render_e_camera_pose.json b/data/camera_study/Scene12/k5_cdefg/render_e_camera_pose.json index 4025be5..652cc21 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_e_camera_pose.json +++ b/data/camera_study/Scene12/k5_cdefg/render_e_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:15Z", + "created_utc": "2026-06-02T22:48:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_cdefg\\render_e_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_cdefg/render_f_aruco_detection.json b/data/camera_study/Scene12/k5_cdefg/render_f_aruco_detection.json index 44a0f2c..68bc298 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_f_aruco_detection.json +++ b/data/camera_study/Scene12/k5_cdefg/render_f_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:14Z", + "created_utc": "2026-06-02T22:48:27Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "e1717fa8-5386-4fa4-b1c0-e8229a725c70", + "observation_id": "a1a156ba-cabf-4bbf-85cf-eed3193d3f2b", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.7854524171861081 }, { - "observation_id": "c8fcd63d-175c-462a-99ce-7729c8422c94", + "observation_id": "7abd90de-16fe-4861-8c70-2bdb46f2f09e", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.7062448034755746 }, { - "observation_id": "58542fa0-5db3-407c-b5b0-729d134e1195", + "observation_id": "d286141a-93f4-4994-acd5-33847748710b", "type": "aruco", "marker_id": 208, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.7015533061967676 }, { - "observation_id": "3041fd81-b5fc-4615-984a-7077be90d6c5", + "observation_id": "cf6d7b66-face-4884-b57a-fd8d230d2e89", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6812852081250387 }, { - "observation_id": "6f7b39e4-23f9-4ad0-8bf1-6acf9d6db193", + "observation_id": "5b18b7f9-bd07-4c06-90ee-cace2c52a681", "type": "aruco", "marker_id": 46, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.47040708889922145 }, { - "observation_id": "c436af74-daec-4d5e-98ef-6e6c80a238aa", + "observation_id": "854a6f4c-42d3-44a5-8b34-bdcfab57e188", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.7005026944924987 }, { - 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"observation_id": "1a12b0d1-afde-409c-ae44-a567907daedc", + "observation_id": "465ef996-734a-4346-bd56-627d6f300880", "type": "aruco", "marker_id": 214, "marker_size_m": 0.025, @@ -694,7 +694,7 @@ "confidence": 0.62142490645665 }, { - "observation_id": "10566201-75b8-4626-9f31-4d1cb8ebe1f1", + "observation_id": "4abb8e6d-4849-4d00-9bef-8936b7693150", "type": "aruco", "marker_id": 96, "marker_size_m": 0.025, @@ -748,7 +748,7 @@ "confidence": 0.6668638701841824 }, { - "observation_id": "7d7af049-82d9-413a-a98e-c53336dc803b", + "observation_id": "cf677604-6423-404d-8900-ceeab805a855", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -802,7 +802,7 @@ "confidence": 0.6560227834014383 }, { - "observation_id": "d53badc1-6b98-457f-9013-eb2ab3a96596", + "observation_id": "57d56704-7141-4184-bf61-98d6bd68f365", "type": "aruco", "marker_id": 79, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.6609128878733954 }, { - "observation_id": "42af8ca1-9b12-4183-afa3-b5e9d24773e3", + "observation_id": "132492e7-c8d3-4afb-a009-6eab57d5a1fc", "type": "aruco", "marker_id": 66, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.6480920753055313 }, { - "observation_id": "1bc5998e-7dbb-4088-a181-9f08fc7f0bf6", + "observation_id": "cd16e270-d27f-4737-b810-e98918085ac0", "type": "aruco", "marker_id": 55, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.6539740633879756 }, { - "observation_id": "f1d4b7ed-8a67-4f18-af2e-e1c9eb454e7e", + "observation_id": "787284b3-9c5f-4138-8829-392dab27cff3", "type": "aruco", "marker_id": 73, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.2090385473648542 }, { - "observation_id": "ee5192ad-897c-4bad-ad64-ea60944989b3", + "observation_id": "4e49a7a5-09cc-4a2c-8eb3-dd323992c009", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.5835587226236766 }, { - "observation_id": "d7b38e4c-4f4d-4017-8189-7a41e727a69c", + "observation_id": "4e1994eb-25f5-47c7-a4bc-0eeb474850f3", "type": "aruco", "marker_id": 82, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.6113473409254715 }, { - "observation_id": "15cffc7d-3c18-49b2-8b43-d5d97d60dfbe", + "observation_id": "f83f7312-36c3-42e6-b995-ca84df2b5cb3", "type": "aruco", "marker_id": 210, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.5583029073465398 }, { - "observation_id": "7ed4f54d-7d88-4422-a7c7-35a5116d9552", + "observation_id": "befd64d9-d7fe-44c3-b61b-79547f82e032", "type": "aruco", "marker_id": 58, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.5472071309155037 }, { - "observation_id": "1c35930e-8aa2-43a3-8f25-780e659becae", + "observation_id": "b80ba6f1-5903-457b-9e13-9cab9d045bb4", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.555265570346706 }, { - "observation_id": "5f301ef8-cd58-4c5e-b36b-21259916b341", + "observation_id": "55d12864-6538-4f48-9691-f6b9b0c030b2", "type": "aruco", "marker_id": 101, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.5465481419156353 }, { - "observation_id": "16eaa539-9f94-4c52-ba76-5f7c1902a916", + "observation_id": "ae2fd918-4804-488b-b6a5-714342cd4fa8", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.5461315019106076 }, { - "observation_id": "60ee28dd-89cc-49c8-9b32-881b488b6287", + "observation_id": "262f7467-2072-4ad7-90fd-a41bbcad9364", "type": "aruco", "marker_id": 81, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.21009736859076114 }, { - "observation_id": "7b750e96-e7f4-428a-abdd-8dd657b0bbcd", + "observation_id": "df1810ec-eb47-4169-b4dd-ccb07b06feb6", "type": "aruco", "marker_id": 52, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.5453547347720937 }, { - "observation_id": "be89d368-679d-4a47-8689-c24bb7f1669a", + "observation_id": "5fb1a95d-63b0-4ea7-8d3e-2a8025323190", "type": "aruco", "marker_id": 83, "marker_size_m": 0.025, @@ -1558,7 +1558,7 @@ "confidence": 0.5329407344239817 }, { - "observation_id": "af4c441d-c4f9-4745-a8d0-b42b77195d0d", + "observation_id": "8dc8269f-9b4c-4f09-bebd-438e638c5415", "type": "aruco", "marker_id": 61, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_cdefg/render_f_camera_pose.json b/data/camera_study/Scene12/k5_cdefg/render_f_camera_pose.json index c46548c..36d1f4b 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_f_camera_pose.json +++ b/data/camera_study/Scene12/k5_cdefg/render_f_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:16Z", + "created_utc": "2026-06-02T22:48:28Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_cdefg\\render_f_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_cdefg/render_g_aruco_detection.json b/data/camera_study/Scene12/k5_cdefg/render_g_aruco_detection.json index 447c80d..5cc5ff4 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_g_aruco_detection.json +++ b/data/camera_study/Scene12/k5_cdefg/render_g_aruco_detection.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:15Z", + "created_utc": "2026-06-02T22:48:27Z", "vision_config": { "MarkerType": "DICT_4X4_250", "MarkerSize": 0.025 @@ -46,7 +46,7 @@ }, "detections": [ { - "observation_id": "7ebd1955-191a-41dd-abc0-a27c765e3f6c", + "observation_id": "ed16703f-dd9f-42d8-9ed3-7563320dc4fa", "type": "aruco", "marker_id": 198, "marker_size_m": 0.025, @@ -100,7 +100,7 @@ "confidence": 0.6448598907987995 }, { - "observation_id": "a7dc4420-86b4-4256-8811-4e22d6b2edc2", + "observation_id": "7b70a31b-7e1c-45b2-a727-aeefb8c242aa", "type": "aruco", "marker_id": 86, "marker_size_m": 0.025, @@ -154,7 +154,7 @@ "confidence": 0.5262168023657781 }, { - "observation_id": "a9ee05b7-c2f9-48fc-9ede-ea6a4f35582d", + "observation_id": "47ce0574-808f-4051-99f0-2cf85e8f3175", "type": "aruco", "marker_id": 229, "marker_size_m": 0.025, @@ -208,7 +208,7 @@ "confidence": 0.6425896223246158 }, { - "observation_id": "c8757818-089b-41dd-93f4-cbe4a9e25e09", + "observation_id": "3c07fece-66d3-4799-bbfe-cbd45d52178d", "type": "aruco", "marker_id": 245, "marker_size_m": 0.025, @@ -262,7 +262,7 @@ "confidence": 0.6120959878480151 }, { - "observation_id": "0470d8b2-d66f-47ec-9cf6-ab4ffb4153be", + "observation_id": "72866317-4d91-4fef-852d-5b430f27c86a", "type": "aruco", "marker_id": 64, "marker_size_m": 0.025, @@ -316,7 +316,7 @@ "confidence": 0.5876289194459208 }, { - "observation_id": "66f14cd4-d657-46db-b982-b7983df8935f", + "observation_id": "967c29c1-4586-45ba-930f-e430548b606a", "type": "aruco", "marker_id": 72, "marker_size_m": 0.025, @@ -370,7 +370,7 @@ "confidence": 0.49122811795656307 }, { - "observation_id": "b04f483c-7337-410b-9694-559937bd92a1", + "observation_id": "c1fcc0b8-0f55-4301-820b-c2ffd5db3752", "type": "aruco", "marker_id": 53, "marker_size_m": 0.025, @@ -424,7 +424,7 @@ "confidence": 0.32594286952973284 }, { - "observation_id": "f21f51a2-7545-49f4-9b03-0e3a6744e33f", + "observation_id": "c036ba1b-05aa-46dc-bb20-eda0bbf2c990", "type": "aruco", "marker_id": 69, "marker_size_m": 0.025, @@ -478,7 +478,7 @@ "confidence": 0.5319288269685942 }, { - "observation_id": "38821ce3-92cf-44e6-9b87-c551a3b25f58", + "observation_id": "66ab00d2-5cd9-49b0-9334-0c3770741074", "type": "aruco", "marker_id": 103, "marker_size_m": 0.025, @@ -532,7 +532,7 @@ "confidence": 0.5872237273710109 }, { - 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"observation_id": "c615e725-07f4-40a5-9348-445d7b3495f2", + "observation_id": "68daaaee-15c9-46de-9b5c-a60ecd646e0b", "type": "aruco", "marker_id": 113, "marker_size_m": 0.025, @@ -856,7 +856,7 @@ "confidence": 0.2814328370255417 }, { - "observation_id": "add19da5-f65e-4b66-9a81-12734dff590e", + "observation_id": "e1d0a3b2-dcd5-410d-962b-5e92c784de28", "type": "aruco", "marker_id": 95, "marker_size_m": 0.025, @@ -910,7 +910,7 @@ "confidence": 0.5062704988708202 }, { - "observation_id": "db75b1e8-b8be-4f15-97f9-da65c71c3c56", + "observation_id": "b697ba29-5e24-4ae6-a56d-91935a99af45", "type": "aruco", "marker_id": 217, "marker_size_m": 0.025, @@ -964,7 +964,7 @@ "confidence": 0.403469130041854 }, { - "observation_id": "5d35317d-ec92-4e5e-aaa9-d839a43742ea", + "observation_id": "ebdcad99-dfbd-4b59-b314-d36c41542e59", "type": "aruco", "marker_id": 62, "marker_size_m": 0.025, @@ -1018,7 +1018,7 @@ "confidence": 0.4218000126418067 }, { - "observation_id": "1b8d0034-f689-4c9f-9310-dc72f4864048", + "observation_id": "b38bc7c8-e384-4115-b8c9-de90871248a6", "type": "aruco", "marker_id": 54, "marker_size_m": 0.025, @@ -1072,7 +1072,7 @@ "confidence": 0.4186853520847334 }, { - "observation_id": "b2e675b8-0066-46e3-8f87-20ba1abc7455", + "observation_id": "a0061b96-153f-49d4-947e-f94ecaafd17d", "type": "aruco", "marker_id": 205, "marker_size_m": 0.025, @@ -1126,7 +1126,7 @@ "confidence": 0.38107014005487916 }, { - "observation_id": "ca8af74d-b027-485c-9bd9-5dc9f82a4eaa", + "observation_id": "fa14d30e-d0e5-4703-b6be-1c479dff7785", "type": "aruco", "marker_id": 85, "marker_size_m": 0.025, @@ -1180,7 +1180,7 @@ "confidence": 0.378986473237694 }, { - "observation_id": "d08adc34-5bbc-4cd4-8990-8f8db10577f0", + "observation_id": "01dd7b6b-8c99-43fe-af50-4df018a2876f", "type": "aruco", "marker_id": 92, "marker_size_m": 0.025, @@ -1234,7 +1234,7 @@ "confidence": 0.3823929240812279 }, { - "observation_id": "ee3114d6-1e06-4890-a9a0-94cd3793036d", + "observation_id": "267e3d2b-6fdc-4757-8a3c-3a2b64910359", "type": "aruco", "marker_id": 57, "marker_size_m": 0.025, @@ -1288,7 +1288,7 @@ "confidence": 0.34202700092640825 }, { - "observation_id": "78df12d2-033d-4457-8afb-3e1f8342bcb4", + "observation_id": "5cc552b4-b68b-4031-aff2-a39c61719dc6", "type": "aruco", "marker_id": 59, "marker_size_m": 0.025, @@ -1342,7 +1342,7 @@ "confidence": 0.3878121905105899 }, { - "observation_id": "66ec981d-c313-4cc5-a686-880351072dc2", + "observation_id": "afa8002e-2b4d-41f1-be84-9f952059713d", "type": "aruco", "marker_id": 48, "marker_size_m": 0.025, @@ -1396,7 +1396,7 @@ "confidence": 0.30502208755989735 }, { - "observation_id": "65235b5c-591f-44cf-88ff-42d6cc00c6ef", + "observation_id": "2246ff25-af9f-4146-b3b8-5265cc1d652a", "type": "aruco", "marker_id": 71, "marker_size_m": 0.025, @@ -1450,7 +1450,7 @@ "confidence": 0.2958320974375416 }, { - "observation_id": "b847911e-684d-4f4e-abb9-4c05b3c69147", + "observation_id": "a8a62236-37cc-43d8-8c34-4184d69bd1fa", "type": "aruco", "marker_id": 63, "marker_size_m": 0.025, @@ -1504,7 +1504,7 @@ "confidence": 0.2956054401706931 }, { - "observation_id": "60841743-79bb-4491-ade7-495ad3436469", + "observation_id": "e2560fbf-2839-4c5e-8bfe-d17ee0025625", "type": "aruco", "marker_id": 80, "marker_size_m": 0.025, diff --git a/data/camera_study/Scene12/k5_cdefg/render_g_camera_pose.json b/data/camera_study/Scene12/k5_cdefg/render_g_camera_pose.json index 4a5afaf..5f42ee3 100644 --- a/data/camera_study/Scene12/k5_cdefg/render_g_camera_pose.json +++ b/data/camera_study/Scene12/k5_cdefg/render_g_camera_pose.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:16Z", + "created_utc": "2026-06-02T22:48:29Z", "source": { "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\camera_study\\Scene12\\k5_cdefg\\render_g_aruco_detection.json", "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json" diff --git a/data/camera_study/Scene12/k5_cdefg/robot_state.eval.json b/data/camera_study/Scene12/k5_cdefg/robot_state.eval.json index c130a78..782d7d7 100644 --- a/data/camera_study/Scene12/k5_cdefg/robot_state.eval.json +++ b/data/camera_study/Scene12/k5_cdefg/robot_state.eval.json @@ -70,6 +70,8 @@ "max_abs_deg": 1.863537425110792, "mean_abs_mm": 1.5127755935032567, "max_abs_mm": 1.5127755935032567, - "finger_error_mm": 43.34951501719679 + "n_unobservable": 3, + "wrist_error_mm": 6.127137488857694, + "finger_error_mm": null } } \ No newline at end of file diff --git a/data/camera_study/Scene12/k5_cdefg/robot_state.json b/data/camera_study/Scene12/k5_cdefg/robot_state.json index 59ca810..eb3390f 100644 --- a/data/camera_study/Scene12/k5_cdefg/robot_state.json +++ b/data/camera_study/Scene12/k5_cdefg/robot_state.json @@ -1,6 +1,6 @@ { "schema_version": "1.0", - "created_utc": "2026-06-02T21:35:19Z", + "created_utc": "2026-06-02T22:48:32Z", "method": "hybrid", "movements": { "x": { diff --git a/doc/camera_number_roadmap.md b/doc/camera_number_roadmap.md index 6669607..837f81e 100644 --- a/doc/camera_number_roadmap.md +++ b/doc/camera_number_roadmap.md @@ -11,6 +11,26 @@ Die Kernfrage ist: --- +## Umsetzung + +Diese Roadmap ist als ausführbare Studie umgesetzt: +[`benchmark/camera_count/`](../benchmark/camera_count/README.md). + +Kurzfassung des aktuellen Stands: + +* Kamera-Subsets: zufällige Stichprobe pro Kameraanzahl k (Standard 10), Bereich + k = 3 bis (alle verfügbaren). Die Simulationsszenen haben aktuell 7 Kameras + (a–g); der Bereich bleibt aber offen und skaliert automatisch mit mehr Kameras. +* Fehlermetrik in mm: getrennt für **Handgelenk** (`wrist_error_mm`, nur Armgelenke) + und **Finger** (`finger_error_mm`, volle Kette). Unbeobachtbare Punkte werden + als *unbekannt* (leer) gewertet, nicht als großer Fehler. +* Start: `run\run_camera_study.bat` · Auswertung: `python benchmark/camera_count/analyze.py`. + +Die folgenden Abschnitte beschreiben das Gesamtkonzept und bleiben bewusst offen +(z. B. kann der Bereich später bis 10 Kameras erweitert werden). + +--- + ## 1. Was dafür bekannt sein muss Bevor die Auswertung sinnvoll ist, sollten diese Punkte klar dokumentiert sein: