diff --git a/data/robot/robot.json b/data/robot/robot.json index c437647..ea5d8e7 100644 --- a/data/robot/robot.json +++ b/data/robot/robot.json @@ -21,9 +21,9 @@ "cameraPosition__3": [-200, -900, 200], "cameraPosition__4": [1200, 200, 300], "cameraPosition_a":[-300, -800,500], - "cameraPosition":[300, -700,500], + "cameraPosition":[300, -800,550], "cameraPosition_c":[600, -500,600], - "cameraTarget": [210, -180, 180], + "cameraTarget": [210, -200, 180], "cameraUpVector": [0, 0, 1], "lightPosition": [-500, -500, 500], "lightTarget": [0, 0, 0], diff --git a/pipeline/SetGenerator/robot_commented.json b/data/robot/robot_commented.json similarity index 100% rename from pipeline/SetGenerator/robot_commented.json rename to data/robot/robot_commented.json diff --git a/surfaces/Base.stl b/data/robot/surfaces/Base.stl similarity index 100% rename from surfaces/Base.stl rename to data/robot/surfaces/Base.stl diff --git a/surfaces/Board.stl b/data/robot/surfaces/Board.stl similarity index 100% rename from surfaces/Board.stl rename to data/robot/surfaces/Board.stl diff --git a/surfaces/BoardRail.stl b/data/robot/surfaces/BoardRail.stl similarity index 100% rename from surfaces/BoardRail.stl rename to data/robot/surfaces/BoardRail.stl diff --git a/surfaces/Ellebogen.3mf b/data/robot/surfaces/Ellebogen.3mf similarity index 100% rename from surfaces/Ellebogen.3mf rename to data/robot/surfaces/Ellebogen.3mf diff --git a/surfaces/Ellebogen.stl b/data/robot/surfaces/Ellebogen.stl similarity index 100% rename from surfaces/Ellebogen.stl rename to data/robot/surfaces/Ellebogen.stl diff --git a/surfaces/Finger.stl b/data/robot/surfaces/Finger.stl similarity index 100% rename from surfaces/Finger.stl rename to data/robot/surfaces/Finger.stl diff --git a/surfaces/Holm.stl b/data/robot/surfaces/Holm.stl similarity index 100% rename from surfaces/Holm.stl rename to data/robot/surfaces/Holm.stl diff --git a/surfaces/Unterarm.3mf b/data/robot/surfaces/Unterarm.3mf similarity index 100% rename from surfaces/Unterarm.3mf rename to data/robot/surfaces/Unterarm.3mf diff --git a/surfaces/Unterarm.stl b/data/robot/surfaces/Unterarm.stl similarity index 100% rename from surfaces/Unterarm.stl rename to data/robot/surfaces/Unterarm.stl diff --git a/data/robot/surfaces/boden.jpg b/data/robot/surfaces/boden.jpg new file mode 100644 index 0000000..f9c65ab Binary files /dev/null and b/data/robot/surfaces/boden.jpg differ diff --git a/data/simulation/debug/markers.json b/data/simulation/debug/markers.json new file mode 100644 index 0000000..f4fe080 --- /dev/null +++ b/data/simulation/debug/markers.json @@ -0,0 +1,652 @@ +[ + { + "name": "Board_marker_210", + "id": 210, + "link": "Board", + "position_m": [ + 0.019999999552965164, + -0.019999999552965164, + 0.000800000037997961 + ], + "position_mm": [ + 19.999999552965164, + -19.999999552965164, + 0.800000037997961 + ], + "rotation_quaternion": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "normal": [ + 0.0, + 0.0, + 1.0 + ] + }, + { + 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b/pipeline/SetGenerator/render.png deleted file mode 100644 index 4e2b5c1..0000000 Binary files a/pipeline/SetGenerator/render.png and /dev/null differ diff --git a/pipeline/SetGenerator/robot.json b/pipeline/SetGenerator/robot.json deleted file mode 100644 index c437647..0000000 --- a/pipeline/SetGenerator/robot.json +++ /dev/null @@ -1,518 +0,0 @@ -{ - "coordinateSystem": { - "handedness": "right", - "x": "right", - "y": "backward", - "z": "up" - }, - "units": { - "length": "mm", - "rotation": "degree" - }, - "vision_config": { - "MarkerType": "DICT_4X4_250", - "MarkerSize": 0.025 - }, - "renderingInfo": { - "width": 1280, - "height": 720, - "cameraPosition__1": [-10, -800, 500], - "cameraPosition__2": [-500, 300, 1200], - "cameraPosition__3": [-200, -900, 200], - "cameraPosition__4": [1200, 200, 300], - "cameraPosition_a":[-300, -800,500], - "cameraPosition":[300, -700,500], - "cameraPosition_c":[600, -500,600], - "cameraTarget": [210, -180, 180], - "cameraUpVector": [0, 0, 1], - 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"mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - "skeleton": { - "from": [0, 0, 16], - "to": [1000, 0, 16], - "radius": 4, - "color": [0.85, 0.20, 0.20] - }, - "markers":[ - {"id":210,"position":[20, -20, 0.3], "normal":[0,0,1]}, - {"id":211,"position":[250, -10, 0.3], "normal":[0,0,1]}, - {"id":215,"position":[250, -90, 0.3], "normal":[0,0,1]}, - {"id":214,"position":[350, -10, 0.3], "normal":[0,0,1]}, - {"id":208,"position":[350, -90, 0.3], "normal":[0,0,1]}, - {"id":206,"position":[650, -10, 0.3], "normal":[0,0,1]}, - {"id":205,"position":[750, -90, 0.3], "normal":[0,0,1]}, - {"id":207,"position":[750, -10, 0.3], "normal":[0,0,1]}, - {"id":217,"position":[650, -90, 0.3], "normal":[0,0,1]} - ], - "model": [ - { - "stlFile": "surfaces/Board.stl", - "originOfModel": [0, 0, 0], - "rotationOfModelDegree": [0, 0, -90], - "material": "wood" - }, - { - "stlFile": "surfaces/BoardRail.stl", - "originOfModel": [0, 0, 0], - "rotationOfModelDegree": [0, 0, -90], - "material": "steel" - } - ] - }, - "Base": { - "parent": "Board", - "size": [150, 200, 150], - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - "jointToParent": { - "name": "Slider", - "type": "linear", - "axis": [1, 0, 0], - "origin": [0, 0, 16], - "rotation": [0, 0, 0], - "variable": "x" - }, - "skeleton": { - "from": [0, 108, 45], - "to": [110, 108, 45], - "radius": 4, - "color": [0.20, 0.80, 0.20] - }, - "markers": [ - ], - "model": [ - { - "stlFile": "surfaces/Base.stl", - "originOfModel": [-30, 0, -35], - "rotationOfModelDegree": [0, 0, 0], - "material": "plaWhite" - } - ] - }, - "Arm1": { - "parent": "Base", - "size": [70, 250, 70], - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - "jointToParent": { - "name": "Joint1", - "type": "revolute", - "axis": [-1, 0, 0], - "origin": [110, 108, 45], - "rotation": [0, 0, 0], - "variable": "y" - }, - "skeleton": { - "from": [0, 0, 0], - "to": [0, -250, 0], - "radius": 4, - "color": [0.20, 0.20, 0.90] - }, - "markers": [ - { - "id": 198, - "name": "aruco_198", - "position": [0, -160, 35], - "normal": [0, 0, 1], - "size": 25, - "spin": 0 - }, - { - "id": 229, - "name": "aruco_229", - "position": [0, -250, 35], - "normal": [0, 0, 1], - "size": 25, - "spin": 0 - }, - { - "id": 242, - "name": "aruco_242", - "position": [0, -250, -35], - "normal": [0, 0, -1], - "size": 25, - "spin": 0 - }, - { - "id": 243, - "name": "aruco_243", - "position": [0, -285, 0], - "normal": [0, -1, 0], - "size": 25, - "spin": 0 - } - ], - "model": [ - { - "stlFile": "surfaces/Holm.stl", - "originOfModel__": [-25,29,-28.5], - "originOfModel": [-29,25,28.5], - "rotationOfModelDegree__": [0, 0, 0], - "rotationOfModelDegree": [180, 0, -90], - "material": "powderCoatBlue" - } - ] - }, - "Ellbow": { - "parent": "Arm1", - - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - - "jointToParent": { - "name": "Joint2", - "type": "revolute", - "axis": [-1, 0, 0], - "origin": [0, -250, 0], - "rotation": [0, 0, 0], - "variable": "z" - }, - - "skeleton": { - "from": [0, 0, 0], - "to": [90, 0, 0], - "radius": 4, - "color": [0.90, 0.20, 0.20] - }, - "model": [ - { - "stlFile": "surfaces/Ellebogen.stl", - "originOfModel": [90,0,0], - "rotationOfModelDegree": [0,-90,-90], - "material": "defaultPlastic" - } - ], - "markers": [ - { - "id": 244, - "name": "aruco_244", - "position": [125, 0, 0], - "normal": [1, 0, 0], - "size": 25, - "spin": 0 - }, - { - "id": 245, - "name": "aruco_245", - "position": [90, 0, -35], - "normal": [0, 0, -1], - "size": 25, - "spin": 0 - }, - { - "id": 246, - "name": "aruco_246", - "position": [90, 0, 35], - "normal": [0, 0, 1], - "size": 25 - }, - { - "id": 247, - "name": "aruco_247", - "position": [52.5, 0, 35], - "normal": [0, 0, 1], - "size": 25 - } - ] - - }, - "Arm2": { - "parent": "Ellbow", - - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - - "jointToParent": { - "name": "Joint3", - "type": "revolute", - "axis": [0, -1, 0], - "origin": [90, 0, 0], - "rotation": [0, 0, 0], - "variable": "a" - }, - - "skeleton": { - "from": [0, 0, 0], - "to": [0, -250, 0], - "radius": 4, - "color": [0.95, 0.85, 0.20] - }, - "model": [ - { - "stlFile": "surfaces/Unterarm.stl", - "originOfModel": [0,-250,0], - "rotationOfModelDegree": [180, 0, -90], - "material": "defaultPlastic" - } - ], - "markers":[ - - {"id":120, "position":[24.75, -112, -24.75],"normal":[1,0,-1]}, - {"id":122, "name": "aruco_122", "position":[-35,-112,0], "normal":[-1,0,0]}, - {"id":218, "name": "aruco_218", "position":[35,-112,0], "normal":[1,0,0]}, - {"id":113, "name": "aruco_113", "position":[0, -182, 30],"normal":[0,0,1]}, - {"id":101, "name": "aruco_101", "position":[ 24.75, -182, -24.75],"normal":[ 1,0,-1]}, - {"id":102, "name": "aruco_102", "position":[-24.75, -182, -24.75],"normal":[-1,0,-1]}, - {"id":124, "name": "aruco_124", "position":[-35,-219,0], "normal":[-1,0,0]}, - {"id":219, "name": "aruco_219", "position":[35,-219,0], "normal":[1,0,0]} - - ] - }, - "Hand": { - "parent": "Arm2", - - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - - "jointToParent": { - "name": "Joint4", - "type": "revolute", - "axis": [1, 0, 0], - "origin": [0, -250, 0], - "rotation": [0, 0, 0], - "variable": "b" - }, - - "skeleton": { - "from": [0, 0, 0], - "to": [0, -35, 0], - "radius": 4, - "color": [0.95, 0.55, 0.15] - } - }, - "Palm": { - "parent": "Hand", - - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - - "jointToParent": { - "name": "Joint3", - "type": "revolute", - "axis": [0, -1, 0], - "origin": [0, 0, 0], - "rotation": [0, 0, 0], - "variable": "c" - }, - - "skeleton": { - "from": [-50, -35, 0], - "to": [50, -35, 0], - "radius": 7, - "color": [0.95, 0.20, 0.20] - } - }, - "FingerA": { - "parent": "Palm", - "size": [80, 60, 20], - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - "jointToParent": { - "name": "Slider", - "type": "linear", - "axis": [1, 0, 0], - "origin": [4, -35,0], - "rotation": [0, 0, 0], - "variable": "e" - }, - "skeleton": { - "from": [0, 0,0], - "to": [0, -60, 0], - "radius": 4, - "color": [0.20, 0.80, 0.20] - }, - "model": [ - { - "stlFile": "surfaces/Finger.stl", - "originOfModel": [24,0,-9.1], - "rotationOfModelDegree": [90, -90,0], - "material": "defaultPlastic" - } - ] - }, - "FingerB": { - "parent": "Palm", - "size": [80, 60, 20], - "mountPosition": [0, 0, 0], - "mountRotation": [0, 0, 0], - "jointToParent": { - "name": "Slider", - "type": "linear", - "axis": [-1, 0, 0], - "origin": [-4, -35,0], - "rotation": [0, 0, 0], - "variable": "e" - }, - "skeleton": { - "from": [0, 0,0], - "to": [0, -60, 0], - "radius": 4, - "color": [0.20, 0.80, 0.20] - }, - "model": [ - { - "stlFile": "surfaces/Finger.stl", - "originOfModel": [-24,0,9.1], - "rotationOfModelDegree": [90, 90,0], - "material": "defaultPlastic" - } - ] - } - } -} \ No newline at end of file diff --git a/pipeline/SetGenerator/robot.urdf b/pipeline/SetGenerator/robot.urdf deleted file mode 100644 index f950934..0000000 --- a/pipeline/SetGenerator/robot.urdf +++ /dev/null @@ -1,95 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/pipeline/SetGenerator/run.bat b/pipeline/SetGenerator/run.bat deleted file mode 100644 index afe3d6c..0000000 --- a/pipeline/SetGenerator/run.bat +++ /dev/null @@ -1 +0,0 @@ -"C:\Program Files\Blender Foundation\Blender 4.5\blender.exe" -b --python render_robot.py --log-level 2 \ No newline at end of file diff --git a/run/run_GenerateOnePicture.bat b/run/run_GenerateOnePicture.bat new file mode 100644 index 0000000..01e05ec --- /dev/null +++ b/run/run_GenerateOnePicture.bat @@ -0,0 +1 @@ +"C:\Program Files\Blender Foundation\Blender 4.5\blender.exe" -b --python "C:/Users/kech/SynologyDrive/2026-AppServer-AppRobot/appRobotRendering/setup/generateSets/render_robot.py" --log-level 2 \ No newline at end of file diff --git a/pipeline/SetGenerator/render_robot.py b/setup/generateSets/render_robot.py similarity index 99% rename from pipeline/SetGenerator/render_robot.py rename to setup/generateSets/render_robot.py index e903547..a72f12d 100644 --- a/pipeline/SetGenerator/render_robot.py +++ b/setup/generateSets/render_robot.py @@ -10,8 +10,8 @@ from mathutils import Matrix # PATHS # ============================================================ -ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\robot.json" -OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\render.png" +ROBOT_JSON_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\robot\robot.json" +OUTPUT_FILE = r"C:\Users\kech\SynologyDrive\2026-AppServer-AppRobot\appRobotRendering\data\simulation\debug\render.png" # ============================================================ # DEFAULT MATERIALS diff --git a/pipeline/SetGenerator/runLoop.py b/setup/generateSets/runLoop.py similarity index 100% rename from pipeline/SetGenerator/runLoop.py rename to setup/generateSets/runLoop.py diff --git a/pipeline/precheck/check_constraints.py b/setup/precheck/check_constraints.py similarity index 100% rename from pipeline/precheck/check_constraints.py rename to setup/precheck/check_constraints.py diff --git a/pipeline/precheck/check_robot_marker_uniqueness.py b/setup/precheck/check_robot_marker_uniqueness.py similarity index 100% rename from pipeline/precheck/check_robot_marker_uniqueness.py rename to setup/precheck/check_robot_marker_uniqueness.py diff --git a/pipeline/precheck/json_to_urdf.py b/setup/precheck/json_to_urdf.py similarity index 100% rename from pipeline/precheck/json_to_urdf.py rename to setup/precheck/json_to_urdf.py diff --git a/pipeline/precheck/robot.urdf b/setup/precheck/robot.urdf similarity index 100% rename from pipeline/precheck/robot.urdf rename to setup/precheck/robot.urdf