Anthropic Claude

2026-06-01 16:36:33 +02:00
parent 761919bb93
commit 6655fc6f02
49 changed files with 8379 additions and 7764 deletions
--- a/data/evaluations/Scene4/aruco_positions_initial.json
+++ b/data/evaluations/Scene4/aruco_positions_initial.json
@@ -1,7 +1,7 @@
 {
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--- a/data/evaluations/Scene4/aruco_positions_optimized.json
+++ b/data/evaluations/Scene4/aruco_positions_optimized.json
@@ -1,6 +1,6 @@
 {
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--- a/data/evaluations/Scene4/render_a_aruco_detection.json
+++ b/data/evaluations/Scene4/render_a_aruco_detection.json
@@ -1,6 +1,6 @@
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--- a/data/evaluations/Scene4/render_a_camera_pose.json
+++ b/data/evaluations/Scene4/render_a_camera_pose.json
@@ -1,6 +1,6 @@
 {
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--- a/data/evaluations/Scene4/render_b_aruco_detection.json
+++ b/data/evaluations/Scene4/render_b_aruco_detection.json
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--- a/data/evaluations/Scene4/render_b_camera_pose.json
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--- a/data/evaluations/Scene4/render_c_camera_pose.json
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--- a/data/evaluations/Scene4/render_d_camera_pose.json
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 {
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--- a/data/evaluations/Scene4/render_e_aruco_detection.json
+++ b/data/evaluations/Scene4/render_e_aruco_detection.json
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--- a/data/evaluations/Scene4/render_e_camera_pose.json
+++ b/data/evaluations/Scene4/render_e_camera_pose.json
@@ -1,6 +1,6 @@
 {
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--- a/data/evaluations/Scene4/render_f_aruco_detection.json
+++ b/data/evaluations/Scene4/render_f_aruco_detection.json
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--- a/data/evaluations/Scene4/render_g_camera_pose.json
+++ b/data/evaluations/Scene4/render_g_camera_pose.json
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--- a/data/evaluations/Scene4/robot_state.json
+++ b/data/evaluations/Scene4/robot_state.json
--- a/data/evaluations/Scene9/render_a_aruco_detection.json
+++ b/data/evaluations/Scene9/render_a_aruco_detection.json
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--- a/data/evaluations/Scene9/render_a_camera_pose.json
+++ b/data/evaluations/Scene9/render_a_camera_pose.json
@@ -1,6 +1,6 @@
 {
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--- a/data/evaluations/Scene9/render_b_aruco_detection.json
+++ b/data/evaluations/Scene9/render_b_aruco_detection.json
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--- a/data/evaluations/Scene9/render_b_camera_pose.json
+++ b/data/evaluations/Scene9/render_b_camera_pose.json
@@ -1,6 +1,6 @@
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--- a/data/evaluations/Scene9/render_c_aruco_detection.json
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--- a/data/evaluations/Scene9/render_c_camera_pose.json
+++ b/data/evaluations/Scene9/render_c_camera_pose.json
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--- a/data/evaluations/Scene9/render_d_aruco_detection.json
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--- a/data/evaluations/Scene9/render_d_camera_pose.json
+++ b/data/evaluations/Scene9/render_d_camera_pose.json
@@ -1,6 +1,6 @@
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+++ b/data/evaluations/Scene9/render_e_aruco_detection.json
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--- a/data/evaluations/Scene9/render_e_camera_pose.json
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--- a/data/evaluations/Scene9/render_f_camera_pose.json
+++ b/data/evaluations/Scene9/render_f_camera_pose.json
@@ -1,6 +1,6 @@
 {
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--- a/data/evaluations/Scene9/render_g_aruco_detection.json
+++ b/data/evaluations/Scene9/render_g_aruco_detection.json
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 {
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@@ -1558,7 +1558,7 @@
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@@ -1666,7 +1666,7 @@
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@@ -1720,7 +1720,7 @@
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@@ -1774,7 +1774,7 @@
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@@ -1828,7 +1828,7 @@
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@@ -1882,7 +1882,7 @@
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--- a/data/evaluations/Scene9/render_g_camera_pose.json
+++ b/data/evaluations/Scene9/render_g_camera_pose.json
@@ -1,6 +1,6 @@
 {
  "schema_version": "1.0",
-  "created_utc": "2026-05-31T10:25:25Z",
+  "created_utc": "2026-05-31T20:34:19Z",
  "source": {
    "detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene9\\render_g_aruco_detection.json",
    "robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
--- a/data/evaluations/Scene9/robot_state.json
+++ b/data/evaluations/Scene9/robot_state.json
--- a/data/robot/robot.json
+++ b/data/robot/robot.json
--- a/data/robot/robot_r.json
+++ b/data/robot/robot_r.json
--- a/data/robot/robot_running_2026_05_30.json
+++ b/data/robot/robot_running_2026_05_30.json
@@ -172,6 +172,19 @@
    "spin_factor": 0.3,
    "weight_floor": 0.3
  },
+  "robot_test_poses": {
+    "sim04": {"x": 70, "y": 50,"z": -70,"a": 120,"b": 50,"c": 30,"e": 20},
+    "sim05": {"x": 180,"y": 86,"z": -120,"a": -60,"b": 22,"c": 91,"e": 10},
+    "sim06": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
+    "sim07": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
+    "sim08": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
+    "sim09": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
+    "sim09a": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
+    "sim09b": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
+    "sim010": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
+    "sim011": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
+    "sim012": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6}
+  }, 
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    "x": null,
    "y": null,
@@ -183,7 +196,7 @@
  },
  "state_pose_params":{ 
    "numbers_of_Elements_to_consider_start": 3,
-    "numbers_of_Elements_to_consider_final": 5,
+    "numbers_of_Elements_to_consider_final": 4,
    "solver_in_between_geometrical": false,
    "solver_after_geometrical": false,
    "geometric_passes_per_stage": 2,
@@ -416,36 +429,13 @@
        }
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+        {"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},
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+        {"id": 232, "name": "aruco_232", "position": [90, 24.75, -24.75], "normal": [0, 1, -1], "size": 25},
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