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Claude: Aufräumen

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chk
2026-06-01 21:15:05 +02:00
parent 4b5108aaa8
commit 7b32a50889
146 changed files with 33544 additions and 12331 deletions
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8
run/robot_viewer.html
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@@ -805,8 +805,8 @@ function rebuild() {
? Math.sqrt(opos.reduce((s,v,i) => s+(v-mpos[i])**2, 0))
: null;
const col = errMm == null ? 0x888888
: errMm < 5 ? 0x3ecf6b
: errMm < 15 ? 0xf59e0b
: errMm < 2 ? 0x3ecf6b
: errMm < 5 ? 0xf59e0b
: 0xff4f4f;
gObserved.add(makeSphere(op, 0.006, col));
@@ -852,7 +852,7 @@ function updateStats(errArr, nObs, nModel) {
const p90 = sorted[Math.floor(sorted.length*0.9)];
const max = sorted[sorted.length-1];
const cls = v => v < 5 ? 'stat-ok' : v < 15 ? 'stat-warn' : 'stat-err';
const cls = v => v < 2 ? 'stat-ok' : v < 5 ? 'stat-warn' : 'stat-err';
el.innerHTML = `
<div class="stat-line"><span>Observed:</span><span class="stat-val">${nObs}</span></div>
@@ -863,7 +863,7 @@ function updateStats(errArr, nObs, nModel) {
<div class="stat-line"><span>p90:</span><span class="${cls(p90)}">${p90.toFixed(1)} mm</span></div>
<div class="stat-line"><span>Max:</span><span class="${cls(max)}">${max.toFixed(1)} mm</span></div>
<div style="margin-top:6px;font-size:10px;color:var(--muted)">
🟢 &lt;5mm &nbsp; 🟡 5–15mm &nbsp; 🔴 &gt;15mm</div>`;
🟢 &lt;2mm &nbsp; 🟡 2–5mm &nbsp; 🔴 &gt;5mm</div>`;
}
function setStatus(msg) {

4
run/run_pipeline_v8.bat
View File

@@ -90,7 +90,7 @@ REM ── STEP 3b: Elbow angle (robust to z-error) ─────────
echo.
echo [STEP 3b-v8] Estimate elbow angle
python3 "..\pipeline\4_v8_4b_revolute_angle.py" ^
python3 "..\pipeline\4b_revolute_angle.py" ^
--robot "%ROBOT_JSON%" ^
--aruco "%OUT_DIR%\aruco_positions_optimized.json" ^
--link Ellbow ^
@@ -109,7 +109,7 @@ for %%F in ("%OUT_DIR%\*_camera_pose.json") do (
set POSE_ARGS_V8=!POSE_ARGS_V8! -pose "%%F"
)
python3 "..\pipeline\5_v8_camera_z_refine.py" ^
python3 "..\pipeline\5_camera_z_refine.py" ^
--angle "%OUT_DIR%\v8_ellbow_angle.json" ^
--robot "%ROBOT_JSON%" ^
--aruco "%OUT_DIR%\aruco_positions_optimized.json" ^