arbeiten am Arm2

render_robot.py

@@ -620,10 +620,9 @@ for link_name, link_info in links_def.items():
             base_quat = normal_to_quaternion(normal)
 
             spin_quat = mathutils.Quaternion(
-                mathutils.Vector((0, 0, 1)),
+                mathutils.Vector(normal).normalized(),
                 math.radians(marker_spin_deg)
             )
-
             marker_obj.rotation_quaternion = (
                 base_quat @ spin_quat
             )
@@ -639,7 +638,7 @@ for link_name, link_info in links_def.items():
             # minimal vorziehen gegen Z-Fighting
             marker_obj.location = (
                 mathutils.Vector(marker_pos)
-                + normal_world * mm_to_m(0.05)
+                + normal_world * mm_to_m(0.5)
             )
 
             marker_mat = create_aruco_material(
@@ -651,6 +650,12 @@ for link_name, link_info in links_def.items():
                 marker_obj.data.materials.append(marker_mat)
             else:
                 marker_obj.data.materials[0] = marker_mat    
+
+            print("Marker:", marker_name)
+            print("WORLD POS:", marker_obj.matrix_world.translation)
+            print("LOCAL POS:", marker_obj.location)
+
+
             # --------------------------------------------------------
             # --------------------------------------------------------
             # BACKING PLATE (white PLA behind marker)

robot.json

@@ -80,10 +80,10 @@
   "defaultPosition": {
     "x": 150,
     "y": 30,
-    "z": -60,
+    "z": -30,
-    "a": 270,
+    "a": 90,
-    "b": 30,
+    "b": 0,
-    "c": 70,
+    "c": 0,
     "e": 0
   },
   "recognized": {
@@ -320,25 +320,23 @@
         "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":126, "position":[40,120,0], "normal":[1,0,0]},
+                {
-        {"id":228,"on":"Arm2", "position":[-24.75, -112, 24.75],"normal":[-1,0,1],  "relPosSource":["Fusion","Fusion","Fusion"]},
+          "id": 17,
-        {"id": 122,"on":"Arm2", "position":[-24.75, -182, 24.75],"normal":[-1,0,1],  "relPosSource":["Fusion","Fusion","Fusion"]},
+          "name": "aruco_17",
-        {"id": 123,"on":"Arm2", "position":[-35,-112,0], "normal":[-1,0,0],          "relPosSource":["Fusion","Fusion","Fusion"]},
+          "position": [0, -150, 0],
-        {"id": 124,"on":"Arm2", "position":[-35,-219,0], "normal":[-1,0,0],          "relPosSource":["Fusion","Fusion","Fusion"]},
+          "normal": [-1, 0, 0],
-        {"id":223,"on":"Arm2", "position":[-28.67,-112,-20.08], "normal":[-28.67,0,-20.08],   "relPosSource":["Fusion","Fusion","Fusion"]},
+          "size": 25,
-        {"id": 125,"on":"Arm2", "position":[0,-182,-30], "normal":[0,0,-1],          "relPosSource":["Fusion","Fusion","Fusion"]},
+          "spin": 0
-        {"id":218,"on":"Arm2", "position":[35,-112,0], "normal":[1,0,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        },
-        {"id":219,"on":"Arm2", "position":[35,-219,0], "normal":[1,0,0],           "relPosSource":["Fusion","Fusion","Fusion"]},
+        {
-        {"id": 126,"on":"Arm2", "position":[24.75, -182, 24.75], "normal":[1,0,1],  "relPosSource":["Fusion","Fusion","Fusion"]}
+          "id": 18,
+          "name": "aruco_18",
+          "position": [0, -180, 0],
+          "normal": [1, 0, 0],
+          "size": 25,
+          "spin": 0
+        }
       ]
     },
     "Hand": {