diff --git a/data/evaluations/Scene6/aruco_marker_poses.json b/data/evaluations/Scene6/aruco_marker_poses.json
index eb775e0..8ff2416 100644
--- a/data/evaluations/Scene6/aruco_marker_poses.json
+++ b/data/evaluations/Scene6/aruco_marker_poses.json
@@ -1,7 +1,7 @@
{
"schema_version": "1.0",
"stage": "corner_marker_poses",
- "created_utc": "2026-06-01T22:49:25Z",
+ "created_utc": "2026-06-02T04:19:22Z",
"summary": {
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diff --git a/data/evaluations/Scene6/aruco_positions_initial.json b/data/evaluations/Scene6/aruco_positions_initial.json
index e3cc97f..fc4ef34 100644
--- a/data/evaluations/Scene6/aruco_positions_initial.json
+++ b/data/evaluations/Scene6/aruco_positions_initial.json
@@ -1,7 +1,7 @@
{
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"stage": "initial_triangulation",
- "created_utc": "2026-06-01T20:35:49Z",
+ "created_utc": "2026-06-02T04:19:06Z",
"summary": {
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diff --git a/data/evaluations/Scene6/aruco_positions_optimized.json b/data/evaluations/Scene6/aruco_positions_optimized.json
index 00251b5..1cade45 100644
--- a/data/evaluations/Scene6/aruco_positions_optimized.json
+++ b/data/evaluations/Scene6/aruco_positions_optimized.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.2",
- "created_utc": "2026-06-01T20:36:00Z",
+ "created_utc": "2026-06-02T04:19:22Z",
"summary": {
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"num_markers": 54,
diff --git a/data/evaluations/Scene6/render_a_aruco_detection.json b/data/evaluations/Scene6/render_a_aruco_detection.json
index f78a9a8..d6a2669 100644
--- a/data/evaluations/Scene6/render_a_aruco_detection.json
+++ b/data/evaluations/Scene6/render_a_aruco_detection.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T20:35:43Z",
+ "created_utc": "2026-06-02T04:19:00Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
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+ "observation_id": "8a352e6b-95bc-4cd9-8c0e-efc241ab9fcd",
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"confidence": 0.7395976147580084
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{
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+ "observation_id": "f9bfbba9-a903-47a8-9208-be7f5f0b3f89",
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@@ -154,7 +154,7 @@
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+ "observation_id": "f2a36302-491a-4b7e-9b19-df16cba97ae1",
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+ "observation_id": "29243d93-eccf-4d5a-b6a8-3b11df773a17",
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@@ -370,7 +370,7 @@
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@@ -748,7 +748,7 @@
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@@ -856,7 +856,7 @@
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@@ -910,7 +910,7 @@
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@@ -964,7 +964,7 @@
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+ "observation_id": "dbf1a420-169c-4263-8ed4-58fd67b016d1",
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@@ -1018,7 +1018,7 @@
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@@ -1126,7 +1126,7 @@
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@@ -1180,7 +1180,7 @@
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@@ -1234,7 +1234,7 @@
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@@ -1288,7 +1288,7 @@
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@@ -1342,7 +1342,7 @@
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@@ -1396,7 +1396,7 @@
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@@ -1450,7 +1450,7 @@
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diff --git a/data/evaluations/Scene6/render_a_camera_pose.json b/data/evaluations/Scene6/render_a_camera_pose.json
index 1d486b0..86d87b2 100644
--- a/data/evaluations/Scene6/render_a_camera_pose.json
+++ b/data/evaluations/Scene6/render_a_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T20:35:46Z",
+ "created_utc": "2026-06-02T04:19:04Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_a_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene6/render_b_aruco_detection.json b/data/evaluations/Scene6/render_b_aruco_detection.json
index 90024e0..74dfac9 100644
--- a/data/evaluations/Scene6/render_b_aruco_detection.json
+++ b/data/evaluations/Scene6/render_b_aruco_detection.json
@@ -1,6 +1,6 @@
{
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+ "created_utc": "2026-06-02T04:19:01Z",
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"MarkerType": "DICT_4X4_250",
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@@ -46,7 +46,7 @@
},
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@@ -100,7 +100,7 @@
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@@ -154,7 +154,7 @@
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@@ -370,7 +370,7 @@
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@@ -478,7 +478,7 @@
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@@ -532,7 +532,7 @@
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@@ -586,7 +586,7 @@
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@@ -640,7 +640,7 @@
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@@ -964,7 +964,7 @@
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@@ -1126,7 +1126,7 @@
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@@ -2206,7 +2206,7 @@
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diff --git a/data/evaluations/Scene6/render_b_camera_pose.json b/data/evaluations/Scene6/render_b_camera_pose.json
index dcd29db..575c382 100644
--- a/data/evaluations/Scene6/render_b_camera_pose.json
+++ b/data/evaluations/Scene6/render_b_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:35:47Z",
+ "created_utc": "2026-06-02T04:19:04Z",
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"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene6/render_c_aruco_detection.json b/data/evaluations/Scene6/render_c_aruco_detection.json
index 9edcedf..b3cf128 100644
--- a/data/evaluations/Scene6/render_c_aruco_detection.json
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{
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diff --git a/data/evaluations/Scene6/render_c_camera_pose.json b/data/evaluations/Scene6/render_c_camera_pose.json
index a447778..addbb67 100644
--- a/data/evaluations/Scene6/render_c_camera_pose.json
+++ b/data/evaluations/Scene6/render_c_camera_pose.json
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{
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diff --git a/data/evaluations/Scene6/render_d_aruco_detection.json b/data/evaluations/Scene6/render_d_aruco_detection.json
index 97c7772..cbf89d3 100644
--- a/data/evaluations/Scene6/render_d_aruco_detection.json
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diff --git a/data/evaluations/Scene6/render_d_camera_pose.json b/data/evaluations/Scene6/render_d_camera_pose.json
index 1a46c36..4f31d67 100644
--- a/data/evaluations/Scene6/render_d_camera_pose.json
+++ b/data/evaluations/Scene6/render_d_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:35:47Z",
+ "created_utc": "2026-06-02T04:19:05Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene6/render_e_aruco_detection.json b/data/evaluations/Scene6/render_e_aruco_detection.json
index 0fc65e3..4288b31 100644
--- a/data/evaluations/Scene6/render_e_aruco_detection.json
+++ b/data/evaluations/Scene6/render_e_aruco_detection.json
@@ -1,6 +1,6 @@
{
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@@ -46,7 +46,7 @@
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diff --git a/data/evaluations/Scene6/render_e_camera_pose.json b/data/evaluations/Scene6/render_e_camera_pose.json
index 6b653f4..a575bf9 100644
--- a/data/evaluations/Scene6/render_e_camera_pose.json
+++ b/data/evaluations/Scene6/render_e_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T20:35:48Z",
+ "created_utc": "2026-06-02T04:19:05Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene6\\render_e_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene6/render_f_aruco_detection.json b/data/evaluations/Scene6/render_f_aruco_detection.json
index 17ff345..5ea50f4 100644
--- a/data/evaluations/Scene6/render_f_aruco_detection.json
+++ b/data/evaluations/Scene6/render_f_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:35:46Z",
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@@ -46,7 +46,7 @@
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@@ -1180,7 +1180,7 @@
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@@ -1234,7 +1234,7 @@
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@@ -1342,7 +1342,7 @@
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@@ -1396,7 +1396,7 @@
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diff --git a/data/evaluations/Scene6/render_f_camera_pose.json b/data/evaluations/Scene6/render_f_camera_pose.json
index de379f3..7fa6407 100644
--- a/data/evaluations/Scene6/render_f_camera_pose.json
+++ b/data/evaluations/Scene6/render_f_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:35:48Z",
+ "created_utc": "2026-06-02T04:19:05Z",
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"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene6/render_g_aruco_detection.json b/data/evaluations/Scene6/render_g_aruco_detection.json
index c83a97a..303a5a5 100644
--- a/data/evaluations/Scene6/render_g_aruco_detection.json
+++ b/data/evaluations/Scene6/render_g_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:35:46Z",
+ "created_utc": "2026-06-02T04:19:03Z",
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@@ -46,7 +46,7 @@
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@@ -1126,7 +1126,7 @@
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@@ -1180,7 +1180,7 @@
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@@ -1234,7 +1234,7 @@
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@@ -1288,7 +1288,7 @@
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@@ -1342,7 +1342,7 @@
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@@ -1396,7 +1396,7 @@
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@@ -1450,7 +1450,7 @@
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@@ -1504,7 +1504,7 @@
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@@ -1558,7 +1558,7 @@
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@@ -1612,7 +1612,7 @@
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@@ -1720,7 +1720,7 @@
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diff --git a/data/evaluations/Scene6/render_g_camera_pose.json b/data/evaluations/Scene6/render_g_camera_pose.json
index 3f739f4..6c493ad 100644
--- a/data/evaluations/Scene6/render_g_camera_pose.json
+++ b/data/evaluations/Scene6/render_g_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:35:48Z",
+ "created_utc": "2026-06-02T04:19:06Z",
"source": {
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"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene6/robot_state.json b/data/evaluations/Scene6/robot_state.json
index 020d525..9401034 100644
--- a/data/evaluations/Scene6/robot_state.json
+++ b/data/evaluations/Scene6/robot_state.json
@@ -1,5323 +1,58 @@
{
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- }
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+ "residual_rms": 1.3382309357698534,
+ "num_markers": 54
}
\ No newline at end of file
diff --git a/data/evaluations/Scene7/aruco_marker_poses.json b/data/evaluations/Scene7/aruco_marker_poses.json
index 9447075..5ad3e05 100644
--- a/data/evaluations/Scene7/aruco_marker_poses.json
+++ b/data/evaluations/Scene7/aruco_marker_poses.json
@@ -1,7 +1,7 @@
{
"schema_version": "1.0",
"stage": "corner_marker_poses",
- "created_utc": "2026-06-01T22:49:33Z",
+ "created_utc": "2026-06-02T04:19:53Z",
"summary": {
"num_cameras": 7,
"num_markers": 56
diff --git a/data/evaluations/Scene7/aruco_positions_initial.json b/data/evaluations/Scene7/aruco_positions_initial.json
index 70bf251..3bf831c 100644
--- a/data/evaluations/Scene7/aruco_positions_initial.json
+++ b/data/evaluations/Scene7/aruco_positions_initial.json
@@ -1,7 +1,7 @@
{
"schema_version": "1.2",
"stage": "initial_triangulation",
- "created_utc": "2026-06-01T20:36:23Z",
+ "created_utc": "2026-06-02T04:19:43Z",
"summary": {
"num_cameras": 7,
"num_markers": 56,
diff --git a/data/evaluations/Scene7/aruco_positions_optimized.json b/data/evaluations/Scene7/aruco_positions_optimized.json
index 0dcd36c..3f091ba 100644
--- a/data/evaluations/Scene7/aruco_positions_optimized.json
+++ b/data/evaluations/Scene7/aruco_positions_optimized.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.2",
- "created_utc": "2026-06-01T20:36:33Z",
+ "created_utc": "2026-06-02T04:19:53Z",
"summary": {
"num_cameras": 7,
"num_markers": 56,
diff --git a/data/evaluations/Scene7/render_a_aruco_detection.json b/data/evaluations/Scene7/render_a_aruco_detection.json
index acd41bc..508337d 100644
--- a/data/evaluations/Scene7/render_a_aruco_detection.json
+++ b/data/evaluations/Scene7/render_a_aruco_detection.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T20:36:16Z",
+ "created_utc": "2026-06-02T04:19:36Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
"detections": [
{
- "observation_id": "f964c55f-43d4-4751-9a22-20ab94326b26",
+ "observation_id": "e514a66c-32b3-4645-9830-5e7dd38c3eeb",
"type": "aruco",
"marker_id": 45,
"marker_size_m": 0.025,
@@ -100,7 +100,7 @@
"confidence": 0.933333344056117
},
{
- "observation_id": "51270879-cef3-45a1-a23a-aca87097927b",
+ "observation_id": "eec2eb41-16c0-4b42-8420-4f88bca5a23b",
"type": "aruco",
"marker_id": 115,
"marker_size_m": 0.025,
@@ -154,7 +154,7 @@
"confidence": 0.8316061635117153
},
{
- "observation_id": "8df5a72f-024b-4337-9cd7-3fd7ed8c03c5",
+ "observation_id": "874f58ac-ff49-4e87-bcdd-d5eb07ff3709",
"type": "aruco",
"marker_id": 124,
"marker_size_m": 0.025,
@@ -208,7 +208,7 @@
"confidence": 0.864344467203455
},
{
- "observation_id": "15178740-87f4-480c-851e-c8cf9b7bb7dd",
+ "observation_id": "98f1a2aa-4861-46da-9618-579a7c45d771",
"type": "aruco",
"marker_id": 44,
"marker_size_m": 0.025,
@@ -262,7 +262,7 @@
"confidence": 0.47551060221792857
},
{
- "observation_id": "a9f1ef5e-4f34-42fa-8619-0bb24e7179db",
+ "observation_id": "7148e243-d02b-407e-af9e-ce170a5ce26b",
"type": "aruco",
"marker_id": 122,
"marker_size_m": 0.025,
@@ -316,7 +316,7 @@
"confidence": 0.6838307339774958
},
{
- "observation_id": "b76acde0-52df-4ce9-844e-631ce8c467af",
+ "observation_id": "1033a121-e31f-44f9-8288-83180733a46e",
"type": "aruco",
"marker_id": 229,
"marker_size_m": 0.025,
@@ -370,7 +370,7 @@
"confidence": 0.6663683735229249
},
{
- "observation_id": "76931319-2e1a-4f5b-87af-bdd57dcb4cf4",
+ "observation_id": "8a23daa4-593f-4426-b73f-b194d24446ef",
"type": "aruco",
"marker_id": 47,
"marker_size_m": 0.025,
@@ -424,7 +424,7 @@
"confidence": 0.12146268776527554
},
{
- "observation_id": "7e06c2f7-475c-4358-92d8-23ef0f4bb78e",
+ "observation_id": "7b25a4e8-dd3c-4189-a07f-5b73995db439",
"type": "aruco",
"marker_id": 248,
"marker_size_m": 0.025,
@@ -478,7 +478,7 @@
"confidence": 0.5327431878174796
},
{
- "observation_id": "09009ec0-744a-4b2d-b975-5bdca7877fe8",
+ "observation_id": "c0cbdbed-ecb5-4413-becb-b14fd36f7940",
"type": "aruco",
"marker_id": 243,
"marker_size_m": 0.025,
@@ -532,7 +532,7 @@
"confidence": 0.4563796230965866
},
{
- "observation_id": "07b28336-ebff-462e-b07b-87a19090546f",
+ "observation_id": "65b5502e-beee-4f80-bc76-4cfc6a584d5d",
"type": "aruco",
"marker_id": 210,
"marker_size_m": 0.025,
@@ -586,7 +586,7 @@
"confidence": 0.46829700346999537
},
{
- "observation_id": "ba6142b9-e5db-4f5f-a8c0-fff3098dfaa8",
+ "observation_id": "6f0cbcac-6979-4835-af4d-76373d3d8792",
"type": "aruco",
"marker_id": 245,
"marker_size_m": 0.025,
@@ -640,7 +640,7 @@
"confidence": 0.5199863882378979
},
{
- "observation_id": "b23a2be3-3146-41b4-8e55-9742d02e2ef5",
+ "observation_id": "2ccbba18-3429-43b6-b407-b70f2c4fa095",
"type": "aruco",
"marker_id": 198,
"marker_size_m": 0.025,
@@ -694,7 +694,7 @@
"confidence": 0.4819590641378537
},
{
- "observation_id": "10400ef1-268d-4052-8385-f5667384a3f4",
+ "observation_id": "35e3d684-978b-4907-86a4-490ea8b287b8",
"type": "aruco",
"marker_id": 85,
"marker_size_m": 0.025,
@@ -748,7 +748,7 @@
"confidence": 0.4560525484643318
},
{
- "observation_id": "e160e318-a760-4c98-a22f-3070278cbc70",
+ "observation_id": "78330b1a-3d0c-49eb-8fd4-15a518efe0ca",
"type": "aruco",
"marker_id": 79,
"marker_size_m": 0.025,
@@ -802,7 +802,7 @@
"confidence": 0.5734281513866332
},
{
- "observation_id": "7591a885-e1a1-471d-88d3-8b7ec982a747",
+ "observation_id": "783a2ab0-7b66-43b3-a13b-d4254586c526",
"type": "aruco",
"marker_id": 96,
"marker_size_m": 0.025,
@@ -856,7 +856,7 @@
"confidence": 0.525542829627259
},
{
- "observation_id": "88286407-09eb-4212-90eb-4e0428012a80",
+ "observation_id": "89b964da-109e-496a-8a56-b5dead17b2fd",
"type": "aruco",
"marker_id": 62,
"marker_size_m": 0.025,
@@ -910,7 +910,7 @@
"confidence": 0.5038606541951498
},
{
- "observation_id": "102f9251-e36f-4f89-969e-875244b44a2f",
+ "observation_id": "dce05106-6d8f-40aa-a30b-9f3d75496b0c",
"type": "aruco",
"marker_id": 105,
"marker_size_m": 0.025,
@@ -964,7 +964,7 @@
"confidence": 0.43622925667631085
},
{
- "observation_id": "5f0ba448-65ff-4fa6-bf79-2b13be6114bb",
+ "observation_id": "3739350e-98a3-4806-8177-951d7091e2b0",
"type": "aruco",
"marker_id": 211,
"marker_size_m": 0.025,
@@ -1018,7 +1018,7 @@
"confidence": 0.402108970929575
},
{
- "observation_id": "431fff5d-67b3-4dc6-a82c-9ac30a12f53b",
+ "observation_id": "8d256b22-ba12-461c-b359-0a0a1e0c9611",
"type": "aruco",
"marker_id": 208,
"marker_size_m": 0.025,
@@ -1072,7 +1072,7 @@
"confidence": 0.4435967685123575
},
{
- "observation_id": "77876da5-3b1c-4149-8835-6616adb365a1",
+ "observation_id": "67fc9b52-2bc9-48ae-8604-6e5f24cd7587",
"type": "aruco",
"marker_id": 75,
"marker_size_m": 0.025,
@@ -1126,7 +1126,7 @@
"confidence": 0.29844141482805986
},
{
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diff --git a/data/evaluations/Scene7/render_a_camera_pose.json b/data/evaluations/Scene7/render_a_camera_pose.json
index 320f019..4060809 100644
--- a/data/evaluations/Scene7/render_a_camera_pose.json
+++ b/data/evaluations/Scene7/render_a_camera_pose.json
@@ -1,6 +1,6 @@
{
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diff --git a/data/evaluations/Scene7/render_b_aruco_detection.json b/data/evaluations/Scene7/render_b_aruco_detection.json
index 7b149ab..4f9ae27 100644
--- a/data/evaluations/Scene7/render_b_aruco_detection.json
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+ "observation_id": "aad9dae4-ea71-4595-9398-9cccf5b89931",
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@@ -2476,7 +2476,7 @@
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+ "observation_id": "5ae85ad2-9bc7-4806-8cef-6df3e71ac351",
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@@ -2530,7 +2530,7 @@
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diff --git a/data/evaluations/Scene7/render_b_camera_pose.json b/data/evaluations/Scene7/render_b_camera_pose.json
index 7158113..79d577f 100644
--- a/data/evaluations/Scene7/render_b_camera_pose.json
+++ b/data/evaluations/Scene7/render_b_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:36:21Z",
+ "created_utc": "2026-06-02T04:19:41Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene7\\render_b_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene7/render_c_aruco_detection.json b/data/evaluations/Scene7/render_c_aruco_detection.json
index 52a359d..e4fb0b9 100644
--- a/data/evaluations/Scene7/render_c_aruco_detection.json
+++ b/data/evaluations/Scene7/render_c_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:36:17Z",
+ "created_utc": "2026-06-02T04:19:37Z",
"vision_config": {
"MarkerType": "DICT_4X4_250",
"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
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+ "observation_id": "4803f37f-5788-4973-900f-e099190e26aa",
"type": "aruco",
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@@ -100,7 +100,7 @@
"confidence": 0.8641129878529331
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+ "observation_id": "479fa674-6d69-4058-95e2-7279407f6a30",
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@@ -154,7 +154,7 @@
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@@ -208,7 +208,7 @@
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+ "observation_id": "c837695e-0770-45f4-b9a3-cbb54bd33fb8",
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@@ -262,7 +262,7 @@
"confidence": 0.9049975452490508
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+ "observation_id": "069e892b-5c5d-4ff1-b06e-90c71af9587d",
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@@ -316,7 +316,7 @@
"confidence": 0.41522739398786884
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{
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+ "observation_id": "ef9f16a2-85e8-45bf-9e0a-f3944f7912bc",
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@@ -370,7 +370,7 @@
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+ "observation_id": "25ff6549-569c-47ef-9a91-5a80f97d065a",
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@@ -424,7 +424,7 @@
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+ "observation_id": "aa08596d-ae03-413b-aabb-72aff2680f65",
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@@ -478,7 +478,7 @@
"confidence": 0.24808403242708815
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@@ -532,7 +532,7 @@
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@@ -586,7 +586,7 @@
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@@ -640,7 +640,7 @@
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{
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@@ -694,7 +694,7 @@
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diff --git a/data/evaluations/Scene7/render_c_camera_pose.json b/data/evaluations/Scene7/render_c_camera_pose.json
index c3f3207..b4f753a 100644
--- a/data/evaluations/Scene7/render_c_camera_pose.json
+++ b/data/evaluations/Scene7/render_c_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:36:21Z",
+ "created_utc": "2026-06-02T04:19:41Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene7\\render_c_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene7/render_d_aruco_detection.json b/data/evaluations/Scene7/render_d_aruco_detection.json
index 40dc6b9..7ea92fa 100644
--- a/data/evaluations/Scene7/render_d_aruco_detection.json
+++ b/data/evaluations/Scene7/render_d_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:36:18Z",
+ "created_utc": "2026-06-02T04:19:38Z",
"vision_config": {
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"MarkerSize": 0.025
@@ -46,7 +46,7 @@
},
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+ "observation_id": "14e85790-f3f3-4d2f-bd6a-42e00d4b076d",
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@@ -100,7 +100,7 @@
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+ "observation_id": "287ea814-fb8f-4a76-83de-08b4870fdda3",
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@@ -154,7 +154,7 @@
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+ "observation_id": "d2ae580d-792d-459d-b6ce-28c7767f64d4",
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@@ -208,7 +208,7 @@
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+ "observation_id": "187b48c5-753e-46f8-acb9-ecb1edc8590e",
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@@ -262,7 +262,7 @@
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+ "observation_id": "34146e19-1930-4529-be21-76671ac87e52",
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@@ -316,7 +316,7 @@
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+ "observation_id": "6bf19463-5af2-4e5b-8357-e784845be3e9",
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@@ -370,7 +370,7 @@
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@@ -424,7 +424,7 @@
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@@ -478,7 +478,7 @@
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@@ -532,7 +532,7 @@
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@@ -586,7 +586,7 @@
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@@ -640,7 +640,7 @@
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@@ -694,7 +694,7 @@
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@@ -748,7 +748,7 @@
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@@ -802,7 +802,7 @@
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@@ -856,7 +856,7 @@
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@@ -910,7 +910,7 @@
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@@ -964,7 +964,7 @@
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@@ -1018,7 +1018,7 @@
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diff --git a/data/evaluations/Scene7/render_d_camera_pose.json b/data/evaluations/Scene7/render_d_camera_pose.json
index 81bb9ff..a6177ab 100644
--- a/data/evaluations/Scene7/render_d_camera_pose.json
+++ b/data/evaluations/Scene7/render_d_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T20:36:22Z",
+ "created_utc": "2026-06-02T04:19:41Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene7\\render_d_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene7/render_e_aruco_detection.json b/data/evaluations/Scene7/render_e_aruco_detection.json
index 51b705d..f1f291e 100644
--- a/data/evaluations/Scene7/render_e_aruco_detection.json
+++ b/data/evaluations/Scene7/render_e_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:36:19Z",
+ "created_utc": "2026-06-02T04:19:39Z",
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@@ -46,7 +46,7 @@
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@@ -100,7 +100,7 @@
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@@ -154,7 +154,7 @@
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@@ -208,7 +208,7 @@
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@@ -262,7 +262,7 @@
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@@ -316,7 +316,7 @@
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@@ -370,7 +370,7 @@
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@@ -424,7 +424,7 @@
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@@ -478,7 +478,7 @@
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diff --git a/data/evaluations/Scene7/render_e_camera_pose.json b/data/evaluations/Scene7/render_e_camera_pose.json
index b83c77a..dae8027 100644
--- a/data/evaluations/Scene7/render_e_camera_pose.json
+++ b/data/evaluations/Scene7/render_e_camera_pose.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:36:22Z",
+ "created_utc": "2026-06-02T04:19:42Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene7\\render_e_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene7/render_f_aruco_detection.json b/data/evaluations/Scene7/render_f_aruco_detection.json
index 2c4c26e..64abd4b 100644
--- a/data/evaluations/Scene7/render_f_aruco_detection.json
+++ b/data/evaluations/Scene7/render_f_aruco_detection.json
@@ -1,6 +1,6 @@
{
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- "created_utc": "2026-06-01T20:36:19Z",
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@@ -46,7 +46,7 @@
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@@ -1126,7 +1126,7 @@
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@@ -1180,7 +1180,7 @@
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@@ -1234,7 +1234,7 @@
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@@ -1288,7 +1288,7 @@
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diff --git a/data/evaluations/Scene7/render_f_camera_pose.json b/data/evaluations/Scene7/render_f_camera_pose.json
index ee885a7..8814185 100644
--- a/data/evaluations/Scene7/render_f_camera_pose.json
+++ b/data/evaluations/Scene7/render_f_camera_pose.json
@@ -1,6 +1,6 @@
{
"schema_version": "1.0",
- "created_utc": "2026-06-01T20:36:22Z",
+ "created_utc": "2026-06-02T04:19:42Z",
"source": {
"detection_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\evaluations\\Scene7\\render_f_aruco_detection.json",
"robot_json": "C:\\Users\\kech\\SynologyDrive\\2026-AppServer-AppRobot\\appRobotRendering\\data\\robot\\robot.json"
diff --git a/data/evaluations/Scene7/render_g_aruco_detection.json b/data/evaluations/Scene7/render_g_aruco_detection.json
index a7105ae..bc2c13f 100644
--- a/data/evaluations/Scene7/render_g_aruco_detection.json
+++ b/data/evaluations/Scene7/render_g_aruco_detection.json
@@ -1,6 +1,6 @@
{
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@@ -46,7 +46,7 @@
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diff --git a/data/evaluations/Scene7/render_g_camera_pose.json b/data/evaluations/Scene7/render_g_camera_pose.json
index 3e31450..852af60 100644
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diff --git a/data/evaluations/Scene7/robot_state.json b/data/evaluations/Scene7/robot_state.json
index a2d0fe0..de3d91c 100644
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- -0.009997289986131553,
- 0.00022359151879563336
- ],
- "error_m": [
- 5.497735281512206e-05,
- -0.0003467456861196462,
- 7.08540774461642e-05
- ],
- "error_norm_m": 0.0003581555255135535
- },
- {
- "marker_id": 207,
- "link": "Board",
- "observed_position_m": [
- 0.7507003895107062,
- -0.009545816835936334,
- -0.0003629801630851015
- ],
- "predicted_position_m": [
- 0.7500251854242768,
- -0.009998081119214583,
- 0.00020492418363620245
- ],
- "error_m": [
- -0.000675204086429404,
- -0.0004522642832782489,
- 0.000567904346721304
- ],
- "error_norm_m": 0.0009914428310725258
- },
- {
- "marker_id": 208,
- "link": "Board",
- "observed_position_m": [
- 0.34994352400747775,
- -0.09007941354850589,
- 0.0003278151400407232
- ],
- "predicted_position_m": [
- 0.3500245577041208,
- -0.08999491600609656,
- 0.0002699746420324358
- ],
- "error_m": [
- 8.103369664302917e-05,
- 8.449754240932861e-05,
- -5.784049800828736e-05
- ],
- "error_norm_m": 0.00013058260938845362
- },
- {
- "marker_id": 210,
- "link": "Board",
- "observed_position_m": [
- 0.020065824263330253,
- -0.020279807909172345,
- 0.0004513029981910356
- ],
- "predicted_position_m": [
- 0.02002511882849735,
- -0.01999230577511022,
- 0.00033999337001986183
- ],
- "error_m": [
- -4.0705434832904314e-05,
- 0.0002875021340621245,
- -0.00011130962817117374
- ],
- "error_norm_m": 0.0003109730580594026
- },
- {
- "marker_id": 211,
- "link": "Board",
- "observed_position_m": [
- 0.25001182397417865,
- -0.01008796199781918,
- 0.00030860770915974104
- ],
- "predicted_position_m": [
- 0.25002519415165914,
- -0.00999412545379943,
- 0.000298260859433357
- ],
- "error_m": [
- 1.33701774804873e-05,
- 9.383654401974931e-05,
- -1.0346849726384035e-05
- ],
- "error_norm_m": 9.534734363730566e-05
- },
- {
- "marker_id": 214,
- "link": "Board",
- "observed_position_m": [
- 0.34999031439468603,
- -0.010437662873963529,
- 0.0005743177616843856
- ],
- "predicted_position_m": [
- 0.3500251924061827,
- -0.00999491658688246,
- 0.0002795935242739261
- ],
- "error_m": [
- 3.487801149665293e-05,
- 0.00044274628708106806,
- -0.00029472423741045946
- ],
- "error_norm_m": 0.0005330132517369611
- },
- {
- "marker_id": 215,
- "link": "Board",
- "observed_position_m": [
- 0.24996641561707392,
- -0.09002569095246064,
- 0.0002973400146577166
- ],
- "predicted_position_m": [
- 0.25002455944959723,
- -0.08999412487301353,
- 0.0002886419771918667
- ],
- "error_m": [
- 5.814383252331079e-05,
- 3.1566079447112316e-05,
- -8.698037465849884e-06
- ],
- "error_norm_m": 6.672914271828725e-05
- },
- {
- "marker_id": 217,
- "link": "Board",
- "observed_position_m": [
- 0.6502063551169979,
- -0.0896972541168264,
- 0.00011072429342850576
- ],
- "predicted_position_m": [
- 0.6500245524676914,
- -0.08999728940534565,
- 0.00021397263655414307
- ],
- "error_m": [
- -0.00018180264930645063,
- -0.0003000352885192542,
- 0.00010324834312563732
- ],
- "error_norm_m": 0.000365696045931407
- },
- {
- "marker_id": 219,
- "link": "Arm2",
- "observed_position_m": [
- 0.2637535829345879,
- -0.11884944118157345,
- 0.2701123549464792
- ],
- "predicted_position_m": [
- 0.24539029427284925,
- -0.14620299148693738,
- 0.2600785639673745
- ],
- "error_m": [
- -0.01836328866173864,
- -0.027353550305363933,
- -0.010033790979104729
- ],
- "error_norm_m": 0.03443986129755428
- },
- {
- "marker_id": 229,
- "link": "Arm1",
- "observed_position_m": [
- 0.14000393766894376,
- -0.14311774987389084,
- 0.08736045768765369
- ],
- "predicted_position_m": [
- 0.13898373366926126,
- -0.14411315224094529,
- 0.07384855341320237
- ],
- "error_m": [
- -0.0010202039996825008,
- -0.0009954023670544487,
- -0.013511904274451314
- ],
- "error_norm_m": 0.013586875991015795
- },
- {
- "marker_id": 232,
- "link": "Ellbow",
- "observed_position_m": [
- 0.22989513108893148,
- -0.16844990202534146,
- 0.0283362694163111
- ],
- "predicted_position_m": [
- 0.22897177567894955,
- -0.16141187291551382,
- 0.01051490208330316
- ],
- "error_m": [
- -0.0009233554099819241,
- 0.007038029109827648,
- -0.01782136733300794
- ],
- "error_norm_m": 0.01918300217854147
- },
- {
- "marker_id": 243,
- "link": "Arm1",
- "observed_position_m": [
- 0.14016714918614823,
- -0.17705235626357455,
- 0.050734503636621894
- ],
- "predicted_position_m": [
- 0.13897639794856836,
- -0.17589001734181348,
- 0.035898180680534894
- ],
- "error_m": [
- -0.0011907512375798623,
- 0.0011623389217610691,
- -0.014836322956087
- ],
- "error_norm_m": 0.014929346909230583
- },
- {
- "marker_id": 244,
- "link": "Ellbow",
- "observed_position_m": [
- 0.2655544067155775,
- -0.14209205384927726,
- 0.052048751331276705
- ],
- "predicted_position_m": [
- 0.26397724779885823,
- -0.14102738698791506,
- 0.038961600575796486
- ],
- "error_m": [
- -0.001577158916719279,
- 0.0010646668613621957,
- -0.013087150755480219
- ],
- "error_norm_m": 0.013224766942027236
- },
- {
- "marker_id": 245,
- "link": "Ellbow",
- "observed_position_m": [
- 0.22998663035637634,
- -0.17703395539578365,
- 0.05371866852125128
- ],
- "predicted_position_m": [
- 0.22897591024895392,
- -0.17555902603705503,
- 0.03326315567472333
- ],
- "error_m": [
- -0.0010107201074224248,
- 0.001474929358728616,
- -0.020455512846527954
- ],
- "error_norm_m": 0.0205335086520365
- },
- {
- "marker_id": 248,
- "link": "Ellbow",
- "observed_position_m": [
- 0.19258167461200293,
- -0.17711397644899018,
- 0.05373163171935805
- ],
- "predicted_position_m": [
- 0.19147591090357724,
- -0.1755587293621489,
- 0.03327015592540811
- ],
- "error_m": [
- -0.0011057637084256888,
- 0.0015552470868412938,
- -0.02046147579394994
- ],
- "error_norm_m": 0.02055026760279289
- }
- ]
+ "residual_rms": 1.4171361265451303,
+ "num_markers": 56
}
\ No newline at end of file
diff --git a/data/robot/robot.json b/data/robot/robot.json
index c793941..5edbf12 100644
--- a/data/robot/robot.json
+++ b/data/robot/robot.json
@@ -1,89 +1,26 @@
{
- "coordinateSystem": {
- "handedness": "right",
- "x": "right",
- "y": "backward",
- "z": "up"
- },
- "units": {
- "length": "mm",
- "rotation": "degree"
- },
- "vision_config": {
- "MarkerType": "DICT_4X4_250",
- "MarkerSize": 0.025
- },
+ "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": 1440,
"height": 1080,
- "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": [
- -200,
- 200,
- 1400
- ],
- "cameraPosition_c": [
- 600,
- -500,
- 600
- ],
- "cameraTarget": [
- 200,
- -200,
- 180
- ],
- "cameraUpVector": [
- 0,
- 0,
- 1
- ],
- "lightPosition": [
- -500,
- -500,
- 500
- ],
- "lightTarget": [
- 0,
- 0,
- 0
- ],
- "lightUpVector": [
- 0,
- 0,
- 1
- ],
+ "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": [-200, 200, 1400],
+ "cameraPosition_c": [600, -500, 600],
+ "cameraTarget": [200, -200, 180],
+ "cameraUpVector": [0, 0, 1],
+ "lightPosition": [-500, -500, 500],
+ "lightTarget": [0, 0, 0],
+ "lightUpVector": [0, 0, 1],
"metric": "mm",
"showSkeleton": true,
"showMarkers": true,
- "backgroundColor": [
- 0.7,
- 0.85,
- 1.0
- ],
+ "backgroundColor": [0.7, 0.85, 1.0],
"backgroundStrength": 0.2,
"sunEnergy": 0.35,
"areaEnergy": 120,
@@ -103,149 +40,28 @@
"lensDistortion": true,
"lensDistortionStrength": 0.002,
"materials": {
- "wood": {
- "baseColor": [
- 0.72,
- 0.52,
- 0.33
- ],
- "roughness": 0.85,
- "metallic": 0.0
- },
- "plaWhite": {
- "baseColor": [
- 0.95,
- 0.95,
- 0.95
- ],
- "roughness": 0.45,
- "metallic": 0.0
- },
- "steel": {
- "baseColor": [
- 0.72,
- 0.72,
- 0.75
- ],
- "roughness": 0.25,
- "metallic": 1.0
- },
- "powderCoatBlue": {
- "baseColor": [
- 0.15,
- 0.25,
- 0.7
- ],
- "roughness": 0.55,
- "metallic": 0.0
- },
- "defaultPlastic": {
- "baseColor": [
- 0.95,
- 0.95,
- 0.95
- ],
- "roughness": 0.4,
- "metallic": 0.0
- },
- "skeletonRed": {
- "baseColor": [
- 0.85,
- 0.2,
- 0.2
- ],
- "roughness": 0.35,
- "metallic": 0.0
- },
- "markerBlack": {
- "baseColor": [
- 0.04,
- 0.04,
- 0.04
- ],
- "roughness": 0.8,
- "metallic": 0.0
- }
+ "wood": {"baseColor": [0.72, 0.52, 0.33], "roughness": 0.85, "metallic": 0.0},
+ "plaWhite": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.45, "metallic": 0.0},
+ "steel": {"baseColor": [0.72, 0.72, 0.75], "roughness": 0.25, "metallic": 1.0},
+ "powderCoatBlue": {"baseColor": [0.15, 0.25, 0.7], "roughness": 0.55, "metallic": 0.0},
+ "defaultPlastic": {"baseColor": [0.95, 0.95, 0.95], "roughness": 0.4, "metallic": 0.0},
+ "skeletonRed": {"baseColor": [0.85, 0.2, 0.2], "roughness": 0.35, "metallic": 0.0},
+ "markerBlack": {"baseColor": [0.04, 0.04, 0.04], "roughness": 0.8, "metallic": 0.0}
},
- "skeletonDefaults": {
- "radius": 4,
- "color": [
- 0.85,
- 0.2,
- 0.2
- ]
- },
- "markerDefaults": {
- "size": 25,
- "thickness": 1,
- "color": [
- 0.04,
- 0.04,
- 0.04
- ]
- },
- "defaultPosition": {
- "x": 80,
- "y": 20,
- "z": 80,
- "a": -120,
- "b": 23,
- "c": 9,
- "e": 3
- }
- },
- "defaultPosition__": {
- "x": 10,
- "y": 4,
- "z": 20,
- "a": 10,
- "b": 2,
- "c": 9,
- "e": 1
- },
- "defaultPosition": {
- "x": 120,
- "y": 60,
- "z": -110,
- "a": 20,
- "b": 30,
- "c": 180,
- "e": 4
- },
- "recognized": {
- "x": null,
- "y": null,
- "z": null,
- "a": null,
- "b": null,
- "c": null,
- "e": null
+ "skeletonDefaults": {"radius": 4, "color": [0.85, 0.2, 0.2]},
+ "markerDefaults": {"size": 25, "thickness": 1, "color": [0.04, 0.04, 0.04]},
+ "defaultPosition": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3}
},
+ "defaultPosition__": {"x": 10, "y": 4, "z": 20, "a": 10, "b": 2, "c": 9, "e": 1},
+ "defaultPosition": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
+ "recognized": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null},
"constraint_rules": {
- "rigid_distance": {
- "enabled": true,
- "mode": "mst",
- "weight": 1.0
- },
- "joint_axis_projection": {
- "enabled": true,
- "max_pairs": 2,
- "weight": 0.35
- },
- "chain_axis_projection": {
- "enabled": false,
- "max_depth": 3,
- "max_pairs": 2,
- "weight": 0.15
- },
+ "rigid_distance": {"enabled": true, "mode": "mst", "weight": 1.0},
+ "joint_axis_projection": {"enabled": true, "max_pairs": 2, "weight": 0.35},
+ "chain_axis_projection": {"enabled": false, "max_depth": 3, "max_pairs": 2, "weight": 0.15},
"axis_alignment_threshold": 0.95
},
- "observation_weighting": {
- "enabled": true,
- "distance_weight": true,
- "marker_size_weight": true,
- "view_angle_weight": true
- },
+ "observation_weighting": {"enabled": true, "distance_weight": true, "marker_size_weight": true, "view_angle_weight": true},
"multiview_calculation": {
"combine_mode": "mean",
"size_ref_px": 50.0,
@@ -272,68 +88,16 @@
"huber_delta_mm": 8.0,
"max_iterations": 200,
"min_cameras_per_marker": 2,
- "finger_block_joints": [
- "b",
- "c",
- "e"
- ],
+ "finger_block_joints": ["b", "c", "e"],
"per_link_method": {}
},
"robot_test_poses": {
- "4": {
- "x": 70,
- "y": 50,
- "z": -70,
- "a": 120,
- "b": 50,
- "c": 30,
- "e": 20
- },
- "5": {
- "x": 180,
- "y": 86,
- "z": -120,
- "a": -60,
- "b": 22,
- "c": 91,
- "e": 10
- },
- "6": {
- "x": 80,
- "y": 20,
- "z": 80,
- "a": -120,
- "b": 23,
- "c": 9,
- "e": 3
- },
- "7": {
- "x": 30,
- "y": -2,
- "z": 95,
- "a": 20,
- "b": 23,
- "c": 9,
- "e": 9
- },
- "8": {
- "x": 50,
- "y": -2,
- "z": 95,
- "a": 20,
- "b": 60,
- "c": 9,
- "e": 3
- },
- "9": {
- "x": 60,
- "y": -2,
- "z": 95,
- "a": 200,
- "b": 60,
- "c": 9,
- "e": 8
- },
+ "4": {"x": 70, "y": 50, "z": -70, "a": 120, "b": 50, "c": 30, "e": 20},
+ "5": {"x": 180, "y": 86, "z": -120, "a": -60, "b": 22, "c": 91, "e": 10},
+ "6": {"x": 80, "y": 20, "z": 80, "a": -120, "b": 23, "c": 9, "e": 3},
+ "7": {"x": 30, "y": -2, "z": 95, "a": 20, "b": 23, "c": 9, "e": 9},
+ "8": {"x": 50, "y": -2, "z": 95, "a": 20, "b": 60, "c": 9, "e": 3},
+ "9": {"x": 60, "y": -2, "z": 95, "a": 200, "b": 60, "c": 9, "e": 8},
"9a": {
"x": 60,
"y": -2,
@@ -342,11 +106,7 @@
"b": 60,
"c": 9,
"e": 8,
- "rendering": {
- "width": 1440,
- "height": 1080,
- "dofFStop": 11
- }
+ "rendering": {"width": 1440, "height": 1080, "dofFStop": 11}
},
"9b": {
"x": 60,
@@ -356,123 +116,31 @@
"b": 60,
"c": 9,
"e": 8,
- "rendering": {
- "width": 4896,
- "height": 3264,
- "dofFStop": 5.6
- }
+ "rendering": {"width": 4896, "height": 3264, "dofFStop": 5.6}
},
- "10": {
- "x": 120,
- "y": 60,
- "z": -110,
- "a": 20,
- "b": 30,
- "c": 180,
- "e": 4
- },
- "11": {
- "x": 50,
- "y": 4,
- "z": 176,
- "a": 20,
- "b": 60,
- "c": 9,
- "e": 5
- },
- "12": {
- "x": 50,
- "y": 0,
- "z": 178,
- "a": 210,
- "b": 80,
- "c": 90,
- "e": 6
- }
+ "10": {"x": 120, "y": 60, "z": -110, "a": 20, "b": 30, "c": 180, "e": 4},
+ "11": {"x": 50, "y": 4, "z": 176, "a": 20, "b": 60, "c": 9, "e": 5},
+ "12": {"x": 50, "y": 0, "z": 178, "a": 210, "b": 80, "c": 90, "e": 6}
},
"test_camera_positions": {
- "a": [
- -300,
- -800,
- 800
- ],
- "b": [
- 300,
- -900,
- 1200
- ],
- "c": [
- 300,
- -900,
- 400
- ],
- "d": [
- 700,
- -800,
- 400
- ],
- "e": [
- 1200,
- -900,
- 400
- ],
- "f": [
- 500,
- -300,
- 1400
- ],
- "g": [
- -200,
- 200,
- 1400
- ]
+ "a": [-300, -800, 800],
+ "b": [300, -900, 1200],
+ "c": [300, -900, 400],
+ "d": [700, -800, 400],
+ "e": [1200, -900, 400],
+ "f": [500, -300, 1400],
+ "g": [-200, 200, 1400]
},
"test_camera_targets": {
- "a": [
- 210,
- -100,
- 180
- ],
- "b": [
- 310,
- -80,
- 180
- ],
- "c": [
- 210,
- -100,
- 150
- ],
- "d": [
- 210,
- -100,
- 150
- ],
- "e": [
- 210,
- -100,
- 50
- ],
- "f": [
- 200,
- -200,
- 180
- ],
- "g": [
- 200,
- -200,
- 180
- ]
- },
- "movements": {
- "x": null,
- "y": null,
- "z": null,
- "a": null,
- "b": null,
- "c": null,
- "e": null
+ "a": [210, -100, 180],
+ "b": [310, -80, 180],
+ "c": [210, -100, 150],
+ "d": [210, -100, 150],
+ "e": [210, -100, 50],
+ "f": [200, -200, 180],
+ "g": [200, -200, 180]
},
+ "movements": {"x": null, "y": null, "z": null, "a": null, "b": null, "c": null, "e": null},
"state_pose_params": {
"numbers_of_Elements_to_consider_start": 3,
"numbers_of_Elements_to_consider_final": 5,
@@ -488,1938 +156,303 @@
"links": {
"Board": {
"parent": null,
- "size": [
- 1000,
- 200,
- 25
- ],
- "mountPosition": [
- 0,
- 0,
- 0
- ],
- "mountRotation": [
- 0,
- 0,
- 0
- ],
- "skeleton": {
- "from": [
- 0,
- 0,
- 16
- ],
- "to": [
- 1000,
- 0,
- 16
- ],
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]
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}
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\ No newline at end of file
+}
diff --git a/run/robot_viewer.html b/run/robot_viewer.html
index b95f297..e88365e 100644
--- a/run/robot_viewer.html
+++ b/run/robot_viewer.html
@@ -208,6 +208,14 @@
+
+
+
+
+
+
@@ -559,6 +567,7 @@ for (const [id, grp] of Object.entries(toggles)) {
let robotData = null;
let arucoData = null;
+let solutionData = null;
const joints = { x:0, y:0, z:0, a:0, b:0, c:0, e:0 };
// ─── slider setup ─────────────────────────────────────────────
@@ -646,6 +655,40 @@ document.getElementById('fAruco').addEventListener('change', async e => {
rebuild();
});
+// ─── solution (robot_state.json) → set joint sliders ───────────
+function applySolution() {
+ if (!solutionData) { setStatus('keine Lösung geladen'); return; }
+ const mv = solutionData.movements || {};
+ const done = [];
+ for (const k of Object.keys(joints)) {
+ const m = mv[k];
+ if (m == null) continue;
+ let v = (typeof m === 'object') ? (m.value ?? m.value_mm ?? m.value_deg) : m;
+ if (v == null || isNaN(v)) continue;
+ setSlider(k, Number(v));
+ const conf = (typeof m === 'object') ? (m.confidence || '') : '';
+ done.push(k + ((conf === 'low' || conf === 'none') ? '⚠' : ''));
+ }
+ rebuild();
+ const info = document.getElementById('solInfo');
+ if (info) info.textContent = done.length
+ ? ('gesetzt: ' + done.join(' ') + ' (⚠ = geringe Konfidenz)')
+ : 'keine movements in der Datei gefunden';
+ setStatus('Auf Lösung gesprungen');
+}
+
+document.getElementById('fSolution').addEventListener('change', async e => {
+ if (!e.target.files[0]) return;
+ solutionData = await readJSON(e.target.files[0]);
+ const btn = document.getElementById('btnJump');
+ btn.disabled = false;
+ btn.style.opacity = '1';
+ setStatus('solution (robot_state.json) loaded');
+ applySolution(); // direkt anwenden
+});
+
+document.getElementById('btnJump').addEventListener('click', applySolution);
+
// ═══════════════════════════════════════════════════════════════
// Test-pose dropdown
// ═══════════════════════════════════════════════════════════════