From 32d328a80dc3181b1a0ece4575ab419ab08371a9 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Wed, 16 Feb 2022 19:26:18 -0800 Subject: [PATCH] Global Variables bug update --- .../testrig_collected_data_202202161622.yaml | 12752 ++++++ .../testrig_collected_data_202202161924.yaml | 34128 ++++++++++++++++ .../nodes/collect_head_calibration_data.py | 9 +- stretch_camera_testrig/nodes/test_basic.py | 2 +- 4 files changed, 46885 insertions(+), 6 deletions(-) create mode 100644 stretch_camera_testrig/data/testrig_collected_data_202202161622.yaml create mode 100644 stretch_camera_testrig/data/testrig_collected_data_202202161924.yaml diff --git a/stretch_camera_testrig/data/testrig_collected_data_202202161622.yaml b/stretch_camera_testrig/data/testrig_collected_data_202202161622.yaml new file mode 100644 index 0000000..200dd8e --- /dev/null +++ b/stretch_camera_testrig/data/testrig_collected_data_202202161622.yaml @@ -0,0 +1,12752 @@ +- backlash_state: + joint_head_pan_looked_left: null + joint_head_tilt_looking_up: null + wrist_extension_retracted: null + camera_measurements: + base_left_marker_pose: null + base_right_marker_pose: + - 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-0.028957308943015406 + - -0.9986522248453212 + - 0.5773928734854027 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + joints: + joint_head_pan: null + joint_head_tilt: null + joint_lift: null + wrist_extension: null +- backlash_state: + joint_head_pan_looked_left: null + joint_head_tilt_looking_up: null + wrist_extension_retracted: null + camera_measurements: + base_left_marker_pose: null + base_right_marker_pose: + - - 0.9954511160943553 + - -0.04051526490706255 + - -0.08622986011824915 + - 0.04698729312832509 + - - -0.0379906761505849 + - -0.9988057684231981 + - 0.030720440917524603 + - 0.03510724332581787 + - - -0.08737152849826796 + - -0.027304766507997926 + - -0.9958015192465921 + - 0.5766098479743316 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: null + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.999445796385682 + - -0.027612436700590777 + - -0.01859175694886789 + - 0.02141979630619749 + - - -0.027338319084689554 + - -0.9995160746080967 + - 0.014840246279811646 + - -0.030487771286591744 + - - -0.018992535286622713 + - -0.01432375437787286 + - -0.9997170167922065 + - 0.5782085755848524 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9984984350298515 + - -0.029410927305463835 + - -0.046215501706354585 + - 0.0602274827737308 + - - -0.02760813639602577 + - -0.9988509298141814 + - 0.039174108976263465 + - -0.032827838256035594 + - - -0.04731454372257835 + - -0.03783936263176813 + - -0.9981630711401551 + - 0.5772972274487751 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + joints: + joint_head_pan: null + joint_head_tilt: null + joint_lift: null + wrist_extension: null diff --git a/stretch_camera_testrig/nodes/collect_head_calibration_data.py b/stretch_camera_testrig/nodes/collect_head_calibration_data.py index 544f658..cfd90cd 100755 --- a/stretch_camera_testrig/nodes/collect_head_calibration_data.py +++ b/stretch_camera_testrig/nodes/collect_head_calibration_data.py @@ -694,9 +694,7 @@ class CollectHeadCalibrationDataNode: t = time.localtime() capture_date = str(t.tm_year) + str(t.tm_mon).zfill(2) + str(t.tm_mday).zfill(2) + str(t.tm_hour).zfill(2) + str(t.tm_min).zfill(2) - - temp_loc = '/home/hello-robot/catkin_ws/src/stretch_ros/stretch_camera_testrig/data/' #Change it - filename = temp_loc + 'testrig_collected_data_' + capture_date + '.yaml' + filename = self.testrig_data_path + 'testrig_collected_data_' + capture_date + '.yaml' rospy.loginfo('Saving calibration_data to a YAML file named {0}'.format(filename)) fid = open(filename, 'w') @@ -801,9 +799,10 @@ class CollectHeadCalibrationDataNode: rate = rospy.Rate(self.rate) - + self.testrig_data_path = '/home/hello-robot/catkin_ws/src/stretch_ros/stretch_camera_testrig/data/' #Change it self.testrig_data_collect(number_of_samples=self.number_of_testrig_samples) - + def get_testrig_metrics(self): + return None if __name__ == '__main__': parser = ap.ArgumentParser(description='Collect head calibration data.') diff --git a/stretch_camera_testrig/nodes/test_basic.py b/stretch_camera_testrig/nodes/test_basic.py index 18bdfd3..42de702 100755 --- a/stretch_camera_testrig/nodes/test_basic.py +++ b/stretch_camera_testrig/nodes/test_basic.py @@ -32,7 +32,7 @@ if __name__ == '__main__': try: node = CollectHeadCalibrationDataNode(test_rig=True) - node.number_of_testrig_samples = 200 + node.number_of_testrig_samples = 500 node.main(collect_check_data) except rospy.ROSInterruptException: pass \ No newline at end of file