diff --git a/stretch_camera_testrig/config/testrig_marker_info.yaml b/stretch_camera_testrig/config/testrig_marker_info.yaml index affaafa..bb79c18 100644 --- a/stretch_camera_testrig/config/testrig_marker_info.yaml +++ b/stretch_camera_testrig/config/testrig_marker_info.yaml @@ -3,7 +3,7 @@ testrig_aruco_marker_info: - - 1.0 - 0.0 - 0.0 - - -0.195 + - 0.009 - - 0.0 - -1.0 - 0.0 diff --git a/stretch_camera_testrig/data/Testrig_Data_Analyse_rough.ipynb b/stretch_camera_testrig/data/Testrig_Data_Analyse_rough.ipynb index d0c4304..0df9b88 100644 --- a/stretch_camera_testrig/data/Testrig_Data_Analyse_rough.ipynb +++ b/stretch_camera_testrig/data/Testrig_Data_Analyse_rough.ipynb @@ -227,12 +227,12 @@ }, { "cell_type": "code", - "execution_count": 45, + "execution_count": 6, "metadata": {}, "outputs": [], "source": [ - "setup_1_pose = np.array([0.009,-0.06418,0.97625-(4/1000)])\n", - "setup_2_pose = np.array([-0.195,-0.06418,0.97625-(4/1000)])" + "setup_1_pose = np.array([0.009,-0.06418,0.97625-(4.2/1000)])\n", + "setup_2_pose = np.array([-0.195,-0.06418,0.97625-(4.2/1000)])" ] }, { @@ -244,22 +244,26 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "setup_1_data = get_dict('testrig_collected_data_202205031614.yaml')\n", - "get_avg_pos_vals(setup_1_data)[data_keys[0]]" - ] - }, - { - "cell_type": "code", - "execution_count": null, + "execution_count": 17, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "('Average Pose=', array([ 0.01414346, -0.0522339 , 0.96775044]))\n", + "('dist_true=', 0.9742080244485773)\n", + "('dist_detected=', 0.9692622666331148)\n", + "('error (mm) =', 4.945757815462581)\n" + ] + } + ], "source": [ + "setup_data = get_dict('testrig_collected_data_202205031614.yaml')\n", + "avg_pos = get_avg_pos_vals(setup_data)[data_keys[0]]\n", + "print('Average Pose=',avg_pos)\n", "p1 = setup_1_pose\n", - "p2 = get_avg_pos_vals(setup_1_data)[data_keys[0]]\n", + "p2 = avg_pos\n", "dist1 = np.linalg.norm(p1)\n", "print('dist_true=',dist1)\n", "dist2 = np.linalg.norm(p2)\n", @@ -277,22 +281,26 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "setup_2_data = get_dict('testrig_collected_data_202205031621.yaml')\n", - "get_avg_pos_vals(setup_2_data)[data_keys[0]]" - ] - }, - { - "cell_type": "code", - "execution_count": null, + "execution_count": 18, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "('Average Pose=', array([-0.18590926, -0.05297513, 0.96615088]))\n", + "('dist_true=', 0.9934914568832487)\n", + "('dist_detected=', 0.9853000282469121)\n", + "('error (mm) =', 8.191428636336596)\n" + ] + } + ], "source": [ + "setup_data = get_dict('testrig_collected_data_202205031621.yaml')\n", + "avg_pos = get_avg_pos_vals(setup_data)[data_keys[0]]\n", + "print('Average Pose=',avg_pos)\n", "p1 = setup_2_pose\n", - "p2 = get_avg_pos_vals(setup_2_data)[data_keys[0]]\n", + "p2 = avg_pos\n", "dist1 = np.linalg.norm(p1)\n", "print('dist_true=',dist1)\n", "dist2 = np.linalg.norm(p2)\n", @@ -310,43 +318,26 @@ }, { "cell_type": "code", - "execution_count": 43, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "array([ 0.01413084, -0.05231626, 0.96759951])" - ] - }, - "execution_count": 43, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "setup_1_data = get_dict('testrig_collected_data_202205031705.yaml')\n", - "get_avg_pos_vals(setup_1_data)[data_keys[0]]" - ] - }, - { - "cell_type": "code", - "execution_count": 44, + "execution_count": 19, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "('dist_true=', 0.9783987606799182)\n", + "('Average Pose=', array([ 0.01413084, -0.05231626, 0.96759951]))\n", + "('dist_true=', 0.9742080244485773)\n", "('dist_detected=', 0.9691158304372177)\n", - "('error (mm) =', 9.282930242700438)\n" + "('error (mm) =', 5.09219401135963)\n" ] } ], "source": [ + "setup_data = get_dict('testrig_collected_data_202205031705.yaml')\n", + "avg_pos = get_avg_pos_vals(setup_data)[data_keys[0]]\n", + "print('Average Pose=',avg_pos)\n", "p1 = setup_1_pose\n", - "p2 = get_avg_pos_vals(setup_1_data)[data_keys[0]]\n", + "p2 = avg_pos\n", "dist1 = np.linalg.norm(p1)\n", "print('dist_true=',dist1)\n", "dist2 = np.linalg.norm(p2)\n", @@ -364,43 +355,26 @@ }, { "cell_type": "code", - "execution_count": 36, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "array([ 0.01413084, -0.05231626, 0.96759951])" - ] - }, - "execution_count": 36, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "setup_2_data = get_dict('testrig_collected_data_202205031648.yaml')\n", - "get_avg_pos_vals(setup_1_data)[data_keys[0]]" - ] - }, - { - "cell_type": "code", - "execution_count": 37, + "execution_count": 20, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "('dist_true=', 0.997601190306026)\n", + "('Average Pose=', array([-0.18595072, -0.05305209, 0.96639527]))\n", + "('dist_true=', 0.9934914568832487)\n", "('dist_detected=', 0.985551625090867)\n", - "('error (mm) =', 12.049565215158985)\n" + "('error (mm) =', 7.939831792381669)\n" ] } ], "source": [ + "setup_data = get_dict('testrig_collected_data_202205031648.yaml')\n", + "avg_pos = get_avg_pos_vals(setup_data)[data_keys[0]]\n", + "print('Average Pose=',avg_pos)\n", "p1 = setup_2_pose\n", - "p2 = get_avg_pos_vals(setup_2_data)[data_keys[0]]\n", + "p2 = avg_pos\n", "dist1 = np.linalg.norm(p1)\n", "print('dist_true=',dist1)\n", "dist2 = np.linalg.norm(p2)\n", diff --git a/stretch_camera_testrig/data/testrig_collected_data_202205041442.yaml b/stretch_camera_testrig/data/testrig_collected_data_202205041442.yaml new file mode 100644 index 0000000..0703e67 --- /dev/null +++ b/stretch_camera_testrig/data/testrig_collected_data_202205041442.yaml @@ -0,0 +1,40232 @@ +- 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: null + d435i_acceleration: + - 0.11767979711294174 + - -9.81645679473877 + - 0.13729310035705566 + shoulder_marker_pose: + - - 0.999899065641046 + - 0.005516407940864805 + - 0.013093042946275286 + - 0.09314372063950337 + - - 0.004967970280184936 + - -0.9991237900433411 + - 0.041556845894819935 + - -0.10989075119551454 + - - 0.013310815206374272 + - -0.04148760553298511 + - -0.999050349474781 + - 0.9995079509959017 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9989954965767127 + - 0.031199571069333448 + - -0.03216495895437826 + - 0.003167406853622727 + - - 0.027714477596680016 + - -0.9942307540439923 + - -0.1036200532940308 + - -0.11289622026981636 + - - -0.03521229261196079 + - 0.10262453156143649 + - -0.9940967256614446 + - 0.9874743283469725 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9999228907593967 + - 0.011470911559943321 + - 0.0047571759853540585 + - 0.04518152917254228 + - - 0.011837772859041706 + - -0.9962216840218119 + - -0.08603617505725866 + - -0.11232119855438338 + - - 0.0037522885162799267 + - 0.08608585524190068 + - -0.9962806561698172 + - 0.9846854239522751 + - - 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: null + d435i_acceleration: + - 0.13729310035705566 + - -9.806650161743164 + - 0.13729310035705566 + shoulder_marker_pose: + - - 0.9999849881782777 + - 0.00506111164061827 + - 0.002099658793910734 + - 0.09270327112570252 + - - 0.005106459473669807 + - -0.9997408203898915 + - -0.022185944149169273 + - -0.10944093923295606 + - - 0.0019868290649717006 + - 0.02219633292027061 + - -0.9997516568204119 + - 0.9953891567757887 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9991825768556442 + - 0.032206878049497845 + - -0.024431437010941196 + - 0.0031553494203630174 + - - 0.02979353041021324 + - -0.9951805402114884 + - -0.09342396871288257 + - -0.11268838296135812 + - - -0.027322585049927326 + - 0.09261970303706839 + - -0.9953266132056926 + - 0.9858094365358331 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.999956263561399 + - 0.006925783070719963 + - -0.006285259993295604 + - 0.04473162304734197 + - - 0.0058984097867284665 + - -0.9885364923829315 + - -0.15086686842789085 + - -0.11111367061953524 + - - -0.007258080070777626 + - 0.15082319700930633 + - -0.9885341084239726 + - 0.9734404904245804 + - - 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: null + d435i_acceleration: + - 0.09806649386882782 + - -9.826263427734375 + - 0.127486452460289 + shoulder_marker_pose: + - - 0.9329681698011688 + - -0.05567124375821289 + - 0.3556277643214476 + - 0.09018532953299913 + - - 0.06262585719078857 + - -0.9477961805705356 + - -0.3126665989628945 + - -0.10636393289103349 + - - 0.3544691751746214 + - 0.3139794781738421 + - -0.8807772085701953 + - 0.9671163305052419 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9988876669416199 + - 0.034871492884319816 + - -0.03173968834040813 + - 0.003149125912758555 + - - 0.031046682652310656 + - -0.9930059125426443 + - -0.11390944276765314 + - -0.11252895026134493 + - - -0.03548989050721515 + - 0.11279732549741311 + - -0.9929840034121479 + - 0.9845871136406873 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9991604773847647 + - -0.00010746276754844842 + - -0.04096741246408684 + - 0.04618134804153664 + - - 0.008501521215639851 + - -0.9776838602682074 + - 0.20990948884716132 + - -0.11471953430462453 + - - -0.040075735417694484 + - -0.21008155041033494 + - -0.9768621589599635 + - 1.0060379645484205 + - - 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: null + d435i_acceleration: + - 0.08825984597206116 + - -9.845876693725586 + - 0.13729310035705566 + shoulder_marker_pose: + - - 0.9907706611326584 + - -0.007167109960282113 + - -0.13535926112967775 + - 0.09012027488772144 + - - 0.01724859166660385 + - -0.9838169924252806 + - 0.17834408176554034 + - -0.10638061802448844 + - - -0.13444695282628696 + - -0.1790328404234603 + - -0.9746133894656043 + - 0.9683556772429074 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9972221294570965 + - 0.035756249511597844 + - -0.06534152693286278 + - 0.003116177525492789 + - - 0.030090031094500775 + - -0.9958636922410959 + - -0.08573270382219923 + - -0.11125798125514338 + - - -0.06813673421720219 + - 0.0835284208925161 + - -0.994173218485299 + - 0.9733376458550729 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9963615273742249 + - -0.000793108634407097 + - 0.08522369240531526 + - 0.0444268155750818 + - - 0.007015481294645556 + - -0.9958000011344 + - -0.09128603815991705 + - -0.11034635421399369 + - - 0.08493815273895612 + - 0.09155178162888684 + - -0.9921712460507364 + - 0.9673182269181522 + - - 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: null + d435i_acceleration: + - 0.11767979711294174 + - -9.806650161743164 + - 0.13729310035705566 + shoulder_marker_pose: + - - 0.9951674648303326 + - -0.001103877940829944 + - -0.0981860397238863 + - 0.09017982702491105 + - - 0.014985265309074347 + - -0.9865164381955144 + - 0.162974718878887 + - -0.10639049838196529 + - - -0.09704204638601498 + - -0.1636584816730479 + - -0.9817325209086672 + - 0.9682227457832889 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9926105172748962 + - 0.03827217085465892 + - -0.11515034491192214 + - 0.0030729491964021473 + - - 0.033365174857012556 + - -0.9984634256940742 + - -0.04424423869856385 + - -0.11114769676888146 + - - -0.1166667309134177 + - 0.040075285268183866 + - -0.9923622551309831 + - 0.9726004516910369 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9972276321471355 + - 0.003942070985507551 + - 0.07430686212297363 + - 0.044512987554919864 + - - 0.011490697479900298 + - -0.9947757404967082 + - -0.10143564457650299 + - -0.11042575782105703 + - - 0.07351879728098662 + - 0.10200826532968026 + - -0.9920631533580844 + - 0.9678161632792364 + - - 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: null + d435i_acceleration: + - 0.13729310035705566 + - -9.796843528747559 + - 0.14709974825382233 + shoulder_marker_pose: + - - 0.9924148819392533 + - -0.008820587369952752 + - -0.12261688033850329 + - 0.09007751361266067 + - - 0.014838311634335027 + - -0.9815355112445022 + - 0.190703604249725 + - -0.10631550566171749 + - - -0.1220349401333084 + - -0.1910765223789736 + - -0.9739595658867041 + - 0.9680098788217681 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9874773418672075 + - 0.037123982690471395 + - -0.15333071840982046 + - 0.003080102318362354 + - - 0.03894907055089545 + - -0.9992014248673516 + - 0.008915292831753335 + - -0.11137443171481956 + - - -0.15287730113426076 + - -0.014775738636431134 + - -0.9881347116388801 + - 0.9746071001885424 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9985473262751828 + - 0.004606038390954697 + - 0.053684463292694135 + - 0.044405363391124004 + - - 0.009648870067697555 + - -0.9955199659143822 + - -0.09405794369559531 + - -0.11033089635706385 + - - 0.0530107205676386 + - 0.09443930260314368 + - -0.9941182432833287 + - 0.9675223962460213 + - - 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: null + d435i_acceleration: + - 0.127486452460289 + - -9.806650161743164 + - 0.13729310035705566 + shoulder_marker_pose: + - - 0.9986698721089617 + - 0.01592545842486662 + - -0.04903943633268771 + - 0.09023781379993288 + - - 0.011519385469317526 + - -0.9959780583196783 + - -0.08885387500932235 + - -0.10653582207619994 + - - -0.05025724127207106 + - 0.08817078382163135 + - -0.9948367316198169 + - 0.9695240846778259 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9971907816495921 + - 0.03400891630132486 + - -0.06673783488460772 + - 0.0031059602744997385 + - - 0.027851633647601667 + - -0.9954508325152966 + - -0.09111490848243506 + - -0.1108392700542993 + - - -0.06953295259253317 + - 0.08900018908189022 + - -0.9936015976472422 + - 0.9701659501202089 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9998610157112845 + - 0.016082134877373935 + - 0.004394792211759932 + - 0.04456358527353006 + - - 0.01628071943045252 + - -0.9986327442777571 + - -0.04967474439896502 + - -0.11048728577969832 + - 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-0.9581824261207977 + - -0.2861229022748894 + - -0.11127593981876072 + - - 0.1535296604376232 + - 0.28207348896362466 + - -0.9470286110724412 + - 0.9914103685280877 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9998824246539361 + - 0.014702844817875175 + - 0.0043546782231608655 + - -0.20240175695812865 + - - 0.015315499688663062 + - -0.9715591833954591 + - -0.23630105507431834 + - -0.11352014592859863 + - - 0.0007565298753862803 + - 0.23633996596896376 + - -0.9716701334034804 + - 0.9808596288859559 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9997357330509661 + - -0.02292266774647106 + - -0.0017364804728266735 + - -0.16051604347879445 + - - -0.02261325047700228 + - -0.9670237184431246 + - -0.2536804463716031 + - -0.11432780809196486 + - - 0.004135814782116004 + - 0.2536526744818914 + - -0.9672865220627602 + - 0.983501016713465 + - - 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: + - - 0.9997346058873448 + - -0.019878448734510532 + - -0.011643241266284158 + - -0.19011269935548808 + - - -0.020142337334347952 + - -0.9995324497282553 + - -0.02300365594733937 + - -0.05410471701708331 + - - -0.011180520470210604 + - 0.023232073005732094 + - -0.9996675781207836 + - 0.9781779564940201 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.05572788417339325 + - -9.552887916564941 + - 0.024347275495529175 + shoulder_marker_pose: + - - 0.9925363545934431 + - -0.03363050573105816 + - 0.11722019405645089 + - -0.11518266330884974 + - - -0.0035544276154148447 + - -0.9687918221583138 + - -0.24785030030948388 + - -0.11143347025333777 + - - 0.12189729633870276 + - 0.24558378285922675 + - -0.961680640723243 + - 0.9918137715932163 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9996553802648592 + - 0.025343684718518618 + - -0.0068423937630052774 + - -0.20250361993995558 + - - 0.02316127192946548 + - -0.9741919007911121 + - -0.2245299443629069 + - -0.11380372176033816 + - - -0.012356220705743397 + - 0.22429408837035597 + - -0.9744431670097453 + - 0.9809167638464222 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9987942932723023 + - -0.0005244728315950929 + - 0.04908853893661004 + - -0.1607281699734536 + - - 0.010859541638691454 + - -0.9728098440743633 + - -0.2313505513877391 + - -0.11470059168755316 + - - 0.04787515098753933 + - 0.23160468950403898 + - -0.9716312251660392 + - 0.984812590769789 + - - 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: + - - 0.9996992158969497 + - -0.02361645693175729 + - -0.006613675000669345 + - -0.19015834202095505 + - - -0.02402142220085804 + - -0.9972641562436642 + - -0.06990832530579498 + - -0.05416188427422448 + - - -0.004944594065456743 + - 0.07004616787236247 + - -0.9975314959217704 + - 0.9781638043427068 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.0756417065858841 + - -9.552456855773926 + - 0.004260927438735962 + shoulder_marker_pose: + - - 0.9943039481404913 + - -0.028868565519614107 + - 0.10259758592223757 + - -0.11516509463915817 + - - -0.007994125674217712 + - -0.9801075731110611 + - -0.19830592297017058 + - -0.11135131331159254 + - - 0.10628147847548973 + - 0.19635618415315104 + - -0.9747556084875214 + - 0.9917577193880623 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9993148918581701 + - 0.02936092608316296 + - 0.02253182038879039 + - -0.20261536559101084 + - - 0.033455581634985104 + - -0.9769751282966564 + - -0.21071384090086961 + - -0.11393496288838559 + - - 0.015826274607705915 + - 0.21132329428927418 + - -0.9772880815413492 + - 0.9806494918232155 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9960617447667371 + - -0.03889845557525609 + - 0.0796737771547406 + - -0.16016200910949369 + - - -0.0208234757274154 + - -0.9761197485289507 + - -0.21623278981321997 + - -0.1143073203249296 + - - 0.08618226888910026 + - 0.2137221249324418 + - -0.9730855408665207 + - 0.9840268722811116 + - - 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: null + d435i_acceleration: + - 0.07562705874443054 + - -9.532491683959961 + - 0.024234116077423096 + shoulder_marker_pose: + - - 0.9902236731633478 + - -0.03622607165125034 + - 0.13470244555911323 + - -0.11509906487779717 + - - -0.005046931718843456 + - -0.9743600956763804 + - -0.22493761898299847 + - -0.11134198228078875 + - - 0.1393972940451597 + - 0.22205872125686427 + - -0.9650172634345221 + - 0.9916631810036176 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9992364443956998 + - 0.03871136646018448 + - -0.005287560706493728 + - -0.2020079185484991 + - - 0.03732037585078634 + - -0.985742071056721 + - -0.16407241966632852 + - -0.11366472230195952 + - - -0.011563638605369683 + - 0.16374980749788098 + - -0.9864341249199627 + - 0.9800933015531401 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: null + 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: + - - 0.9996526820939656 + - -0.02627070203571962 + - -0.0020893532231968702 + - -0.19010455445252356 + - - -0.02635190917386778 + - -0.9973528097034182 + - -0.06777130557684076 + - -0.05410477636498218 + - - -0.00030342253223740467 + - 0.06780282583526841 + - -0.9976986943679536 + - 0.9783321343549001 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: null + d435i_acceleration: + - 0.07562705874443054 + - -9.532491683959961 + - 0.024234116077423096 + shoulder_marker_pose: + - - 0.9916550848887785 + - -0.033722684672334365 + - 0.12443059572596978 + - -0.11510888573402306 + - - -0.006115171505503038 + - -0.9763996853819323 + - -0.21588482823839644 + - -0.11130615397924616 + - - 0.12877421050694782 + - 0.21332237323955017 + - -0.968457932893194 + - 0.9912503290218508 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9983036672882629 + - 0.04180648260166489 + - -0.04052167187175246 + - -0.20255474809853535 + - - 0.03454540775829287 + - -0.9855638665877348 + - -0.16574220850298474 + - -0.11353437725559655 + - - -0.04686579436666535 + - 0.16406121689512812 + - -0.9853362443497504 + - 0.9802600898455198 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9954378656874151 + - -0.015321521034802565 + - 0.09417381031297369 + - -0.1606807719143389 + - - 0.0090777018024174 + - -0.9673364854050535 + - -0.25333321798410896 + - -0.11436273768788097 + - - 0.09497921291351195 + - 0.25303235958544473 + - -0.9627842822340583 + - 0.9841869343100458 + - - 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_core/config/HighAccuracyPreset.json b/stretch_core/config/HighAccuracyPreset.json new file mode 100644 index 0000000..bae7ddd --- /dev/null +++ b/stretch_core/config/HighAccuracyPreset.json @@ -0,0 +1,48 @@ +{ + "ignoreSAD": "0", + "param-censusenablereg-udiameter": "9", + "param-censusenablereg-vdiameter": "9", + "param-censususize": "9", + "param-censusvsize": "9", + "param-disableraucolor": "0", + "param-disablesadcolor": "0", + "param-disablesadnormalize": "0", + "param-disablesloleftcolor": "0", + "param-disableslorightcolor": "1", + "param-lambdaad": "751", + "param-lambdacensus": "6", + "param-leftrightthreshold": "10", + "param-maxscorethreshb": "2893", + "param-medianthreshold": "796", + "param-minscorethresha": "4", + "param-neighborthresh": "108", + "param-raumine": "6", + "param-rauminn": "3", + "param-rauminnssum": "7", + "param-raumins": "2", + "param-rauminw": "2", + "param-rauminwesum": "12", + "param-regioncolorthresholdb": "0.785714", + "param-regioncolorthresholdg": "0.565558", + "param-regioncolorthresholdr": "0.985323", + "param-regionshrinku": "3", + "param-regionshrinkv": "0", + "param-robbinsmonrodecrement": "25", + "param-robbinsmonroincrement": "2", + "param-rsmdiffthreshold": "1.65625", + "param-rsmrauslodiffthreshold": "0.71875", + "param-rsmremovethreshold": "0.809524", + "param-scanlineedgetaub": "13", + "param-scanlineedgetaug": "15", + "param-scanlineedgetaur": "30", + "param-scanlinep1": "155", + "param-scanlinep1onediscon": "160", + "param-scanlinep1twodiscon": "59", + "param-scanlinep2": "190", + "param-scanlinep2onediscon": "507", + "param-scanlinep2twodiscon": "493", + "param-secondpeakdelta": "647", + "param-texturecountthresh": "0", + "param-texturedifferencethresh": "1722", + "param-usersm": "1" +} \ No newline at end of file diff --git a/stretch_core/launch/d435i_basic.launch b/stretch_core/launch/d435i_basic.launch index 68f99cc..cc2e7a2 100644 --- a/stretch_core/launch/d435i_basic.launch +++ b/stretch_core/launch/d435i_basic.launch @@ -1,50 +1,48 @@ + + - + accelerometer). --> - - - + - - - - + - + pointcloud are enabled. --> - - + - - - + true, the device will reset prior to usage. --> + + + + + + diff --git a/stretch_core/launch/d435i_basic.launch.backup b/stretch_core/launch/d435i_basic.launch.backup new file mode 100644 index 0000000..68f99cc --- /dev/null +++ b/stretch_core/launch/d435i_basic.launch.backup @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/stretch_core/launch/d435i_high_resolution.launch b/stretch_core/launch/d435i_high_resolution.launch index ef22242..22c4d7c 100644 --- a/stretch_core/launch/d435i_high_resolution.launch +++ b/stretch_core/launch/d435i_high_resolution.launch @@ -1,16 +1,18 @@ - + + + - + + + - + diff --git a/stretch_core/launch/d435i_high_resolution.launch.backup b/stretch_core/launch/d435i_high_resolution.launch.backup new file mode 100644 index 0000000..ef22242 --- /dev/null +++ b/stretch_core/launch/d435i_high_resolution.launch.backup @@ -0,0 +1,16 @@ + + + + + + + + + + + + diff --git a/stretch_description/meshes/link_gripper_teleop_camera.STL b/stretch_description/meshes/link_gripper_teleop_camera.STL new file mode 100644 index 0000000..8e47945 Binary files /dev/null and b/stretch_description/meshes/link_gripper_teleop_camera.STL differ diff --git a/stretch_description/meshes/link_gripper_teleop_mount.STL b/stretch_description/meshes/link_gripper_teleop_mount.STL new file mode 100644 index 0000000..0e04433 Binary files /dev/null and b/stretch_description/meshes/link_gripper_teleop_mount.STL differ diff --git a/stretch_description/meshes/link_head_teleop_camera.STL b/stretch_description/meshes/link_head_teleop_camera.STL new file mode 100644 index 0000000..2fe1bad Binary files /dev/null and b/stretch_description/meshes/link_head_teleop_camera.STL differ diff --git a/stretch_description/meshes/link_head_teleop_mount.STL b/stretch_description/meshes/link_head_teleop_mount.STL new file mode 100644 index 0000000..9b6acb2 Binary files /dev/null and b/stretch_description/meshes/link_head_teleop_mount.STL differ diff --git a/stretch_description/meshes/link_straight_gripper.STL b/stretch_description/meshes/link_straight_gripper.STL new file mode 100644 index 0000000..1703253 Binary files /dev/null and b/stretch_description/meshes/link_straight_gripper.STL differ diff --git a/stretch_description/meshes/link_wrist_pitch.STL b/stretch_description/meshes/link_wrist_pitch.STL new file mode 100644 index 0000000..fbbc231 Binary files /dev/null and b/stretch_description/meshes/link_wrist_pitch.STL differ diff --git a/stretch_description/meshes/link_wrist_roll.STL b/stretch_description/meshes/link_wrist_roll.STL new file mode 100644 index 0000000..f0fb8f4 Binary files /dev/null and b/stretch_description/meshes/link_wrist_roll.STL differ diff --git a/stretch_description/meshes/link_wrist_yaw_bottom.STL b/stretch_description/meshes/link_wrist_yaw_bottom.STL new file mode 100644 index 0000000..ed4bde1 Binary files /dev/null and b/stretch_description/meshes/link_wrist_yaw_bottom.STL differ diff --git a/stretch_description/urdf/stretch_dex_wrist.xacro b/stretch_description/urdf/stretch_dex_wrist.xacro new file mode 100644 index 0000000..92092fb --- /dev/null +++ b/stretch_description/urdf/stretch_dex_wrist.xacro @@ -0,0 +1,434 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/stretch_description/urdf/stretch_teleop_kit.xacro b/stretch_description/urdf/stretch_teleop_kit.xacro new file mode 100644 index 0000000..525d229 --- /dev/null +++ b/stretch_description/urdf/stretch_teleop_kit.xacro @@ -0,0 +1,215 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +