diff --git a/stretch_camera_testrig/config/testrig_marker_info.yaml b/stretch_camera_testrig/config/testrig_marker_info.yaml index 641816f..d0ead94 100644 --- a/stretch_camera_testrig/config/testrig_marker_info.yaml +++ b/stretch_camera_testrig/config/testrig_marker_info.yaml @@ -1,59 +1,94 @@ # This file contains the nominal poses of the each Aruco markers # that is to be used in the test rig in Millimeters. Each aruco marker's -# pose(mm)/orientation(rad) are to be measured and inserted carefully. +# pose(mm)/orientation(rad) are to be measured and inserted as a 4x4 Homogeneous matrix +# 'testrig_data_directory': "/catkin_ws/src/stretch_ros/stretch_camera_testrig/data/" 'testrig_aruco_marker_info': - 'base_left': - 'pose': - 'x': 0 - 'y': 0 - 'z': 0 - 'orientation': - 'x': 0 - 'y': 0 - 'z': 0 - 'w': 0 + 'base_left_marker_pose': + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + 'base_right_marker_pose': + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 - 'base_right': - 'pose': - 'x': 0 - 'y': 0 - 'z': 0 - 'orientation': - 'x': 0 - 'y': 0 - 'z': 0 - 'w': 0 + 'shoulder_marker_pose': + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 - 'shoulder_top': - 'pose': - 'x': 0 - 'y': 0 - 'z': 0 - 'orientation': - 'x': 0 - 'y': 0 - 'z': 0 - 'w': 0 + 'wrist_inside_marker_pose': + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 - 'wrist_top': - 'pose': - 'x': 0 - 'y': 0 - 'z': 0 - 'orientation': - 'x': 0 - 'y': 0 - 'z': 0 - 'w': 0 - - 'wrist_inside': - 'pose': - 'x': 0 - 'y': 0 - 'z': 0 - 'orientation': - 'x': 0 - 'y': 0 - 'z': 0 - 'w': 0 + 'wrist_top_marker_pose': + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 diff --git a/stretch_camera_testrig/data/testrig_collected_data_202202161602.yaml b/stretch_camera_testrig/data/testrig_collected_data_202202161602.yaml deleted file mode 100644 index 758bc20..0000000 --- a/stretch_camera_testrig/data/testrig_collected_data_202202161602.yaml +++ /dev/null @@ -1,3392 +0,0 @@ -- backlash_state: - joint_head_pan_looked_left: null - joint_head_tilt_looking_up: null - wrist_extension_retracted: null - camera_measurements: - base_left_marker_pose: - - - 0.9997662749394955 - - -0.021106599180271548 - - 0.004680487650701444 - - -0.03497118926514407 - - - -0.0211749015161766 - - -0.9996623817436127 - - 0.015058089934275749 - - 0.037611858139790254 - - - 0.00436108236395853 - - -0.015153679346346061 - - -0.9998756657519393 - - 0.5775316889977317 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - base_right_marker_pose: - - - 0.9972057747696281 - - -0.037869410154863004 - - -0.06439371507087088 - - 0.048252100017009865 - - - -0.03784356640189991 - - -0.9992823602022105 - - 0.0016214409286631043 - - 0.03521470805572012 - - - -0.06440890658977791 - - 0.0008199775746388486 - - -0.9979232537568643 - - 0.5746922471908489 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - d435i_acceleration: null - shoulder_marker_pose: null - wrist_inside_marker_pose: - - - 0.9942350038796783 - - -0.028665934781803765 - - -0.10331999440312362 - - 0.022886139577023554 - - - -0.024795929278401345 - - -0.99894903664237 - - 0.03854846407448001 - - -0.030199254154867704 - - - -0.10431643663199314 - - -0.0357643170543816 - - -0.9939008978132765 - - 0.575290161635449 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_top_marker_pose: - - - 0.9984130434545058 - - -0.030392206032665025 - - -0.04741000392722174 - - 0.06158790676361229 - - - -0.0270796805186516 - - -0.9972482196957081 - - 0.06901216716455681 - - -0.03253408176955399 - - - -0.049376974015414334 - - -0.0676188000944191 - - -0.9964886413356012 - - 0.5749271632822162 - - - 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: - - - 0.9974638029979864 - - -0.03997897873390017 - - -0.05888669602030998 - - 0.04828209715023084 - - - -0.03827014540568798 - - -0.9988209894991507 - - 0.029866819491954803 - - 0.03527368413108889 - - - -0.06001131292865981 - - -0.027537468934741818 - - -0.997817784029352 - - 0.5750422916730484 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - d435i_acceleration: null - shoulder_marker_pose: null - wrist_inside_marker_pose: - - - 0.9915284668492359 - - -0.031301636014689764 - - -0.12606152073653384 - - 0.022870793251004037 - - - -0.0239165612257499 - - -0.9979312083360662 - - 0.05967664139388084 - - -0.03016909907199785 - - - -0.12766870222078172 - - -0.056156130669079866 - - -0.9902258285166766 - - 0.5749216973642403 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_top_marker_pose: - - - 0.9978453610916617 - - -0.03157704222399903 - - -0.05751109242776836 - - 0.06156344252640721 - - - -0.027360321219775708 - - -0.996979464497275 - - 0.07268672639125635 - - -0.032554683703127876 - - - -0.05963260995967076 - - -0.07095659077993004 - - -0.9956952917706738 - - 0.5748066691387639 - - - 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: - - - 0.9997353884642108 - - -0.022461877190572563 - - -0.004961564812550926 - - -0.03499543812990391 - - - -0.022455347125848485 - - -0.9997469110269119 - - 0.0013679464923575528 - - 0.03760494853533941 - - - -0.004991035741322217 - - -0.0012561708577821062 - - -0.9999867557107971 - - 0.577730446012228 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - base_right_marker_pose: - - - 0.9964608298625237 - - -0.03759172570740889 - - -0.07518428498050321 - - 0.04822745541885549 - - - -0.03815302418212002 - - -0.9992536369747476 - - -0.006042825373848301 - - 0.03522322243332954 - - - -0.07490100997616221 - - 0.008889946629715735 - - -0.9971513463629644 - - 0.5745492892038743 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - d435i_acceleration: null - shoulder_marker_pose: null - wrist_inside_marker_pose: - - - 0.9935936486803361 - - -0.02886080760634114 - - -0.10926442736044732 - - 0.022891941204952727 - - - -0.024300227233233676 - - -0.9987862474679452 - - 0.04284309542170761 - - -0.03019261138263306 - - - -0.11036829371930108 - - -0.03991347708744625 - - -0.9930889960563857 - - 0.575152247247181 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_top_marker_pose: - - - 0.9990262665424844 - - -0.03186335290795116 - - -0.03051631530260807 - - 0.06159496259232594 - - - -0.029297581953606162 - - -0.9962734549778309 - - 0.08112246666743513 - - -0.0325416966074664 - - - -0.03298742866391016 - - -0.08014942075898461 - - -0.9962368693750218 - - 0.5747390378302698 - - - 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: - - - 0.9997513126980198 - - -0.022185125160351166 - - 0.002265608131562018 - - -0.034989747564834035 - - - -0.022208405755197228 - - -0.9996947334418632 - - 0.0108271253070305 - - 0.037604995137765704 - - - 0.0020247153871023327 - - -0.010874748283117698 - - -0.9999388183170906 - - 0.577702242162422 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - base_right_marker_pose: - - - 0.9990799504142661 - - -0.03719561532989934 - - -0.02134804160707857 - - 0.04832862940504262 - - - -0.036661968349511874 - - -0.999018283708228 - - 0.02486702421695356 - - 0.035281051632409445 - - - -0.02225202815400856 - - -0.024061484095901545 - - -0.9994628018221271 - - 0.5750483974460794 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - d435i_acceleration: null - shoulder_marker_pose: null - wrist_inside_marker_pose: - - - 0.9921656717823247 - - -0.02746746398957171 - - -0.12187213856624478 - - 0.022883746957919907 - - - -0.022735373792133525 - - -0.9989389598464781 - - 0.04005068388141711 - - -0.0301765195478727 - - - -0.1228429180509009 - - -0.036966105053397466 - - -0.9917374272265425 - - 0.5750007112472822 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_top_marker_pose: - - - 0.9981334644182428 - - -0.03343407911369063 - - -0.051105279201427795 - - 0.06154394104333407 - - - -0.02972351191233319 - - -0.9969820018764677 - - 0.07171750674687727 - - -0.03254642099905829 - - - -0.053348852359107024 - - -0.07006461509357256 - - -0.9961148777444074 - - 0.574870611638288 - - - 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: - - - 0.9961890674305041 - - -0.03788770650310867 - - -0.07856120943491708 - - 0.04823411986718352 - - - -0.037696185543129035 - - -0.9992815575925917 - - 0.0039199809722321 - - 0.03522182886178403 - - - -0.07865328681905541 - - -0.0009435842617219639 - - -0.9969015849728102 - - 0.5745377961577427 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - d435i_acceleration: null - shoulder_marker_pose: - - - 0.9983121656884014 - - -0.029394943670126086 - - -0.05008749469841577 - - -0.045654348266743916 - - - -0.026176898174561952 - - -0.9976234321402595 - - 0.06373584271544806 - - -0.023312700360724956 - - - -0.05184196987472919 - - -0.06231713192469494 - - -0.9967090775287383 - - 0.5769473198082703 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_inside_marker_pose: - - - 0.9947088691624639 - - -0.026474461869605566 - - -0.09926413490403799 - - 0.022898277428743792 - - - -0.025706408966693697 - - -0.9996289426790923 - - 0.00900874554629957 - - -0.030200362677278512 - - - -0.09946580391053672 - - -0.006409354647363774 - - -0.9950203384983827 - - 0.5753406759421805 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_top_marker_pose: - - - 0.9978286393418371 - - -0.03192554619731713 - - -0.057608732057050104 - - 0.06157188525204744 - - - -0.028422103847269658 - - -0.9977548756974511 - - 0.06064150422655201 - - -0.032552572247751335 - - - -0.05941540643732938 - - -0.05887246828498764 - - -0.9964957812032724 - - 0.5750338070564952 - - - 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: - - - 0.9997452310474918 - - -0.02256167262984381 - - -0.0006662776756072152 - - -0.03499640692586457 - - - -0.022570324049569972 - - -0.9995595397997122 - - -0.019269324525924062 - - 0.03762471667761552 - - - -0.00023123601505665097 - - 0.019279453403344502 - - -0.9998141073251439 - - 0.5780401748120011 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - base_right_marker_pose: - - - 0.9965219823197128 - - -0.03872379333596891 - - -0.07378622217774185 - - 0.04826303465066153 - - - -0.038087824683419536 - - -0.9992242850079511 - - 0.010007290404210573 - - 0.035251656283913115 - - - -0.07411650534445759 - - -0.007162128176895287 - - -0.9972238703297786 - - 0.57471562590299 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - d435i_acceleration: null - shoulder_marker_pose: - - - 0.998808230252115 - - -0.029510480328854942 - - -0.03887480844195025 - - -0.04564898862815486 - - - -0.028204170078377583 - - -0.9990328219989745 - - 0.0337334457023863 - - -0.023328258110869207 - - - -0.039832699768255875 - - -0.03259681149324517 - - -0.9986745235108616 - - 0.5770562384761478 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_inside_marker_pose: - - - 0.9898735801916727 - - -0.03419679699406879 - - -0.1377710938980542 - - 0.022889155635530106 - - - -0.018397522202088904 - - -0.993269092848852 - - 0.11435926008873788 - - -0.030155389407293204 - - - -0.1407544898585607 - - -0.11066656345331412 - - -0.9838399693639669 - - 0.5748030303061966 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_top_marker_pose: - - - 0.9981489672125121 - - -0.032423744023509254 - - -0.05145230875377265 - - 0.06156275445921251 - - - -0.02900546829058349 - - -0.9974081357657301 - - 0.06584598330631743 - - -0.03255344478623028 - - - -0.053453924662643405 - - -0.06423170192225817 - - -0.9965023664830563 - - 0.5748630415912368 - - - 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: - - - 0.9975548962582249 - - -0.03969777074191131 - - -0.05751796197158602 - - 0.0482521153928904 - - - -0.038828142162976136 - - -0.9991152364064915 - - 0.016159200369221954 - - 0.03525485571041771 - - - -0.05810855640449073 - - -0.01388637384357768 - - -0.9982136866894097 - - 0.5745748331583085 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - d435i_acceleration: null - shoulder_marker_pose: null - wrist_inside_marker_pose: - - - 0.9923829644328811 - - -0.031175764723950193 - - -0.11918105385204457 - - 0.022865495750736153 - - - -0.023683276697112864 - - -0.9976833023540418 - - 0.06377405905869855 - - -0.030176893193975162 - - - -0.12089315244584796 - - -0.06046569190715742 - - -0.9908222574174919 - - 0.5749396690085685 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_top_marker_pose: - - - 0.9981858976270429 - - -0.03204852679982407 - - -0.050968673795338884 - - 0.06155363091924727 - - - -0.028603940542755852 - - -0.9973474038958176 - - 0.06693258195901358 - - -0.032548421818986505 - - - -0.05297856513648888 - - -0.0653532544884686 - - -0.9964548277588126 - - 0.5748395178660917 - - - 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: - - - 0.9995831719497027 - - -0.022763197440058662 - - -0.017757229436937826 - - -0.03500340641918959 - - - -0.02267537119884753 - - -0.9997297099161945 - - 0.005131729910770494 - - 0.03762490467168967 - - - -0.01786924441507308 - - -0.004726939092851468 - - -0.9998291584820118 - - 0.5776482660715135 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - base_right_marker_pose: - - - 0.9979668535711124 - - -0.040377046474299655 - - -0.04931382454632996 - - 0.04824792064316504 - - - -0.038067080746495854 - - -0.998173229657122 - - 0.04691589239597183 - - 0.0352830973887075 - - - -0.051118064681810224 - - -0.044943272175965214 - - -0.9976808336082755 - - 0.5745982869166669 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - d435i_acceleration: null - shoulder_marker_pose: - - - 0.9980279907971314 - - -0.028472445520786958 - - -0.0559414822069165 - - -0.04562275847609303 - - - -0.025014013770966136 - - -0.9977887410737685 - - 0.06157862698608374 - - -0.023306645657062208 - - - -0.05757107520714594 - - -0.06005787236067511 - - -0.9965333026382024 - - 0.5769640982290486 - - - 0.0 - - 0.0 - - 0.0 - - 1.0 - wrist_inside_marker_pose: - - - 0.9908801821068777 - - -0.02568009932011185 - 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-0.17557554778242546 + - 0.06452308026873628 + - - -0.023033422627214358 + - -0.9994375785589175 + - -0.024371869160238237 + - -0.03287204991382218 + - - -0.17502828715608015 + - 0.028033188913701622 + - -0.9841642337610819 + - 0.5757340808985764 + - - 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: + - - 0.9997345503647072 + - -0.019861640326816657 + - 0.011676645520231446 + - -0.03479923808585887 + - - -0.01943765106171133 + - -0.9991853427702037 + - -0.03536705408134823 + - 0.03731128319782907 + - - 0.012369580764121436 + - 0.0351306993485474 + - -0.9993061730195612 + - 0.5799656104104728 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9969134706473449 + - -0.03878220466479442 + - -0.0682603299376977 + - 0.04849324766692912 + - - -0.03783013658787617 + - -0.9991687888894231 + - 0.015185916995240823 + - 0.03503542264554953 + - - -0.06879253453397385 + - -0.01255674761161143 + - -0.9975519611939072 + - 0.5762416442636888 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: null + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9967806550243468 + - -0.023218621306659044 + - -0.07674126265479424 + - 0.025741788865278992 + - - -0.020191523893334454 + - -0.998996094894477 + - 0.039988807789790935 + - -0.030584985795197243 + - - -0.07759270669398678 + - -0.03831054698385158 + - -0.9962488011825651 + - 0.5771685511655267 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9867575775389907 + - -0.021051248436194877 + - -0.16083012189468823 + - 0.06452428581767614 + - - -0.02334335466529019 + - -0.9996509080555984 + - -0.012375371371740412 + - -0.03285958852766919 + - - -0.16051346037748096 + - 0.015965806052173508 + - -0.9869045151759879 + - 0.5756707232944211 + - - 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: + - - 0.9997091172686082 + - -0.019154817847906465 + - 0.01465516302310538 + - -0.034775571265613245 + - - -0.018544220013278247 + - -0.9989983628165454 + - -0.04072324881391842 + - 0.037302190967659195 + - - 0.015420530280097435 + - 0.04043963455664136 + - -0.9990629826005992 + - 0.5797765151908896 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9970728283333925 + - -0.038254835874996715 + - -0.06619926382843246 + - 0.048440320640181 + - - -0.03790682982448672 + - -0.9992601014554042 + - 0.006505527802720479 + - 0.03499845203861232 + - - -0.06639915098784581 + - -0.003977080777609339 + - -0.9977852151523298 + - 0.5757606683982277 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: null + shoulder_marker_pose: + - 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- 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: + - - 0.9996408118899697 + - -0.019066132134530116 + - 0.01883427220231642 + - -0.03477842763353716 + - - -0.018392569689917246 + - -0.9992071189792694 + - -0.035310717372364235 + - 0.03731652870725634 + - - 0.01949257766853446 + - 0.03495162351848747 + - -0.9991988908266758 + - 0.5797916529778536 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.9973388699276176 + - -0.03780489370026517 + - -0.06233753719721596 + - 0.048497785820818866 + - - -0.03744733516618384 + - -0.9992748175206522 + - 0.006894647055398974 + - 0.03502374319334084 + - - -0.06255298250646506 + - -0.004541924853922791 + - -0.9980313097784893 + - 0.5760116178086071 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: null + shoulder_marker_pose: null + wrist_inside_marker_pose: + - - 0.9970556674693789 + - -0.02295911649798871 + - -0.073163344215687 + - 0.025749383006237858 + - - -0.019543005634677934 + - -0.9987003885943578 + - 0.04707021087951343 + - -0.030595057416554036 + - - -0.07414895075423701 + - -0.045501788878138626 + - -0.9962085726949629 + - 0.5772255531061851 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9865554484049552 + - -0.0169821270164142 + - -0.16254216248252618 + - 0.06455251384244699 + - - -0.023177068839232557 + - -0.9990724025650757 + - -0.036292670236139815 + - -0.03289758433523981 + - - -0.16177506205382536 + - 0.03957198244776332 + - -0.9860339180285003 + - 0.5759128360608687 + - - 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: + - - 0.999767392314584 + - -0.018464998971460936 + - 0.011144733172247817 + - -0.03479614733491189 + - - -0.01810039655100725 + - -0.9993247825621647 + - -0.03197428031680027 + - 0.03730688423249425 + - - 0.011727613107232821 + - 0.03176511876359008 + - -0.9994265557412114 + - 0.579850707403317 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + base_right_marker_pose: + - - 0.996688067696533 + - -0.038679277040426285 + - -0.07153187568476951 + - 0.04846417021955675 + - - -0.03787468223328337 + - -0.9992034228218744 + - 0.012570929431807307 + - 0.03500131902480176 + - - -0.07196112948723898 + - -0.009820048303426126 + - -0.997359094055015 + - 0.5759280259604279 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + d435i_acceleration: null + shoulder_marker_pose: + - - 0.9994989454676569 + - -0.031155858697668855 + - -0.005583052735971223 + - -0.04286399143552934 + - - -0.03100807626196367 + - -0.9992102832952251 + - 0.024845703121627823 + - -0.02374047026583951 + - - -0.006352732921663655 + - -0.02466013434445792 + - -0.9996757076965206 + - 0.5792767969835966 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_inside_marker_pose: + - - 0.9964171865605204 + - -0.022918716129437168 + - -0.0814095988062551 + - 0.02575805538362634 + - - -0.018479456442272432 + - -0.998322438143354 + - 0.05487093209621765 + - -0.030606095802971047 + - - -0.0825306004850037 + - -0.05316993464814348 + - -0.9951691605114666 + - 0.5771098228880218 + - - 0.0 + - 0.0 + - 0.0 + - 1.0 + wrist_top_marker_pose: + - - 0.9877596497566461 + - -0.018820499612083416 + - -0.1548439960314228 + - 0.06453996656868453 + - - -0.022971365346638073 + - -0.9994219607367753 + - -0.025061140659826234 + - -0.032867986778510015 + - - -0.15428282693397533 + - 0.028311361525223195 + - -0.9876210184690531 + - 0.5757391275043253 + - - 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/launch/test_basic.launch b/stretch_camera_testrig/launch/test_basic.launch deleted file mode 100644 index 4c7375a..0000000 --- a/stretch_camera_testrig/launch/test_basic.launch +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/stretch_camera_testrig/launch/testrig_collect_data.launch b/stretch_camera_testrig/launch/testrig_collect_data.launch new file mode 100644 index 0000000..b9609e8 --- /dev/null +++ b/stretch_camera_testrig/launch/testrig_collect_data.launch @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/stretch_camera_testrig/nodes/collect_head_calibration_data.py b/stretch_camera_testrig/nodes/collect_head_calibration_data.py index cfd90cd..8a0ebc9 100755 --- a/stretch_camera_testrig/nodes/collect_head_calibration_data.py +++ b/stretch_camera_testrig/nodes/collect_head_calibration_data.py @@ -25,6 +25,7 @@ import math import time import threading import sys +import os import argparse as ap @@ -270,15 +271,13 @@ class CollectHeadCalibrationDataNode: return samples def get_samples_testrig(self, number_of_samples): - # Collect N observations (samples) centered around the - # provided head and wrist extension pose. If first_move is - # true, it indicates that this is the first movement to a new - # region for calibration, which can induce more vibrations and - # thus benefit from more time to settle prior to collecting a - # sample. + # Collect N observations (samples) within the + # testrig rigid setup. This function allows to + # collect samples in the same data dictionary format + # used for calibration without any robot motion. samples = [] - wait_before_each_sample_s = 0.2 + wait_before_each_sample_s = 0.1 for sample_number in range(number_of_samples): rospy.sleep(wait_before_each_sample_s) observation = {'joints': {'joint_head_pan': None, @@ -298,37 +297,6 @@ class CollectHeadCalibrationDataNode: 'shoulder_marker_pose': None} } - # wait for a sample taken after the robot has - # settled - # timeout_duration = rospy.Duration(secs=10) - # start_wait = rospy.Time.now() - # timeout = False - # data_ready = False - # while (not data_ready) and (not timeout): - # # check the timing of the current sample - # with self.data_lock: - # if (self.data_time is not None) and (self.data_time > settled_time): - # if (self.marker_time is None): - # # joint_states and acceleration - # # were taken after the robot - # # settled and there are no aruco - # # marker poses - # data_ready = True - # elif (self.marker_time > settled_time): - # # joint_states, acceleration, - # # and aruco marker poses were - # # taken after the robot - # # settled - # data_ready = True - # if not data_ready: - # #rospy.sleep(0.2) #0.1 - # rospy.sleep(1.0) - # timeout = (rospy.Time.now() - start_wait) > timeout_duration - - # if timeout: - # rospy.logerr('collect_head_calibration_data get_samples: timeout while waiting for sample.') - # raise Exception('Timed out waiting for joint_states/accelerations/markers messages after 10 seconds') - with self.data_lock: # record the settled camera measurments @@ -671,8 +639,10 @@ class CollectHeadCalibrationDataNode: rospy.loginfo('COLLECT DATA FROM TEST RIG') rospy.loginfo('*************************************') rospy.loginfo('') + rospy.loginfo('Target Number of Frames :{0}'.format(number_of_samples)) + rospy.loginfo('') - while len(calibration_data)<=number_of_samples: + while len(calibration_data)