First Test Rig Data

stretch_camera_testrig/config/test1.yaml

@@ -0,0 +1,196 @@
+markers:
+  -
+    header:
+      seq: 0
+      stamp:
+        secs: 1651003161
+        nsecs: 766932964
+      frame_id: "/camera_color_optical_frame"
+    ns: ''
+    id: 130
+    type: 1
+    action: 0
+    pose:
+      position:
+        x: 0.0241800574487
+        y: -0.0342552404967
+        z: 0.969235731015
+      orientation:
+        x: 0.999344598409
+        y: -0.00832851725226
+        z: -0.0112885233133
+        w: 0.0333703262417
+    scale:
+      x: 0.047
+      y: 0.047
+      z: 0.005
+    color:
+      r: 1.0
+      g: 0.0
+      b: 0.705882370472
+      a: 0.330000013113
+    lifetime:
+      secs: 0
+      nsecs: 200000000
+    frame_locked: False
+    points: []
+    colors: []
+    text: "base_left"
+    mesh_resource: ''
+    mesh_use_embedded_materials: False
+  -
+    header:
+      seq: 0
+      stamp:
+        secs: 1651003161
+        nsecs: 766932964
+      frame_id: "/camera_color_optical_frame"
+    ns: ''
+    id: 131
+    type: 1
+    action: 0
+    pose:
+      position:
+        x: 0.0920780699485
+        y: -0.0335624826098
+        z: 0.968065369117
+      orientation:
+        x: 0.999093130014
+        y: -0.00356607996036
+        z: -0.0204699706518
+        w: 0.0371642426745
+    scale:
+      x: 0.047
+      y: 0.047
+      z: 0.005
+    color:
+      r: 0.611764729023
+      g: 0.0
+      b: 1.0
+      a: 0.330000013113
+    lifetime:
+      secs: 0
+      nsecs: 200000000
+    frame_locked: False
+    points: []
+    colors: []
+    text: "base_right"
+    mesh_resource: ''
+    mesh_use_embedded_materials: False
+  -
+    header:
+      seq: 0
+      stamp:
+        secs: 1651003161
+        nsecs: 766932964
+      frame_id: "/camera_color_optical_frame"
+    ns: ''
+    id: 132
+    type: 1
+    action: 0
+    pose:
+      position:
+        x: 0.0129902026683
+        y: -0.0928715676789
+        z: 0.972609772983
+      orientation:
+        x: 0.992153145926
+        y: 0.0146480995898
+        z: -0.0982938952781
+        w: 0.0758675052842
+    scale:
+      x: 0.0235
+      y: 0.0235
+      z: 0.005
+    color:
+      r: 0.0
+      g: 0.0705882385373
+      b: 1.0
+      a: 0.330000013113
+    lifetime:
+      secs: 0
+      nsecs: 200000000
+    frame_locked: False
+    points: []
+    colors: []
+    text: "wrist_inside"
+    mesh_resource: ''
+    mesh_use_embedded_materials: False
+  -
+    header:
+      seq: 0
+      stamp:
+        secs: 1651003161
+        nsecs: 766932964
+      frame_id: "/camera_color_optical_frame"
+    ns: ''
+    id: 133
+    type: 1
+    action: 0
+    pose:
+      position:
+        x: 0.0544769741546
+        y: -0.092754424718
+        z: 0.970924466667
+      orientation:
+        x: 0.999674792188
+        y: -0.00628684941704
+        z: 0.0109935765558
+        w: -0.0221342870211
+    scale:
+      x: 0.0235
+      y: 0.0235
+      z: 0.005
+    color:
+      r: 0.0
+      g: 0.752941191196
+      b: 1.0
+      a: 0.330000013113
+    lifetime:
+      secs: 0
+      nsecs: 200000000
+    frame_locked: False
+    points: []
+    colors: []
+    text: "wrist_top"
+    mesh_resource: ''
+    mesh_use_embedded_materials: False
+  -
+    header:
+      seq: 0
+      stamp:
+        secs: 1651003161
+        nsecs: 766932964
+      frame_id: "/camera_color_optical_frame"
+    ns: ''
+    id: 134
+    type: 1
+    action: 0
+    pose:
+      position:
+        x: 0.100040371589
+        y: -0.0892338916474
+        z: 0.971143314039
+      orientation:
+        x: 0.999737501831
+        y: -0.00162452511204
+        z: 0.00672076359396
+        w: -0.0218430695578
+    scale:
+      x: 0.0314
+      y: 0.0314
+      z: 0.005
+    color:
+      r: 0.0
+      g: 1.0
+      b: 0.564705908298
+      a: 0.330000013113
+    lifetime:
+      secs: 0
+      nsecs: 200000000
+    frame_locked: False
+    points: []
+    colors: []
+    text: "shoulder_top"
+    mesh_resource: ''
+    mesh_use_embedded_materials: False

stretch_camera_testrig/nodes/collect_head_calibration_data.py

@@ -341,7 +341,6 @@ class CollectHeadCalibrationDataNode:
                            }
 
             with self.data_lock:
-
                 # record the settled camera measurments
                 camera_measurements = observation['camera_measurements']
                 camera_measurements['d435i_acceleration'] = self.acceleration