AdrianoandClaude Opus 4.7
fb0e9b9112
- Sidebar a 3 tab verticali (POSE / CAMERAS / MISC) per ridurre lo scroll
- Tag locator: POST /api/pose_3d/tag_offset/{save,} salva crocetta nel
viewport con snapshot giunti, current.json + archive rotation
- Front-camera tag overlay (MISC):
- GET /api/pose_3d/front_tags scansiona ArUco sul D435i e per ogni tag
misura i 4 corner 3D via depth sensor (indipendente da solvePnP);
outlier rejection ±20% dalla mediana per ignorare corner che catturano
background sul bordo del marker
- Rendering quad cyan + label compatta (id, edge_mm, distanza camera)
agganciato al d435_link, segue la camera anche in modalita' hand-eye
- Trigger via pollState() quando il flag e' on, niente timer separato
- Cloud cross-camera: memorizza step/max_depth/sizes/scale_xy/flip/handeye
in pose_3d.cloud_params al click di Acquisisci, ripopola UI da config
al primo poll (state.cloud_params_populated guard)
- D435i front cloud: applica nuwa_to_cv_frame (il servizio ritorna native,
non OpenCV come si pensava)
- Cache-bust per pose_3d.js e pose_3d.css
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
185 lines
3.3 KiB
YAML
185 lines
3.3 KiB
YAML
services:
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nuwa:
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base_url: http://localhost:8877
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timeout_s: 5.0
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api_key: null
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marker_finder:
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base_url: http://localhost:8082
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timeout_s: 5.0
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yolo:
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base_url: http://localhost:8879
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timeout_s: 10.0
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g1:
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base_url: http://localhost:8765
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timeout_s: 5.0
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write_timeout_s: 30.0
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h1:
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base_url: http://localhost:8767
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timeout_s: 5.0
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write_timeout_s: 30.0
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sam21:
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base_url: http://localhost:8002
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timeout_s: 10.0
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open3dmodel:
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base_url: http://localhost:8878
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timeout_s: 30.0
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api_key_env: OPEN3D_API_KEY
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max_stl_bytes: 20000000
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front_camera:
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base_url: http://192.168.123.99:8878
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timeout_s: 5.0
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aruco:
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dictionary: DICT_4X4_50
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wrist_marker:
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id: 10
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size_mm: 40.0
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robot:
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wrist_side: right
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active: g1
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tab_right_arm:
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yolo_class: pestello
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yolo_conf_front: 0.4
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yolo_conf_wrist: 0.4
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move_offset_camera_mm:
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x: 100.0
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y: 0.0
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z: 100.0
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axis_sign_cam_to_wrist:
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x: 1
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y: -1
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z: -1
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cam_to_wrist_perm:
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- z
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- x
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- y
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camera_offset_wrist_mm:
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x: 0.0
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y: 0.0
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z: 100.0
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cluster_depth_window_m: 0.2
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verify_marker:
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id: 1
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size_mm: 40.0
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max_step_m: 0.15
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z_floor_m: null
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home_pose:
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position:
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- 0.3
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- -0.2
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- 0.3
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rpy_deg:
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- 0
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- 0
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- 0
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custom_pose:
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position:
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- 0.3
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- -0.2
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- 0.3
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rpy_deg:
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- 0
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- 0
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- 0
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pose_3d:
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live_max_step_m: 0.15
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tag_offset:
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save_dir: /home/harry/robot/logging/wrist-tag-offset
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right_wrist_camera:
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enabled: true
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mesh_url: /static/assets/nuwa/nuwa-hp60c.stl
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offset_m:
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- 0.05
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- 0
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- 0.1
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rpy_deg:
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- 0
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- -90
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- -90
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clouds:
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nuwa:
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use_nuwa_camera_transform: true
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extra_offset_m:
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- 0.0
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- 0.0
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- 0.0
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extra_rpy_deg:
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- 0
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- 0
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- 0
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d435:
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offset_m:
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- -0.01
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- 0.015
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- -0.005
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rpy_deg:
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- -90
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- 90
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- 0
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transform_pelvis_4x4:
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- - 0.03273746934835532
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- -0.9960477706629303
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- -0.0825657111522212
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- -0.00771413467718246
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- - -0.7734929889294071
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- 0.027067579810660346
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- -0.633226612043623
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- 0.37547513731967447
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- - 0.6329588092267278
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- 0.08459423550455474
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- -0.7695498431821574
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- 0.33337005199505626
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- - 0.0
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- 0.0
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- 0.0
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- 1.0
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named_poses:
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Base:
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side: left
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position:
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- 0.2561414814483791
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- 0.14648003458557432
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- 0.10874469031742239
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quaternion:
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- -0.005339006082777725
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- -0.047703617194205114
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- -0.005110044879619669
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- 0.9988341941293186
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cloud_params:
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step: 2
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max_depth_mm: 1000
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nuwa_size_mm: 5
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d435_size_mm: 5
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d435_scale_xy: 1
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flip_nuwa:
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- false
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- false
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- false
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flip_d435:
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- false
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- false
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- false
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d435_use_handeye: false
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grasp:
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approach_offset_m: 0.1
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pre_grasp_clearance_m: 0.05
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max_object_width_m: 0.08
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pointcloud_step: 1
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pointcloud_max_depth_mm: 2000
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use_sam21: true
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visual_servo:
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min_distance_m: 0.1
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step_fraction: 0.5
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wrist_marker_rvec:
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- 0
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- 0
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- 0
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find_model:
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sample_points: 2000
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min_fitness: 0.5
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max_rmse_mm: 5.0
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calibration:
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min_samples: 5
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method: DANIILIDIS
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file: data/calibration.yaml
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samples_file: data/samples.json
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