Apriltag-implementation#6
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kelvinchow23 merged 8 commits intocopilot/fix-af588f11-3394-462a-bccb-c025e0e7c340from Oct 21, 2025
Merged
Apriltag-implementation#6kelvinchow23 merged 8 commits intocopilot/fix-af588f11-3394-462a-bccb-c025e0e7c340from
kelvinchow23 merged 8 commits intocopilot/fix-af588f11-3394-462a-bccb-c025e0e7c340from
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kelvinchow23
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Oct 21, 2025
kelvinchow23
commented
- Added logging capabilities to VisualServoEngine for iteration events, including CSV logging of translation and rotation errors.
- Introduced a configuration option to enable or disable rotation corrections during visual servoing.
- Implemented a reset mechanism for propagated positions at startup, allowing for better management of observation poses.
- Enhanced error handling and user feedback during visual servoing, including graceful handling of failures and exceptions.
- Updated WorkflowExecutor to respect global enable flags for visual servoing and added options to control behavior on failure or exceptions.
- Add HandEyeCalibrator class with Zivid-based methodology - Add simple manual hand-eye calibration script using existing components - Fix freedrive mode in URController (use RTDE teachMode) - Update visual servo engine to use calibration matrix - Add AprilTag detection script for testing - Use Zivid recommendations: 6+ poses for AprilTags, 10-20 optimal - Integrate with existing working PiCam and URController systems
- Moved hand-eye calibration script to scripts/ - Integrated AprilTag photo detection into debug_apriltag.py - Moved workflow configs to examples/workflows/ - Removed redundant test files and one-time diagnostics - Merged hand-eye calibration guide into README - Cleaned up root directory structure - Enhanced README with comprehensive hand-eye calibration docs
- Updated default AprilTag family from tag36h11 to tagStandard41h12 (recommended by AprilRobotics) - Added tagStandard41h12, tagStandard52h13, tagCircle49h12, tagCircle21h7 to supported families - Updated configuration files and documentation to use new default family - Added explanation for naming convention differences (legacy vs newer families) - Backward compatibility maintained for existing tag families - Updated all examples and documentation to use recommended family
- Add pose correction engine with Kalman filtering and robust estimation - Add calibration accuracy analysis and comparison tools - Add corrected taught positions with 180 ambiguity fixes - Add comprehensive test suite for pose correction functionality - Add example workflows for position correction and pose testing
…onsistency - Updated string quotes in config_manager.py to use double quotes for consistency. - Simplified YAML structure in taught_positions.yaml by using inline lists for coordinates, joints, and other arrays. - Added new positions and updated existing ones in taught_positions.yaml for better functionality. - Enhanced URController class in ur_controller.py with consistent string formatting and improved readability. - Adjusted default values and configuration retrieval methods to use double quotes in ur_controller.py. - Improved comments and documentation throughout the code for clarity.
…e config retrieval
- Added logging capabilities to VisualServoEngine for iteration events, including CSV logging of translation and rotation errors. - Introduced a configuration option to enable or disable rotation corrections during visual servoing. - Implemented a reset mechanism for propagated positions at startup, allowing for better management of observation poses. - Enhanced error handling and user feedback during visual servoing, including graceful handling of failures and exceptions. - Updated WorkflowExecutor to respect global enable flags for visual servoing and added options to control behavior on failure or exceptions.
…apriltag-implementation
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We both looked over, seemed fine. Just consolidating into other PR |
kelvinchow23
merged commit 88bcbdc
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copilot/fix-af588f11-3394-462a-bccb-c025e0e7c340
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