whut/AutoCalib-Workshop
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完善....

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This commit is contained in:
li-shihao-code
2026-06-05 12:53:48 +08:00
parent a713b5d9ab
commit f2e5a4bb7d
64 changed files with 3294 additions and 445 deletions
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agv_calib_brain/.isaac_cache/workshop_scene_manifest.json
+30 -18
View File
@@ -652,28 +652,11 @@
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
@@ -682,7 +665,36 @@
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
"expected_time_sync_offset_ms": 2.0,
"visualization_enabled": false,
"visualization_root_prim": "/World/ExternalTruthVisualization",
"target_ball_radius_m": 0.075,
"target_balls": [
{
"ball_id": "front_left",
"center_in_base_link": {
"x_m": 0.58,
"y_m": 0.32,
"z_m": 1.28
}
},
{
"ball_id": "front_right",
"center_in_base_link": {
"x_m": 0.58,
"y_m": -0.32,
"z_m": 1.28
}
},
{
"ball_id": "rear_center",
"center_in_base_link": {
"x_m": -0.5,
"y_m": 0.0,
"z_m": 1.22
}
}
]
},
"sensors": [
{
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_chassis.json
+2 -18
View File
@@ -61,28 +61,11 @@
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
@@ -91,7 +74,8 @@
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
"expected_time_sync_offset_ms": 2.0,
"visualization_enabled": false
},
"sensors": [
{
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_chassis_control_gateway.json
+2 -18
View File
@@ -61,28 +61,11 @@
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
@@ -91,7 +74,8 @@
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
"expected_time_sync_offset_ms": 2.0,
"visualization_enabled": false
},
"sensors": [
{
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_chassis_control_sensor_intrinsic.json
+2 -18
View File
@@ -61,28 +61,11 @@
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
@@ -91,7 +74,8 @@
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
"expected_time_sync_offset_ms": 2.0,
"visualization_enabled": false
},
"sensors": [
{
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_chassis_gateway.json
+2 -18
View File
@@ -61,28 +61,11 @@
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
@@ -91,7 +74,8 @@
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
"expected_time_sync_offset_ms": 2.0,
"visualization_enabled": false
},
"sensors": [
{
agv_calib_brain/.isaac_cache/workshop_scene_manifest_external_only.json
+2 -18
View File
@@ -61,28 +61,11 @@
},
"chassis_calibration": {
"chassis_type": "ackermann",
"straight_track_length_m": 5.0,
"straight_track_width_m": 0.7,
"arc_track_radius_m": 1.6,
"wheel_radius_m": 0.1,
"wheel_track_m": 0.52,
"wheel_base_m": 0.8
},
"control_calibration": {
"reference_path": [
{
"x_m": -2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
},
{
"x_m": 2.5,
"y_m": 0.0,
"yaw_rad": 0.0,
"target_speed_ms": 0.3
}
],
"parameter_version": "isaac_control_baseline_v1"
},
"external_truth": {
@@ -91,7 +74,8 @@
"workcell_zone_id": "isaac_workcell_zone_a",
"expected_position_stddev_m": 0.01,
"expected_yaw_stddev_rad": 0.01,
"expected_time_sync_offset_ms": 2.0
"expected_time_sync_offset_ms": 2.0,
"visualization_enabled": false
},
"sensors": [
{