Claude/port detection alignment q n5 sz#495
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kuldeepkdv wants to merge 2 commits intointrinsic-dev:mainfrom
Closed
Claude/port detection alignment q n5 sz#495kuldeepkdv wants to merge 2 commits intointrinsic-dev:mainfrom
kuldeepkdv wants to merge 2 commits intointrinsic-dev:mainfrom
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Adds a classical perception + motion-planning baseline that operates
without ground truth, organised into reusable modules:
- aic_example_policies/perception/port_detector.py
Single-image OpenCV port detector (dark rect in lighter surround).
- aic_example_policies/perception/triangulator.py
Linear-DLT triangulation from N camera views using CameraInfo K and
base_link <- optical-frame extrinsics from TF; reports reprojection
error so callers can gate on quality.
- aic_example_policies/planning/motion_planner.py
Pure-Python three-phase state machine: APPROACH (stand-off above
port), ALIGN (rotate TCP to port axis and servo lateral error),
INSERT (linear descent along port axis, stopping on depth or on a
force threshold). Compensates for the TCP-to-plug-tip offset so the
plug, not the TCP, lands on the commanded target.
- aic_example_policies/ros/VisionGuidedInsert.py
Policy class wiring the above to get_observation / move_robot.
Covers the requested pipeline: detect the port on 3 wrist cameras,
estimate distance, plan approach over the port, align, and execute a
linear insertion.
- Use img.header.frame_id as the authoritative camera frame; fall back to the hardcoded optical/body names only if it is empty. - Look up TF at the image stamp (50 ms tolerance), then fall back to latest, to reduce error when the wrist moves during a detection tick. - Warn once per camera when we have to compose the REP-103 body->optical rotation instead of using a published optical frame. - Guard against uncalibrated CameraInfo (fx must be > 0). - Carry a per-camera pixel prior reprojected from the latest 3D estimate so the detector stays locked on the port when other dark apertures are visible. - Fix degenerate case in MotionPlanner._gripper_quat_for_port when the current tool-x is parallel to the port axis. - Drop unused stamp argument on _plug_tip_in_base.
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