*iCUdZddlZddlZddlmZddlmZmZmZmZddl Z ddl Z ddl m Z ddlmZmZmZddlmZddlmZmZmZmZdd lmZdd lmZdd lmZm Z da!ee e"d <d ee j#dee j#deee j#e j#fdeee j#e j#fdedede j#fdZ$da%ee j#e"d< dde j#de&de j#fdZ'GddZ(dS)z1Orchestrates the full camera calibration workflowN)datetime)DictListOptionalTuple) Kinematics)CALIBRATION_FILECALIBRATION_POSES_FILE CAMERA_CONFIG)get_yam_4310_linear_xml_path)CameraCalibratorChArUcoBoardConfigload_calibration_posessave_calibration_results) CameraConfig)Camera)RobotControllersmooth_move_joints_kinematics_cacheleft_arm_posesright_arm_posesleft_board_posesright_board_posesleft_hand_eye_resultright_hand_eye_resultreturnc t|dkst|dkrtdt|dkst|dkrtdddlm t t|t|t|t|}t d|dt jd}t j|d |d d d d f<t j|d |d d d f<t jd}t j|d |d d d d f<t j|d |d d d f<t j |d d d d f} t j |d d d d f} t| d z dkst| d z dkrt d| dd| ddg} t|D]1} || } || }|| \}}tj|\}}t jd}||d d d d f<||d d d f<|| \}}tj|\}}t jd}||d d d d f<||d d d f<| |z|z}||z|z}|t j |z}t j |}| |3 fd| D}d| D} |}t j|d}t jd}||d d d d f<||d d d f<t d|d d d f|S)aDCompute transform from right arm base to left arm base after hand-eye calibrations Uses hand-eye calibration results for both arms: 1. For each pose, compute board position from left arm: left_base -> left_ee -> left_cam -> board 2. For each pose, compute board position from right arm: right_base -> right_ee -> right_cam -> board 3. Since board is fixed, both should point to same location in world 4. Compute offset between bases and average across poses Args: left_arm_poses: List of T_left_base_to_left_ee transforms right_arm_poses: List of T_right_base_to_right_ee transforms (in right base frame) left_board_poses: List of (rvec, tvec) board observations from left camera right_board_poses: List of (rvec, tvec) board observations from right camera left_hand_eye_result: Hand-eye calibration result for left wrist (T_left_cam_to_left_ee) right_hand_eye_result: Hand-eye calibration result for right wrist (T_right_cam_to_right_ee) Returns: T_right_base_to_left_base: 4x4 transformation matrix z#Need at least 1 pose from both armsz3Need at least 1 board observation from both camerasrRotationzD Using hand-eye calibrations to compute bimanual base transform (z poses)...rotation_matrixNtranslation_vector?g{Gz?z< Warning: Rotation matrices are not orthogonal (det_left=z.4fz , det_right=)cRg|]#}|ddddf$SNr# from_matrix.0Tr s 7/home/robot-lab/raiden_cmu/raiden/calibration/runner.py zDcompute_bimanual_base_transform_from_calibration..s7EEEQ%%aBQBi00EEEc&g|]}|dddfSr(r,r-s r.r/zDcompute_bimanual_base_transform_from_calibration..s$111Abqb!eH111r0axisz@ Bimanual transform (T_right_base_to_left_base) translation: )len ValueErrorscipy.spatial.transformr minprintnpeyearraylinalgdetabsrangecv2 Rodriguesflatteninvappend concatenatemean as_matrix)!rrrrrr num_posesT_left_cam_to_left_eeT_right_cam_to_right_eedet_left det_right transformsiT_left_base_to_left_eeT_right_base_to_right_eervec_ltvec_lR_l_T_board_to_left_camrvec_rtvec_rR_rT_board_to_right_camT_left_base_to_boardT_right_base_to_boardT_left_base_to_right_baseT_right_base_to_left_base rotations translations avg_rotationavg_translationr s! @r.0compute_bimanual_base_transform_from_calibrationrds6 >Q#o"6"6":":>??? q  C(9$:$:Q$>$>NOOO000000 N O   I  dyddd F1II$&H-ABS-T$U$U"1"bqb&!#%8,@AU,V#W#W"1"a%  fQii&(h/DEV/W&X&XBQBF#%'X23&&BQBE" y}}22A2rr6:;;H 5bqb"1"f=>>I 8c>T!!SS%9%9D%@%@ u8 u u uen u u u u   J 9  *5*5!/!2#21#5 *!,v&&Q fQii&)BQBF#%+^^%5%5BQBE"*1-v&&Q!vayy'*RaR!V$&,nn&6&6RaRU# #%: :=P P  %'> >AU U  %929== !< < % ! %'IMM2K$L$L!34444FEEE*EEEI11j111L'' 227799Lgl333O "q (4(>(>(@(@bqb"1"f%'6bqb!e$ mKdegfgegijejKkmm %$r0T_RIGHT_BASE_TO_LEFT_BASEleftjoint_positionsarmctttdat|dksJdt|t jd}||dd<t|}|dkr?ttdtj t}||zS|S) aaCompute forward kinematics for YAM robot arm using i2rt library Args: joint_positions: 6 joint positions (without gripper) arm: Which arm ("left" or "right") Returns: 4x4 transformation matrix from left arm base to end-effector (grasp_site) All transforms are expressed relative to the left arm base frame. N grasp_site site_namez Expected 6 joint positions, got rightzeBimanual transform not available. Calibrate both left and right wrist cameras together to compute it.) rr_get_combined_xml_pathr6r;zerosfkrer7r>rE)rgrhqT_arm_base_to_eer^s r.compute_forward_kinematicsrus  &'='?'?<XXX   1 $ $ $A3+?+?AA % $ $  A AbqbE)++A.. g~~ $ ,V  %'IMM2K$L$L!(+;;; r0c HeZdZdZeeedfdedededee fdZ dZ d e d e fd Z d"d eedefdZdededede fdZdedededefdZdededededeef dZdeeeeefffdZ d#deedeed eeedefd!ZdS)$CalibrationRunnerz&Runs the complete calibration workflowNcamera_config_file poses_file output_filecharuco_configc||_||_||_||_d|_d|_d|_d|_d|_i|_ tj |_ dSN) rxryrz_charuco_config_override camera_config poses_data board_config calibratorrobot_controllercameras threadingEvent_move_stop_event)selfrxryrzr{s r.__init__zCalibrationRunner.__init__sf#5$&(6%59*.:>6:;?*, ) 1 1r0ctdt|j|_t |j}td|dt |j|_t |jd}td|d|j |j |_ n$tj |jd|_ td t|j |_dS) z(Load camera config and calibration posesz Loading configuration...u✓ Camera config loaded: z camera(s) configuredposesu✓ Calibration poses loaded: z pose(s)Nr{u✓ ChArUco board config loaded)r:rrxrr6 list_camerasrryrr~rr from_dictr r)r num_camerasrJs r.load_configurationz$CalibrationRunner.load_configurations *+++*$*ABB$,99;;<<  M;MMMNNN1AA011  ByBBBCCC  ( 4 $ =D   2 < 01!!D  /000+4+<==r0 left_wrist right_wristctdd|||_td|jtd|jd|jddS) z5Initialize robots based on which cameras to calibrateF)use_right_leaderuse_left_leaderuse_right_followeruse_left_followerz Checking CAN interfaces...z Initializing robots...)gravity_comp_modeT simultaneousN)rrr:check_can_interfacesinitialize_robotsmove_to_home_positions)rrrs r.rz#CalibrationRunner.initialize_robotss!0"!*( ! ! !  ,--- 22444 ())) //%/HHH 44$4GGGGGr0 camera_names warmup_framesc *td|D]}|j|}|j|}|t d|dtd|d|d|d|j|}|||j|<td |d t|D]2}|j D]}| 3td dS) z4Initialize cameras by name using the camera factory.z Initializing cameras...NzCamera 'z' not found in configz - Initializing  (z , serial: z)...z Warming up cameras (z frames)...u✓ Cameras initialized) r:rget_camera_typeget_serial_by_namer7 create_cameraopenrrAvaluesgrab)rrrnamecam_typeserialcamerarVs r.initialize_camerasz$CalibrationRunner.initialize_camerassB )*** ( (D)99$??H'::4@@F~ !GD!G!G!GHHH NdNNhNN&NNN O O O'55d;;F KKMMM!'DL   A}AAABBB}%%  A,--//     '(((((r0 camera_dataleft_camera_idright_camera_idrcztd||}||}|r|stddS|dr|dstddStd|j|}|j|}|r|stddS|\}} } |\} } } td|d d d |d d td | d d d | d d |||| }||| | }||d|d||}|stddStdt|ddtd|j |d|d}|ds(td|dddStd|ddtd|j |d|d}|ds(td|dddStd |ddtd!t|d|d|d|d||a td"t|dd#tj tfd$|dD|d<td%d&S)'aCompute bimanual transform from hand-eye calibration results Strategy: 1. Compute left hand-eye calibration (in left arm base frame) 2. Compute right hand-eye calibration (in right arm base frame) 3. Use both hand-eye results to compute bimanual base transform 4. Update right arm poses to left base frame Args: camera_data: Dictionary with calibration data for all cameras left_camera_id: Name of left wrist camera right_camera_id: Name of right wrist camera Returns: True if transform was successfully computed, False otherwise z@ Computing bimanual base transform from hand-eye calibrations...u ✗ Missing camera dataFcornersu ✗ No board detections foundz/ Step 1: Getting camera intrinsics from SDK...u ✗ Camera objects not foundu ✓ Left camera: fx=rr.1f, fy=rru ✓ Right camera: fx= robot_posesu ✗ No valid pose pairs foundz+ Step 2: Computing hand-eye calibrations ( left_robotz pose pairs)...z0 Computing left wrist hand-eye calibration... left_boardsuccessu, ✗ Left hand-eye calibration failed: error Unknown erroru6 ✓ Left hand-eye calibration complete (method: methodr&z1 Computing right wrist hand-eye calibration... right_robot right_boardu- ✗ Right hand-eye calibration failed: u7 ✓ Right hand-eye calibration complete (method: zD Step 3: Computing bimanual base transform from hand-eye results...u) ✓ Bimanual transform computed from z pose pair(s)c"g|] }||znd Sr}r2)r,poser^s r.r/zKCalibrationRunner._compute_and_apply_bimanual_transform..s9% % % 150@ % , ,d% % % r0u4 ✓ Right arm poses transformed to left base frameT)r:getrget_intrinsics_estimate_board_posestolist_match_valid_posesr6rcalibrate_hand_eyerdrer;r>rE)rrrr left_data right_data left_camera right_cameraleft_cam_matrixleft_dist_coeffs left_img_sizeright_cam_matrixright_dist_coeffsright_img_sizerr valid_posesrrr^s @r.%_compute_and_apply_bimanual_transformz7CalibrationRunner._compute_and_apply_bimanual_transform2s* QRRROON33  ___55     - . . .5# :i+@  3 4 4 45 ?@@@l&&~66 |''88  ,  2 3 3 35;F;U;U;W;W8)=  ' ' ) ) <+^  bt'< b b bW[G\ b b b     e(8(> e e eIYZ^I_ e e e    55   " " $ $  # # % %   !66   # # % %  $ $ & &  -- m $ } %       3 4 4 45 i#k,>W:X:X i i i   @AAA#AA  %{<'@  $I.  s?S?W?WX_ap?q?qss   5 fEYZbEc f f f   ABBB $ B B  & M(B! ! %Y/  u@U@Y@YZacr@s@suu   5 hF[\dFe h h h   TUUU$T  %  &  %  & ! % % !  eK >> ''(8(;<<<!(():1)=>>> 4+,*,    r0c N tdtdtdtd|jD}|jd}t |D]\}}td|dzdt |d |d |jr\g}|jjrad |vr]tj |d }| tj t|jj|fd |jid |jjrad|vr]tj |d}| tj t|jj|fd |jid |rZtdt |dkrdndd|D]}||D]}|tdt%jdnt%jdtd|jD]\} } | st-d| | j} tj| tj} || d | |jj| \} } | t | dkr|| d | || d | td| d t | d!d"| vrI|jrAd}d#| vr|jjr |jj}nd$| vr|jjr |jj}np |}|| d% |t>tAtCd&'atj"d(}|dd)|dd)<t>#|}|| d* |n^#tH$r=}td+||| d* dYd}~nd}~wwxYwntd,| d-#tH$r }td,| d.|Yd}~d}~wwxYwtd/td0|S)1aMove through poses and collect calibration data. Returns: Dictionary mapping camera names to their calibration data. Each value is a dict with keys ``images``, ``corners``, ``ids``, and ``robot_poses`` (for hand-eye calibration). z! Starting calibration sequence...F======================================================================zLCoordinate frame: All transforms will be expressed relative to left arm basec :i|]}|gggggd|vrdnd|vrdnddS)rfroN)imagesrrrrgarm_typer2)r,rs r. z>CalibrationRunner.collect_calibration_data..sb     !#%T>>#F!(Dggd      r0rz Pose r/z: r follower_r stop_eventT)targetargskwargsdaemon follower_lz Moving z both armsrhz simultaneously...z Waiting for stabilization...r%?z Capturing images...zgrab() failed for )dtyperNrrru ✓ z: ChArUco board detected (z corners)wristrorfrgrjrkrnrmrz. Warning: Failed to get actual robot pose: u ✗ z: Board not detectedz : Error - G ======================================================================zData collection complete!)%r:rkeysr enumerater6rrr;r=rFrThreadrrrstartjointimesleepitemsr RuntimeError get_framecolorascontiguousarrayuint8rrdetect get_joint_posrrrprqrr Exception)rrrrPrthreadstarget_rtarget_lt camera_namerimagerrrobotactual_joint_posrs robot_posees r.collect_calibration_dataz*CalibrationRunner.collect_calibration_datas 2333 h Z        ))++    ( ''w Aw AGAt @AE@@CJJ@@$v,@@ A A A$% (3  8L8L!x\(:;;HNN!(#5"&"7"BH!M$0$2G#H#' (3  8L8L!x\(:;;HNN!(#5"&"7"BH!M$0$2G#H#' !b3w<>sCCCe{eecRYlleee #k11d6K1$(E '; 6 6$($9$D!7)-(=(H &+ 5 5$($9$D!6)-(=(H (U383F3F3H3H 0!,K 89J K R R$4!"!"!"$5#<8B(>(@(@2>9&9&9&$5 %'HQKK(8!(<"1"->-A-A!-D-D +K 8 G N N$.!"!"!"!"$-UUU %$XUV$X$X!"!"!"!,K 8 G N Nt T T T T T T T T UJJJJKKK AAA?[??A??@@@@@@@@ASJ AX o )***sDE'SB7Q87S8 R?3R:5S:R??S T"S==Tleft_wrist_camera_idright_wrist_camera_idscene_camera_idsc j: |g}|du}|du}t|}|r|||r|||r|||r|stt dt d|D] }d|vrdnd} t d|d| d !|||s|r|||nt d | } d } |r |rt| | ||} t d t d dtj d|jjiid} | r(t!tddd| d<n't td dd| d<g} |r||vr| ||D]}||kr| || D]}t d|d| |}t#|ddkr't dt#|dd^|j|pd}t d|d|j|}|st d|\}}}t d |d!d"d#|d$d"d%|d&d"d'|d(d"d||d)}d|vrd*nd|j||d+|d,t1||d-d.t#|dd/}d|vr=t d0|d1r|d1d2t d3nt3j|d+}t3j|d,}g}t7|d|d4D]C\}}|jj||||\}}||||fD|j|d1|}|d5r ||d6<t d7|d8d n3t d9|d:d;n t d<t3j|d+}t3j|d,}g}t7|d|d4D]C\}}|jj||||\}}||||fD|j |}|d5r4|r |r | |}|rd6| d=|ivrt d>| d=|d6}t3j!d?} t3j|d@| ddddf<t3j|dA| dddf<|j|}!|!\}"}#}$g}%t7|d|d4D]C\}}|jj|||"|#\}}||%||fD|%r|d1rt dBt#|%dCg}&tE|%D]\}'\}}|'t#|d1ks|d1|'0tGj$|\}(}$t3j!d?})|(|)ddddf<|%|)dddf<|d1|'}*|*| z|)z}+|&|+|&rd2dDl&m'::fdE|&D},dF|&D}-:(|,)}.t3j)|-d2G}/t3j!d?}+|.*|+ddddf<|/|+dddf<t3j!d?}0t3j|d@|0ddddf<t3j|dA|0dddf<|+|0z}1|1dddf}2t dH|2|1ddddf|d@<|1dddf|dA<tGj$|1ddddf\}3}$|3%|dI<d|dJ<t dKn/t dLnt dMnt dN||dO<t dPnt dQ|| d=|<t#|j+dR}4tYdS| -D}5t#| d=d2k|4|5|4d2kr|5|4z nd2dT| dU<t dVt dWt dXt dYt#| d=t dZ|5d[|4t d\| dUd]d^zd"d_| rt d`ntt dat]| |j/t db|j/ d2dcl0m1}6|62| |j/t ddn)#tf$r}7t de|7Yd}7~7nd}7~7wwxYwt df|j4r|j45dgt dh|j46toj8di|j49toj8dit djt dk|j-D]}|:t dlt dm| S#tv$rct dn|j<=|j4r2|j4>r|j4?tf$r}8t do|8d2dl@}9|9A|j<=|j4r2|j4>r|j4?d}8~8wwxYw)pagRun the full calibration workflow Args: left_wrist_camera_id: Name of left wrist camera (e.g., "left_wrist") right_wrist_camera_id: Name of right wrist camera (e.g., "right_wrist") scene_camera_ids: Names of all scene cameras (multiple allowed) Returns: Calibration results dictionary NzCannot calibrate right wrist camera without bimanual transform. Please calibrate both left and right wrist cameras together to compute the transform.z Calibration targets:rzhand-eyescenez - rr&z: No wrist cameras selected - skipping robot initializationFz Computing calibrations...rz1.0 left_arm_base)version timestampcoordinate_framer{rquality_metricsTz:Transform from right arm base frame to left arm base frame)right_base_to_left_basecomputed_from_calibration descriptionbimanual_transformzHTransform from right arm base frame to left arm base frame (from config) :rr#u ✗ Insufficient data (z views, need >= 3)unknownz Getting intrinsics from z SDK (factory calibration)...u ✗ Camera object not foundu ✓ fx=rrrrz, cx=)rz, cy=)rr%)rrrhand_eyerr_sdk_factory_calibration)rr image_sizesource)type serial_number intrinsicsnum_poses_usedz# Computing hand-eye calibration...rruH ✗ Forward kinematics not implemented - skipping hand-eye calibrationrrhand_eye_calibrationu/ ✓ Hand-eye calibration complete (method: ru# ✗ Hand-eye calibration failed: rrz& Computing scene camera extrinsics...rz: Converting scene camera pose to left arm base frame...r!r"r$z* Computing T_board_to_left_base from z left wrist observations...rcRg|]#}|ddddf$Sr(r)r+s r.r/z5CalibrationRunner.run_calibration..sG5*5*5*01-5,@,@2A2rr6,K,K5*5*5*r0c&g|]}|dddfSr(r2r3s r.r/z5CalibrationRunner.run_calibration..s48*8*8*01-.bqb!eH8*8*8*r0r4z* Scene camera position in left base: rotation_vectorreference_frameu< ✓ Scene camera pose converted to left arm base framezW ! Warning: Could not convert to left arm base frame (no valid board observations)zR ! Warning: Cannot convert to left arm base frame (left wrist not calibrated)zW ! Warning: Scene camera extrinsics are in board frame (left wrist not calibrated) extrinsicsu) ✓ Scene camera calibration completeu% ✗ Scene camera calibration failedrc3@K|]}t|dVdS)rN)r6)r,datas r. z4CalibrationRunner.run_calibration.. s?(()-DO$$((((((r0)overall_successposes_collectedposes_with_detectionsdetection_raterrzCalibration complete!z Summary:z - Cameras calibrated: z - Poses used: rz - Detection rate: r:d%u: - Bimanual transform: Computed from calibration data ✓z6 - Bimanual transform: Loaded from configuration fileu ✓ Results saved to: )get_dbu%✓ Calibration result recorded in DBz/ Warning: could not record calibration in DB: z Cleaning up...rz# Stopping robot control threads...ru! ✓ Robot controller cleaned upzI Note: Arms remain in current position - manually move to home if neededu ✓ Cameras closedu ✓ Cleanup completez! Calibration interrupted by userz Error during calibration: )BrboolrFextendrer7r:rrrrrnow isoformatr__dict__rr6rrrrrrlistr;r=rrrrrcalibrate_scene_camerar<rrBrCrDr8r rGrHrIrmaxrrrzraiden.db.databaser=add_calibration_resultrrrstop_teleoperationrrcleanupcloseKeyboardInterruptrset has_robotsemergency_stop traceback print_exc);rrrrtarget_camerascalibrate_leftcalibrate_rightcalibrate_scener camera_typerbimanual_transform_computedresultscameras_to_processr r5r cam_matrix dist_coeffsr(intrinsics_result camera_resultr camera_posesrrrrhand_eye_result scene_resultr left_hand_eyerKrrrrVrboard_to_left_base_transformsrPRrWrQT_board_to_left_baser`rarbrcT_scene_cam_to_boardT_left_base_to_scene_camscene_cam_pos_in_left_baservec_new total_posesr9r=_db_errrrOr s; @r.run_calibrationz!CalibrationRunner.run_calibrations A   # # % % % N1=N34?O"#344O =%%&;<<< <%%&:;;; 8%%&6777   & .5 l * + + +( 7 7,3v,=,=jj7 5V55{5556666  # #N 3 3 3 U U&&~GGGGSTTT7799K+0 ' / 6O6W>>#%9;P, / 0 0 0 (OOO!%\^^5577$3"&"3"<#% G+ /H/T/H/O/O/Q/Q15#_11,-- +6/H/O/O/Q/Q16#m11,-"$ # @(<(N(N"))*>???- ; ; "666&--k:::1H @H @ );)))***";/tI''!++\CY4H4H\\\ -==kJJWiXXXX))+669:::6<6K6K6M6M3 KJ*T"2JJJZ=MJJJXbcgXhJJJs}CtDJJJ $%/%6%6%8%8)4););)=)=%%!+2[*@*@JJg%)%7%J%J;%W%W):?)K->?R-S&*:&6&6%-"G"G"G ## '*$y/&:&: ! ! k))?@@@ .$}2Ea2H2Pf )+1B?1S(T(T &(h/@AT/U&V&V ') ,/Ye,M,MBBLGS)-)A)O)O 'm[**JD$ $/ , 3 3T4L A A A+//*L*L /+++95DSM*@A! nRabjRk n n n" uoFYFYZacrFsFs u u BCCC%'H->-O$P$PM"$(+<=P+Q"R"RK#%L(+DOT%[(I(I>> %)_%=%K%K#S-&& d +(//t ===$(?#I#I,#W#WL#I.aG *W.BW(38L(M(MI(Q"-Cw )H!c"6;;.<.<!&$`!"!"!" 18 0B$81""81: 9;q 5@B$12C$DA"A" 5bqb"1"f =@Bx$12F$G@"@" 5bqb!e < /3l.>.>?S.T.T $/$>$>$@$@!E1A1 46 047$-i$8)E:J5"5"!N!NLGS261I1W1W(/oGW2&2&JD$(,'7(8(?(?t (M(M(M#3i!* -8Pi!*$))HUXYiUjUj)H)H)H%&%&%&EG$A;DEU;V;V%*%*@fQii(;FG(;BQBF(CEI\\^^(;BQBE(BBK,9B**+B-(> -C.C-D.A-B)= )F(L(L,@)*)*)*)*(EG%*(T(T(T(T(T(T5*5*5*5*5R5*5*5* 8*8*5R8*8*8* 8@7K7K,58*8**.$&&)5;=',UV:W:W:W?Avayy(<,8,B,B,D,D)=RaR!V(DGV(,>,E,E,G,G)55F(G-<)55F(G).,j)*)*)*)*).-F)*)*)*!&$x!"!"!"!"" y7C l3IJJJJEFFF2? ";//dog677K$'((1<1C1C1E1E(((%% ! $'wy'9#:#:Q#>#.)>??#8+"E"E **G% & / " " " ) * * * ,    FS1C-D-DFF G G G J%:JJ[JJ K K K `w/@'ABR'SVY'Y````   + PRSSSS*6NOOO %Wd.> ? ? ? ?T-=?? @ @ @ S555555//9IJJJ=>>>> S S SQQQRRRRRRRR S $ % % %$ %<<$<OOO;<<<%88::: 3%--/// 39:::_ ,--//    ( ) ) ) * + + +N     7 8 8 8  ! % % ' ' '$ 7)>)I)I)K)K 7%44666     444 5 5 5        ! ! !  ! % % ' ' '$ 7)>)I)I)K)K 7%44666  sEm r;8n r; n0n+&r;+n00D r;;A5v20A=v--v2)r)NNN)__name__ __module__ __qualname____doc__r r r strrrrrr>rrintrrrrCrrrrjr2r0r.rwrws#00#00+7; 2222 2 !!34 2222*>>>4HDHtHHHH*))tCy)))))0LL14LGJL LLLL\04IM "# #  #  #  # $ # # # # J] c4T ?" #]]]]B/3/304 QQ&smQ (}Q#49- Q  QQQQQQr0rw)rf))rnrrrtypingrrrrrBnumpyr;i2rt.robots.kinematicsrraiden._configr r r raiden._xml_pathsr rpraiden.calibration.corer rrrraiden.camera_configrraiden.cameras.baserraiden.robot.controllerrrr__annotations__ndarrayrdrerorurwr2r0r.r|sm777 ............ .-----RRRRRRRRRRTTTTTT .-----&&&&&&GGGGGGGG+/8J'...%$%"*%%5RZ!789%E"*bj"89: %  %  %Z%%%%F378BJ/666-3,,Z,&),Z,,,,^SSSSSSSSSSr0