diff --git a/config/objects.json b/config/objects.json
index eb840a2683e742ba826c94383a3e741d6b47db71..2c9f3ba2c01141e6409d5f8547d16037d4cc6454 100644
--- a/config/objects.json
+++ b/config/objects.json
@@ -1,7 +1,27 @@
{
"objects": [
{
- "id": "smallRed25",
+ "id": "smallRed65",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0622
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1"
+ }
+ },
+ {
+ "id": "smallRed70",
"type": "BOX",
"pos": {
"x": 0,
@@ -21,7 +41,7 @@
}
},
{
- "id": "bigRed4",
+ "id": "bigRed7",
"type": "BOX",
"pos": {
"x": 0,
@@ -31,7 +51,7 @@
"size": {
"length": 0.0318,
"width": 0.0636,
- "height": 0.1006
+ "height": 0.091
},
"orientation": {
"w": 1
@@ -41,7 +61,7 @@
}
},
{
- "id": "bigRed5",
+ "id": "bigRed10",
"type": "BOX",
"pos": {
"x": 0,
@@ -51,7 +71,7 @@
"size": {
"length": 0.0318,
"width": 0.0636,
- "height": 0.1102
+ "height": 0.091
},
"orientation": {
"w": 1
@@ -61,7 +81,27 @@
}
},
{
- "id": "smallYellow26",
+ "id": "bigRed13",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0636,
+ "height": 0.091
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "r": "1"
+ }
+ },
+ {
+ "id": "smallYellow58",
"type": "BOX",
"pos": {
"x": 0,
@@ -71,7 +111,7 @@
"size": {
"length": 0.0318,
"width": 0.0318,
- "height": 0.0814
+ "height": 0.0622
},
"orientation": {
"w": 1
@@ -82,7 +122,7 @@
}
},
{
- "id": "smallYellow29",
+ "id": "smallYellow40",
"type": "BOX",
"pos": {
"x": 0,
@@ -92,7 +132,7 @@
"size": {
"length": 0.0318,
"width": 0.0318,
- "height": 0.0622
+ "height": 0.0814
},
"orientation": {
"w": 1
@@ -103,7 +143,7 @@
}
},
{
- "id": "smallYellow31",
+ "id": "smallYellow46",
"type": "BOX",
"pos": {
"x": 0,
@@ -124,7 +164,7 @@
}
},
{
- "id": "bigYellow10",
+ "id": "bigYellow8",
"type": "BOX",
"pos": {
"x": 0,
@@ -134,7 +174,7 @@
"size": {
"length": 0.0318,
"width": 0.0636,
- "height": 0.1198
+ "height": 0.1006
},
"orientation": {
"w": 1
@@ -145,7 +185,7 @@
}
},
{
- "id": "bigYellow11",
+ "id": "bigYellow14",
"type": "BOX",
"pos": {
"x": 0,
@@ -155,7 +195,7 @@
"size": {
"length": 0.0318,
"width": 0.0636,
- "height": 0.1006
+ "height": 0.1198
},
"orientation": {
"w": 1
@@ -166,7 +206,7 @@
}
},
{
- "id": "smallBlue28",
+ "id": "smallBlue64",
"type": "BOX",
"pos": {
"x": 0,
@@ -186,7 +226,7 @@
}
},
{
- "id": "bigBlue7",
+ "id": "bigBlue5",
"type": "BOX",
"pos": {
"x": 0,
@@ -206,7 +246,7 @@
}
},
{
- "id": "bigBlue8",
+ "id": "bigBlue15",
"type": "BOX",
"pos": {
"x": 0,
@@ -216,7 +256,7 @@
"size": {
"length": 0.0318,
"width": 0.0636,
- "height": 0.1006
+ "height": 0.1198
},
"orientation": {
"w": 1
@@ -226,7 +266,27 @@
}
},
{
- "id": "smallGreen32",
+ "id": "smallGreen52",
+ "type": "BOX",
+ "pos": {
+ "x": 0,
+ "y": 0,
+ "z": 0
+ },
+ "size": {
+ "length": 0.0318,
+ "width": 0.0318,
+ "height": 0.0814
+ },
+ "orientation": {
+ "w": 1
+ },
+ "color": {
+ "g": "1"
+ }
+ },
+ {
+ "id": "smallGreen59",
"type": "BOX",
"pos": {
"x": 0,
@@ -246,7 +306,7 @@
}
},
{
- "id": "smallGreen34",
+ "id": "smallGreen71",
"type": "BOX",
"pos": {
"x": 0,
@@ -266,7 +326,7 @@
}
},
{
- "id": "bigGreen6",
+ "id": "bigGreen4",
"type": "BOX",
"pos": {
"x": 0,
@@ -286,7 +346,7 @@
}
},
{
- "id": "bigGreen9",
+ "id": "bigGreen11",
"type": "BOX",
"pos": {
"x": 0,
diff --git a/config/objects.yaml b/config/objects.yaml
index 0605b91532f1b80c42ab0ac332978bc5bbbf22b8..683ac023b16666a203b7550030c16b3c9bdb2304 100644
--- a/config/objects.yaml
+++ b/config/objects.yaml
@@ -8,24 +8,27 @@
# for i in range(5,13): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': { 'r': '1'} }," % (i/2, (i*96+46)/10000));
# for i in range(5,13): print("{ 'id': 'object2x2x%.1f','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': %f },'orientation': { 'w': 1 },'color': { 'r': '1'} }," % (i/2, (i*96+46)/10000));
- { 'id': 'smallRed25' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
- { 'id': 'bigRed4' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
- { 'id': 'bigRed5' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.110200 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
+ { 'id': 'smallRed65' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
+ { 'id': 'smallRed70' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
+ { 'id': 'bigRed7' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
+ { 'id': 'bigRed10' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
+ { 'id': 'bigRed13' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.091000 },'orientation': { 'w': 1 },'color': { 'r': '1'} },
- { 'id': 'smallYellow26','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
- { 'id': 'smallYellow29','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
- { 'id': 'smallYellow31','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
- { 'id': 'bigYellow10' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.119800 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
- { 'id': 'bigYellow11' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+ { 'id': 'smallYellow58','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.062200 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+ { 'id': 'smallYellow40','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+ { 'id': 'smallYellow46','type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+ { 'id': 'bigYellow8' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
+ { 'id': 'bigYellow14' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.119800 },'orientation': { 'w': 1 },'color': { 'r': '1', 'g': '1'} },
- { 'id': 'smallBlue28' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
- { 'id': 'bigBlue7' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
- { 'id': 'bigBlue8' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
+ { 'id': 'smallBlue64' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
+ { 'id': 'bigBlue5' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
+ { 'id': 'bigBlue15' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.119800 },'orientation': { 'w': 1 },'color': { 'b': '1'} },
- { 'id': 'smallGreen32' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
- { 'id': 'smallGreen34' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
- { 'id': 'bigGreen6' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
- { 'id': 'bigGreen9' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
+ { 'id': 'smallGreen52' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
+ { 'id': 'smallGreen59' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
+ { 'id': 'smallGreen71' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0318,'height': 0.081400 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
+ { 'id': 'bigGreen4' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
+ { 'id': 'bigGreen11' ,'type': 'BOX','pos': { 'x': 0,'y': 0,'z': 0 },'size': { 'length': .0318, 'width': .0636,'height': 0.100600 },'orientation': { 'w': 1 },'color': { 'g': '1'} },
{ 'id': 'arm','type': 'ARM','orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
] }
diff --git a/config/tags.yaml b/config/tags.yaml
index e1bbe6efbd5e89083ca142a1107c913d9dd2d572..e98d6ccb52ffaae19ba376c5bd789bfdb7986c40 100644
--- a/config/tags.yaml
+++ b/config/tags.yaml
@@ -58,23 +58,26 @@ tag_bundles:
{ id: 3, size: .08, x: 0.3, y: 0.3, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 }
]
},
- { name: 'smallRed25', layout: [ { id: 25, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'bigRed4', layout: [ { id: 4, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'bigRed5', layout: [ { id: 5, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallRed65', layout: [ { id: 65, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallRed70', layout: [ { id: 70, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigRed7', layout: [ { id: 7, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigRed10', layout: [ { id: 10, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigRed13', layout: [ { id: 13, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'smallYellow26', layout: [ { id: 26, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'smallYellow29', layout: [ { id: 29, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'smallYellow31', layout: [ { id: 31, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'bigYellow10', layout: [ { id: 10, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'bigYellow11', layout: [ { id: 11, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallYellow58', layout: [ { id: 58, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallYellow40', layout: [ { id: 40, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallYellow46', layout: [ { id: 46, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigYellow8', layout: [ { id: 8, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigYellow14', layout: [ { id: 14, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'smallBlue28', layout: [ { id: 28, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'bigBlue7', layout: [ { id: 7, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'bigBlue8', layout: [ { id: 8, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallBlue64', layout: [ { id: 64, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigBlue5', layout: [ { id: 5, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigBlue15', layout: [ { id: 15, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'smallGreen32', layout: [ { id: 32, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'smallGreen34', layout: [ { id: 34, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'bigGreen6', layout: [ { id: 6, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
- { name: 'bigGreen9', layout: [ { id: 9, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallGreen52', layout: [ { id: 52, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallGreen59', layout: [ { id: 59, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallGreen71', layout: [ { id: 71, size: .024, x: 0.016, y: 0, z: 0.0350, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigGreen4', layout: [ { id: 4, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigGreen11', layout: [ { id: 11, size: .052, x: 0.016, y: 0, z: 0.0525, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
]