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 } ] }, ]