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 } ] },
   ]