stretch_dex_teleop/teleop_aruco_marker_info_56mm.yaml at main · MonashRobotics/stretch_dex_teleop · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
# Be careful with length_mm values. Stickers and printouts can vary
# significantly from your expectations. You should measure them
# directly. For example, in a prototype robot the stickers were closer
# to 23mm wide than 24mm. This 1mm difference resulted in > 1cm of
# error in the depths for the marker pose estimates when only using
# RGB images.

'230':
  length_mm: 56
  use_rgb_only: True
  name: 'left_tongs_left_top'
  link: 'None'
'231':
  length_mm: 56
  use_rgb_only: True
  name: 'left_tongs_right_top'
  link: 'None'
'232':
  length_mm: 56
  use_rgb_only: True
  name: 'left_tongs_left_bottom'
  link: 'None'
'233':
  length_mm: 56
  use_rgb_only: True
  name: 'left_tongs_right_bottom'
  link: 'None'
'234':
  length_mm: 56
  use_rgb_only: True
  name: 'left_tongs_left_front'
  link: 'None'
'235':
  length_mm: 56
  use_rgb_only: True
  name: 'left_tongs_right_front'
  link: 'None'
'236':
  length_mm: 56
  use_rgb_only: True
  name: 'left_tongs_left_side'
  link: 'None'
'237':
  length_mm: 56
  use_rgb_only: True
  name: 'left_tongs_right_side'
  link: 'None'
'228':
  length_mm: 56
  use_rgb_only: True
  name: 'right_tongs_left_top'
  link: 'None'
'229':
  length_mm: 56
  use_rgb_only: True
  name: 'right_tongs_right_top'
  link: 'None'
'238':
  length_mm: 56
  use_rgb_only: True
  name: 'right_tongs_left_bottom'
  link: 'None'
'239':
  length_mm: 56
  use_rgb_only: True
  name: 'right_tongs_right_bottom'
  link: 'None'
'240':
  length_mm: 56
  use_rgb_only: True
  name: 'right_tongs_left_front'
  link: 'None'
'241':
  length_mm: 56
  use_rgb_only: True
  name: 'right_tongs_right_front'
  link: 'None'
'242':
  length_mm: 56
  use_rgb_only: True
  name: 'right_tongs_left_side'
  link: 'None'
'243':
  length_mm: 56
  use_rgb_only: True
  name: 'right_tongs_right_side'
  link: 'None'
'default':
  length_mm: 56
  use_rgb_only: True
  name: 'default'
  link: 'None'