From d23d30c183e57dd9781787d2fa72d69ea0eab35b Mon Sep 17 00:00:00 2001
From: Youngsun Kim <yskim041@gmail.com>
Date: Fri, 16 Feb 2018 13:37:48 -0800
Subject: [PATCH] update tag_data

---
 data/objects/tag_data_apriltags.json | 143 +++++----------------------
 data/objects/tag_data_cans.json      | 112 +++++++++++++++++++++
 data/objects/tag_data_rcnnpose.json  |  54 ----------
 3 files changed, 139 insertions(+), 170 deletions(-)
 create mode 100644 data/objects/tag_data_cans.json
 delete mode 100644 data/objects/tag_data_rcnnpose.json

diff --git a/data/objects/tag_data_apriltags.json b/data/objects/tag_data_apriltags.json
index 7cb23fc..8ef47a7 100644
--- a/data/objects/tag_data_apriltags.json
+++ b/data/objects/tag_data_apriltags.json
@@ -1,131 +1,42 @@
 {
-  "tag124": {
+  "plastic_glass": {
     "resource": "package://pr_ordata/data/objects/plastic_glass.urdf",
-    "name": "plastic_glass",
+    "name": "plastic_glass_124",
     "offset": [
-      [
-        -0.0068393994632501,
-        -0.09054787493933,
-        -0.99586861832219,
-        0.14460904118031
-        ]
-      ,
-      [   
-        -0.9999766064057,
-        0.00052349074982687,
-        0.0068200145734176,
-        -0.00097599685803373
-        ]
-      ,
-      [     
-        -9.6209816943679e-5,
-        0.99589196617977,
-        -0.090549337061432,
-        -0.033644917605727
-      ]
-      ,
-      [
-        0,
-        0,
-        0,
-        1
-      ]
+      [-0.00684, -0.09055, -0.99587, 0.14461],
+      [-0.99998, 0.00052,0.00682,-0.00098],
+      [0.0,0.99589,-0.09055,-0.03364],
+      [0.0, 0.0, 0.0, 1.0]
     ]
   },
-"tag1": {
+  "plastic_glass_1": {
     "resource": "package://pr_ordata/data/objects/plastic_glass.urdf",
-    "name": "plastic_glass2",
+    "name": "plastic_glass_1",
     "offset": [
-      [
-        -0.9999956354637936, 
-        0.00017159596380951532, 
-        0.0029495098217266393, 
-        -0.0012885475890698178
-      ], 
-      [
-        0.0029529310436017175, 
-        0.09054915097111371, 
-        0.995887609851966, 
-        -0.14461510086945228
-      ], 
-      [
-        -9.618531587980501e-05, 
-        0.9958919729635517, 
-        -0.0905492624771141, 
-        -0.03364494935585822
-      ], 
-      [
-        0.0, 
-        0.0, 
-        0.0, 
-        1.0
-      ]
+      [-1.0,0.00017,0.00295,-0.00129],
+      [0.00295,0.09055,0.99589,-0.14462],
+      [0.0,0.99589,-0.09055,-0.03364],
+      [0.0, 0.0, 0.0, 1.0]
     ]
   },
-  "tag114": {
+  "plastic_bowl": {
     "resource": "package://pr_ordata/data/objects/plastic_bowl.urdf",
-    "name": "plastic_bowl",
+    "name": "plastic_bowl_114",
     "offset": [
-       [
-        0.63219781817763,
-        2.2089456246376e-8,
-        -0.7748070202905,
-        0.077735372899331
-       ]
-      ,
-       [
-        2.171491518926e-8,
-        1,
-        4.6227740989633e-8,
-        -1.0485652081759e-9
-        ]
-      ,
-       [
-        0.7748070202905,
-        -4.6049945726578e-8,
-        0.63219781817763,
-        0.014518309269535
-       ]
-      ,
-       [
-        0,
-        0,
-        0,
-        1
-      ]
+      [0.63220,0.0,-0.77481,0.07774],
+      [0.0,1.0,0.0,0.0],
+      [0.77481,0.0,0.63220,0.01452],
+      [0.0, 0.0, 0.0, 1.0]
     ]
   },
-  "tag127": {
-    "resource": "package://pr_ordata/data/furniture/table.urdf", 
-    "name": "table",
+  "table": {
+    "resource": "package://pr_ordata/data/furniture/table.urdf",
+    "name": "table_127",
     "offset": [
-       [
-        1.0, 
-        0.0, 
-        0.0, 
-        -2.0489096641540527e-08
-       ]
-      , 
-       [
-        0.0, 
-        1.0, 
-        0.0, 
-        -0.3483833968639374
-       ]
-      , 
-       [ 
-        0.0, 
-        0.0, 
-        1.0, 
-        -0.7350000143051147
-       ]
-      , 
-       [ 
-        0.0, 
-        0.0, 
-        0.0, 
-        1.0
-       ]
-    ] 
-}
+      [1.0,0.0,0.0,0.0],
+      [0.0,1.0,0.0,-0.34838],
+      [0.0,0.0,1.0,-0.73500],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  }
 }
diff --git a/data/objects/tag_data_cans.json b/data/objects/tag_data_cans.json
new file mode 100644
index 0000000..a5fb04a
--- /dev/null
+++ b/data/objects/tag_data_cans.json
@@ -0,0 +1,112 @@
+{
+  "water_bottle": {
+    "resource": "package://pr_ordata/data/objects/water_bottle.urdf",
+    "name": "water_bottle",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "can",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can_coke": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "coke",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can_diet_coke": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "diet_coke",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can_diet_seven_up": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "diet_seven_up",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can_ginger_ale": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "ginger_ale",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can_talking_rain_peach_nectarine": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "talking_rain_peach_nectarine",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can_sanpellegrino_blood_orange": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "sanpellegrino_blood_orange",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can_diet_coke_small": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "diet_coke_small",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can_dry_sparkling_vanilla_bean": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "dry_sparkling_vanilla_bean",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  },
+  "can_izze_fusions_lemon_lime": {
+    "resource": "package://pr_ordata/data/objects/can.urdf",
+    "name": "izze_fusions_lemon_lime",
+    "offset": [
+      [1.0, 0.0, 0.0, 0.0],
+      [0.0, 1.0, 0.0, 0.0],
+      [0.0, 0.0, 1.0, 0.0],
+      [0.0, 0.0, 0.0, 1.0]
+    ]
+  }
+}
diff --git a/data/objects/tag_data_rcnnpose.json b/data/objects/tag_data_rcnnpose.json
deleted file mode 100644
index 72defb9..0000000
--- a/data/objects/tag_data_rcnnpose.json
+++ /dev/null
@@ -1,54 +0,0 @@
-{
-  "water_bottle": {
-    "resource": "package://pr_ordata/data/objects/water_bottle.urdf",
-    "name": "water_bottle"
-  },
-  "can": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "can"
-  },
-  "can_coke": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "coke",
-  },
-  "can_diet_coke": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "diet_coke"
-  },
-  "can_diet_seven_up": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "diet_seven_up"
-  },
-  "can_ginger_ale": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "ginger_ale"
-  },
-  "can_talking_rain_peach_nectarine": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "talking_rain_peach_nectarine"
-  },
-  "can_sanpellegrino_blood_orange": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "sanpellegrino_blood_orange"
-  },
-  "can_sanpellegrino_lemon": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "sanpellegrino_lemon"
-  },
-  "can_sanpellegrino_clementine": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "sanpellegrino_clementine"
-  },
-  "can_diet_coke_small": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "diet_coke_small"
-  },
-  "can_dry_sparkling_vanilla_bean": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "dry_sparkling_vanilla_bean"
-  },
-  "can_izze_fusions_lemon_lime": {
-    "resource": "package://pr_ordata/data/objects/can.urdf",
-    "name": "izze_fusions_lemon_lime"
-  }
-}