Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'main' into 2027

Browse Source
This commit is contained in:
Peter Johnson
2026-02-15 00:51:21 -08:00
parent 36c489247c 77dfad97c6
commit af865f8020
98 changed files with 3031 additions and 219 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
apriltag/src/main/java/org/wpilib/vision/apriltag/AprilTagFields.java
View File

@@ -17,13 +17,17 @@ public enum AprilTagFields {
/** 2025 Reefscape Welded (see TU 12). */
k2025ReefscapeWelded("2025-reefscape-welded.json"),
/** 2025 Reefscape AndyMark (see TU 12). */
k2025ReefscapeAndyMark("2025-reefscape-andymark.json");
k2025ReefscapeAndyMark("2025-reefscape-andymark.json"),
/** 2026 Rebuilt Welded. */
k2026RebuiltWelded("2026-rebuilt-welded.json"),
/** 2026 Rebuilt AndyMark. */
k2026RebuiltAndymark("2026-rebuilt-andymark.json");
/** Base resource directory. */
public static final String kBaseResourceDir = "/org/wpilib/vision/apriltag/";
/** Alias to the current game. */
public static final AprilTagFields kDefaultField = k2025ReefscapeWelded;
public static final AprilTagFields kDefaultField = k2026RebuiltWelded;
/** Resource filename. */
public final String m_resourceFile;

8
apriltag/src/main/native/cpp/AprilTagFieldLayout.cpp
View File

@@ -141,6 +141,8 @@ std::string_view GetResource_2023_chargedup_json();
std::string_view GetResource_2024_crescendo_json();
std::string_view GetResource_2025_reefscape_welded_json();
std::string_view GetResource_2025_reefscape_andymark_json();
std::string_view GetResource_2026_rebuilt_welded_json();
std::string_view GetResource_2026_rebuilt_andymark_json();
} // namespace wpi::apriltag
@@ -162,6 +164,12 @@ AprilTagFieldLayout AprilTagFieldLayout::LoadField(AprilTagField field) {
case AprilTagField::k2025ReefscapeAndyMark:
fieldString = GetResource_2025_reefscape_andymark_json();
break;
case AprilTagField::k2026RebuiltWelded:
fieldString = GetResource_2026_rebuilt_welded_json();
break;
case AprilTagField::k2026RebuiltAndyMark:
fieldString = GetResource_2026_rebuilt_andymark_json();
break;
case AprilTagField::kNumFields:
throw std::invalid_argument("Invalid Field");
}

6
apriltag/src/main/native/include/wpi/apriltag/AprilTagFields.hpp
View File

@@ -24,8 +24,12 @@ enum class AprilTagField {
k2025ReefscapeAndyMark,
/// 2025 Reefscape Welded (see TU12).
k2025ReefscapeWelded,
/// 2026 Rebuilt Andymark.
k2026RebuiltAndyMark,
/// 2026 Rebuilt Welded.
k2026RebuiltWelded,
/// Alias to the current game.
kDefaultField = k2025ReefscapeWelded,
kDefaultField = k2026RebuiltWelded,
// This is a placeholder for denoting the last supported field. This should
// always be the last entry in the enum and should not be used by users

33
apriltag/src/main/native/resources/org/wpilib/vision/apriltag/2026-rebuilt-andymark.csv Normal file
View File

@@ -0,0 +1,33 @@
ID,X,Y,Z,Z-Rotation,X-Rotation
1,467.085,291.791,35,180,0
2,468.559,182.077,44.25,90,0
3,444.797,172.321,44.25,180,0
4,444.797,158.321,44.25,180,0
5,468.559,134.565,44.25,270,0
6,467.085,24.851,35,180,0
7,470.034,24.851,35,0,0
8,482.559,134.565,44.25,270,0
9,492.329,144.321,44.25,0,0
10,492.329,158.321,44.25,0,0
11,482.559,182.077,44.25,90,0
12,470.034,291.791,35,0,0
13,649.58,291.02,21.75,180,0
14,649.58,274.02,21.75,180,0
15,649.566,169.783,21.75,180,0
16,649.566,152.783,21.75,180,0
17,183.034,24.851,35,0,0
18,181.559,134.565,44.25,270,0
19,205.321,144.321,44.25,0,0
20,205.321,158.321,44.25,0,0
21,181.559,182.077,44.25,90,0
22,183.034,291.791,35,0,0
23,180.085,291.791,35,180,0
24,167.559,182.077,44.25,90,0
25,157.79,172.321,44.25,180,0
26,157.79,158.321,44.25,180,0
27,167.559,134.565,44.25,270,0
28,180.085,24.851,35,180,0
29,0.539,25.621,21.75,0,0
30,0.539,42.621,21.75,0,0
31,0.553,146.858,21.75,0,0
32,0.553,163.858,21.75,0,0
1 ID X Y Z Z-Rotation X-Rotation
2 1 467.085 291.791 35 180 0
3 2 468.559 182.077 44.25 90 0
4 3 444.797 172.321 44.25 180 0
5 4 444.797 158.321 44.25 180 0
6 5 468.559 134.565 44.25 270 0
7 6 467.085 24.851 35 180 0
8 7 470.034 24.851 35 0 0
9 8 482.559 134.565 44.25 270 0
10 9 492.329 144.321 44.25 0 0
11 10 492.329 158.321 44.25 0 0
12 11 482.559 182.077 44.25 90 0
13 12 470.034 291.791 35 0 0
14 13 649.58 291.02 21.75 180 0
15 14 649.58 274.02 21.75 180 0
16 15 649.566 169.783 21.75 180 0
17 16 649.566 152.783 21.75 180 0
18 17 183.034 24.851 35 0 0
19 18 181.559 134.565 44.25 270 0
20 19 205.321 144.321 44.25 0 0
21 20 205.321 158.321 44.25 0 0
22 21 181.559 182.077 44.25 90 0
23 22 183.034 291.791 35 0 0
24 23 180.085 291.791 35 180 0
25 24 167.559 182.077 44.25 90 0
26 25 157.79 172.321 44.25 180 0
27 26 157.79 158.321 44.25 180 0
28 27 167.559 134.565 44.25 270 0
29 28 180.085 24.851 35 180 0
30 29 0.539 25.621 21.75 0 0
31 30 0.539 42.621 21.75 0 0
32 31 0.553 146.858 21.75 0 0
33 32 0.553 163.858 21.75 0 0

584
apriltag/src/main/native/resources/org/wpilib/vision/apriltag/2026-rebuilt-andymark.json Normal file
View File

@@ -0,0 +1,584 @@
{
"tags": [
{
"ID": 1,
"pose": {
"translation": {
"x": 11.863959,
"y": 7.411491399999999,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 2,
"pose": {
"translation": {
"x": 11.9013986,
"y": 4.6247558,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 3,
"pose": {
"translation": {
"x": 11.2978438,
"y": 4.3769534,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 4,
"pose": {
"translation": {
"x": 11.2978438,
"y": 4.0213534,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 5,
"pose": {
"translation": {
"x": 11.9013986,
"y": 3.417951,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 6,
"pose": {
"translation": {
"x": 11.863959,
"y": 0.6312154,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 7,
"pose": {
"translation": {
"x": 11.9388636,
"y": 0.6312154,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 8,
"pose": {
"translation": {
"x": 12.2569986,
"y": 3.417951,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 9,
"pose": {
"translation": {
"x": 12.5051566,
"y": 3.6657534,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 10,
"pose": {
"translation": {
"x": 12.5051566,
"y": 4.0213534,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 11,
"pose": {
"translation": {
"x": 12.2569986,
"y": 4.6247558,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 12,
"pose": {
"translation": {
"x": 11.9388636,
"y": 7.411491399999999,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 13,
"pose": {
"translation": {
"x": 16.499332,
"y": 7.391907999999999,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 14,
"pose": {
"translation": {
"x": 16.499332,
"y": 6.960107999999999,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 15,
"pose": {
"translation": {
"x": 16.4989764,
"y": 4.3124882,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 16,
"pose": {
"translation": {
"x": 16.4989764,
"y": 3.8806881999999994,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 17,
"pose": {
"translation": {
"x": 4.6490636,
"y": 0.6312154,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 18,
"pose": {
"translation": {
"x": 4.6115986,
"y": 3.417951,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 19,
"pose": {
"translation": {
"x": 5.2151534,
"y": 3.6657534,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 20,
"pose": {
"translation": {
"x": 5.2151534,
"y": 4.0213534,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 21,
"pose": {
"translation": {
"x": 4.6115986,
"y": 4.6247558,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 22,
"pose": {
"translation": {
"x": 4.6490636,
"y": 7.411491399999999,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 23,
"pose": {
"translation": {
"x": 4.574159,
"y": 7.411491399999999,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 24,
"pose": {
"translation": {
"x": 4.2559986,
"y": 4.6247558,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 25,
"pose": {
"translation": {
"x": 4.007866,
"y": 4.3769534,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 26,
"pose": {
"translation": {
"x": 4.007866,
"y": 4.0213534,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 27,
"pose": {
"translation": {
"x": 4.2559986,
"y": 3.417951,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 28,
"pose": {
"translation": {
"x": 4.574159,
"y": 0.6312154,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 29,
"pose": {
"translation": {
"x": 0.0136906,
"y": 0.6507734,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 30,
"pose": {
"translation": {
"x": 0.0136906,
"y": 1.0825734,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 31,
"pose": {
"translation": {
"x": 0.0140462,
"y": 3.7301932,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 32,
"pose": {
"translation": {
"x": 0.0140462,
"y": 4.1619931999999995,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
}
],
"field": {
"length": 16.518,
"width": 8.043
}
}

33
apriltag/src/main/native/resources/org/wpilib/vision/apriltag/2026-rebuilt-welded.csv Normal file
View File

@@ -0,0 +1,33 @@
ID,X,Y,Z,Z-Rotation,X-Rotation
1,467.637,292.314,35,180,0
2,469.111,182.6,44.25,90,0
3,445.349,172.844,44.25,180,0
4,445.349,158.844,44.25,180,0
5,469.111,135.088,44.25,270,0
6,467.637,25.374,35,180,0
7,470.586,25.374,35,0,0
8,483.111,135.088,44.25,270,0
9,492.881,144.844,44.25,0,0
10,492.881,158.844,44.25,0,0
11,483.111,182.6,44.25,90,0
12,470.586,292.314,35,0,0
13,650.918,291.469,21.75,180,0
14,650.918,274.469,21.75,180,0
15,650.904,170.219,21.75,180,0
16,650.904,153.219,21.75,180,0
17,183.586,25.374,35,0,0
18,182.111,135.088,44.25,270,0
19,205.873,144.844,44.25,0,0
20,205.873,158.844,44.25,0,0
21,182.111,182.6,44.25,90,0
22,183.586,292.314,35,0,0
23,180.637,292.314,35,180,0
24,168.111,182.6,44.25,90,0
25,158.341,172.844,44.25,180,0
26,158.341,158.844,44.25,180,0
27,168.111,135.088,44.25,270,0
28,180.637,25.374,35,180,0
29,0.305,26.219,21.75,0,0
30,0.305,43.219,21.75,0,0
31,0.318,147.469,21.75,0,0
32,0.318,164.469,21.75,0,0
1 ID X Y Z Z-Rotation X-Rotation
2 1 467.637 292.314 35 180 0
3 2 469.111 182.6 44.25 90 0
4 3 445.349 172.844 44.25 180 0
5 4 445.349 158.844 44.25 180 0
6 5 469.111 135.088 44.25 270 0
7 6 467.637 25.374 35 180 0
8 7 470.586 25.374 35 0 0
9 8 483.111 135.088 44.25 270 0
10 9 492.881 144.844 44.25 0 0
11 10 492.881 158.844 44.25 0 0
12 11 483.111 182.6 44.25 90 0
13 12 470.586 292.314 35 0 0
14 13 650.918 291.469 21.75 180 0
15 14 650.918 274.469 21.75 180 0
16 15 650.904 170.219 21.75 180 0
17 16 650.904 153.219 21.75 180 0
18 17 183.586 25.374 35 0 0
19 18 182.111 135.088 44.25 270 0
20 19 205.873 144.844 44.25 0 0
21 20 205.873 158.844 44.25 0 0
22 21 182.111 182.6 44.25 90 0
23 22 183.586 292.314 35 0 0
24 23 180.637 292.314 35 180 0
25 24 168.111 182.6 44.25 90 0
26 25 158.341 172.844 44.25 180 0
27 26 158.341 158.844 44.25 180 0
28 27 168.111 135.088 44.25 270 0
29 28 180.637 25.374 35 180 0
30 29 0.305 26.219 21.75 0 0
31 30 0.305 43.219 21.75 0 0
32 31 0.318 147.469 21.75 0 0
33 32 0.318 164.469 21.75 0 0

584
apriltag/src/main/native/resources/org/wpilib/vision/apriltag/2026-rebuilt-welded.json Normal file
View File

@@ -0,0 +1,584 @@
{
"tags": [
{
"ID": 1,
"pose": {
"translation": {
"x": 11.8779798,
"y": 7.4247756,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 2,
"pose": {
"translation": {
"x": 11.9154194,
"y": 4.638039999999999,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 3,
"pose": {
"translation": {
"x": 11.3118646,
"y": 4.3902376,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 4,
"pose": {
"translation": {
"x": 11.3118646,
"y": 4.0346376,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 5,
"pose": {
"translation": {
"x": 11.9154194,
"y": 3.4312351999999997,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 6,
"pose": {
"translation": {
"x": 11.8779798,
"y": 0.6444996,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 7,
"pose": {
"translation": {
"x": 11.9528844,
"y": 0.6444996,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 8,
"pose": {
"translation": {
"x": 12.2710194,
"y": 3.4312351999999997,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 9,
"pose": {
"translation": {
"x": 12.519177399999998,
"y": 3.6790375999999996,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 10,
"pose": {
"translation": {
"x": 12.519177399999998,
"y": 4.0346376,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 11,
"pose": {
"translation": {
"x": 12.2710194,
"y": 4.638039999999999,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 12,
"pose": {
"translation": {
"x": 11.9528844,
"y": 7.4247756,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 13,
"pose": {
"translation": {
"x": 16.5333172,
"y": 7.4033126,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 14,
"pose": {
"translation": {
"x": 16.5333172,
"y": 6.9715126,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 15,
"pose": {
"translation": {
"x": 16.5329616,
"y": 4.3235626,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 16,
"pose": {
"translation": {
"x": 16.5329616,
"y": 3.8917626,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 17,
"pose": {
"translation": {
"x": 4.6630844,
"y": 0.6444996,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 18,
"pose": {
"translation": {
"x": 4.6256194,
"y": 3.4312351999999997,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 19,
"pose": {
"translation": {
"x": 5.229174199999999,
"y": 3.6790375999999996,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 20,
"pose": {
"translation": {
"x": 5.229174199999999,
"y": 4.0346376,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 21,
"pose": {
"translation": {
"x": 4.6256194,
"y": 4.638039999999999,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 22,
"pose": {
"translation": {
"x": 4.6630844,
"y": 7.4247756,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 23,
"pose": {
"translation": {
"x": 4.5881798,
"y": 7.4247756,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 24,
"pose": {
"translation": {
"x": 4.2700194,
"y": 4.638039999999999,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 0.7071067811865476,
"X": 0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 25,
"pose": {
"translation": {
"x": 4.0218614,
"y": 4.3902376,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 26,
"pose": {
"translation": {
"x": 4.0218614,
"y": 4.0346376,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 27,
"pose": {
"translation": {
"x": 4.2700194,
"y": 3.4312351999999997,
"z": 1.12395
},
"rotation": {
"quaternion": {
"W": -0.7071067811865475,
"X": -0.0,
"Y": 0.0,
"Z": 0.7071067811865476
}
}
}
},
{
"ID": 28,
"pose": {
"translation": {
"x": 4.5881798,
"y": 0.6444996,
"z": 0.889
},
"rotation": {
"quaternion": {
"W": 6.123233995736766e-17,
"X": 0.0,
"Y": 0.0,
"Z": 1.0
}
}
}
},
{
"ID": 29,
"pose": {
"translation": {
"x": 0.0077469999999999995,
"y": 0.6659626,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 30,
"pose": {
"translation": {
"x": 0.0077469999999999995,
"y": 1.0977626,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 31,
"pose": {
"translation": {
"x": 0.0080772,
"y": 3.7457125999999996,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
},
{
"ID": 32,
"pose": {
"translation": {
"x": 0.0080772,
"y": 4.1775126,
"z": 0.55245
},
"rotation": {
"quaternion": {
"W": 1.0,
"X": 0.0,
"Y": 0.0,
"Z": 0.0
}
}
}
}
],
"field": {
"length": 16.541,
"width": 8.069
}
}