o
wi= @ s d Z ddlZddlZddlmZ ddlmZmZmZ e ej
Z d\Z Z
de e d d d Zejd
d ejd d
dZeje e
feed e edZG dd dZe ZdS )z/Grabbable puck with ArUco marker configuration. N)aruco )BLENDER_STL_DIRSO100_MODEL_DIR
BOARD_IMG_DIR) r g @
d )dtype)sizeZ markerLengthZmarkerSeparation
dictionaryidsc @ sh e Zd ZdZdZeZeg dd Z edej
d dgZ dZ eg dd Z
ed efd
d Zd S )
PuckConfigz3Configuration for grabbable puck with ArUco marker.ZGrabbable_Puck)g=
ףp=?r g(\OI@i r g
ףp=
?)g"@g@gfffffL@returnc C s dt dt dt dt d S )z%Get XML snippet to add puck to scene.z;
)r r )cls r G/data/cameron/para/panda_streaming/hand_eye_calib/../ExoConfigs/puck.pyget_xml_addition s zPuckConfig.get_xml_additionN)__name__
__module__ __qualname____doc__name
puck_boardZ aruco_boardnparrayaruco_offset_pospiaruco_offset_rot board_lengthZ grasp_offset classmethodstrr r r r r r s r )r numpyr cv2r exoskeletonr r r getPredefinedDictionary DICT_6X6_250
aruco_dict n_aruco_row n_aruco_colxarangeint32reshapeZboard_ids_puck GridBoardr r PUCK_CONFIGr r r r s
'