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Merged
igonzf merged 1 commit into from
Apr 24, 2026
Merged

Filter object has new items #56

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106 changes: 44 additions & 62 deletions bt_nodes/perception/src/perception/filter_object.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,68 +34,50 @@ FilterObject::FilterObject(
const BT::NodeConfiguration & conf)
: BT::ActionNodeBase(xml_tag_name, conf),
objects_({{"person", {"human", 170.0f, 70.0f}},
{"bag", {"accessory", 30.0f, 0.3f}},
{"soccer_ball", {"toy", 28.0f, 0.4f}},
{"washcloth", {"cleaning_supply", 28.0f, 0.01f}},
{"bottle", {"drink", 27.0f, 1.0f}},
{"big_coke", {"drink", 27.0f, 2.0f}},
{"red_wine", {"drink", 26.0f, 1.0f}},
{"pringles", {"snack", 25.0f, 0.5f}},
{"orange_juice", {"drink", 24.0f, 0.5f}},
{"tropical_juice", {"drink", 24.0f, 0.5f}},
{"cleanser", {"cleaning_supply", 23.0f, 0.75f}},
{"soap", {"cleaning_supply", 23.0f, 0.75f}},
{"cornflakes", {"food", 22.0f, 0.4f}},
{"pancake_mix", {"food", 20.0f, 0.3f}},
{"hagelslag", {"food", 15.0f, 0.3f}},
{"plate", {"dish", 21.0f, 0.5f}},
{"bowl", {"dish", 20.0f, 0.5f}},
{"banana", {"fruit", 19.0f, 0.25f}},
{"tomato_soup", {"food", 18.0f, 0.5f}},
{"iced_tea", {"drink", 12.0f, 0.5f}},
{"juice_pack", {"drink", 12.0f, 0.4f}},
{"cola", {"drink", 12.0f, 0.5f}},
{"fanta", {"drink", 12.0f, 0.5f}},
{"dubbelfris", {"drink", 11.0f, 0.6f}},
{"sponge", {"cleaning_supply", 11.0f, 0.01f}},
{"tictac", {"snack", 10.0f, 0.4f}},
{"7up", {"drink", 11.0f, 0.5f}},
{"mustard", {"food", 11.0f, 0.3f}},
{"curry", {"food", 12.0f, 0.7f}},
{"mayonaise", {"food", 12.0f, 0.7f}},
{"pea_soup", {"food", 14.0f, 1.0f}},
{"sausages", {"food", 14.0f, 1.0f}},
{"milk", {"drink", 14.0f, 0.7f}},
{"stroopwafel", {"snack", 15.0f, 0.8f}},
{"candy", {"snack", 14.0f, 0.5f}},
{"water", {"drink", 13.0f, 0.6f}},
{"apple", {"fruit", 9.0f, 0.2f}},
{"cheezit", {"snack", 9.0f, 0.1f}},
{"liquorice", {"snack", 9.0f, 0.1f}},
{"crisps", {"snack", 9.0f, 0.1f}},
{"orange", {"fruit", 9.0f, 0.25f}},
{"pear", {"fruit", 9.0f, 0.25f}},
{"peach", {"fruit", 9.0f, 0.2f}},
{"ball", {"toy", 8.0f, 0.4f}},
{"cup", {"dish", 8.0f, 0.2f}},
{"coffe_grounds", {"food", 8.0f, 0.3f}},
{"spam", {"food", 8.0f, 0.3f}},
{"sugar", {"food", 8.0f, 0.5f}},
{"baseball", {"toy", 7.0f, 0.15f}},
{"lemon", {"fruit", 7.0f, 0.2f}},
{"plum", {"fruit", 7.0f, 0.15f}},
{"tennis_ball", {"toy", 7.0f, 0.2f}},
{"tuna", {"food", 6.0f, 0.3f}},
{"chocolate_jello", {"food", 6.0f, 0.2f}},
{"strawberry_jello", {"food", 6.0f, 0.2f}},
{"rubiks_cube", {"toy", 5.0f, 0.2f}},
{"knife", {"dish", 4.0f, 0.15f}},
{"fork", {"dish", 4.0f, 0.1f}},
{"spoon", {"dish", 4.0f, 0.1f}},
{"strawberry", {"fruit", 3.0f, 0.05f}},
{"dice", {"toy", 2.0f, 0.05f}},
{"candle", {"decoration", 1.0f, 0.02f}},
{"dishwasher_tab", {"cleaning_supply", 1.0f, 0.02f}}})
{"7up", {"drink", 12.0f, 0.36f}},
{"cola", {"drink", 12.0f, 0.36f}},
{"water", {"drink", 20.0f, 0.50f}},
{"milk", {"drink", 20.0f, 1.00f}},
{"orange juice", {"drink", 20.0f, 1.00f}},
{"tropical juice", {"drink", 20.0f, 1.00f}},
{"red wine", {"drink", 30.0f, 1.50f}},
{"redbull", {"drink", 15.0f, 0.25f}},
{"iced tea", {"drink", 20.0f, 0.50f}},
{"juice pack", {"drink", 10.0f, 0.25f}},
{"pringles", {"snack", 25.0f, 0.15f}},
{"cheezit", {"snack", 15.0f, 0.35f}},
{"cornflakes", {"snack", 30.0f, 0.50f}},
{"tennis ball", {"toy", 6.5f, 0.06f}},
{"dice", {"toy", 2.0f, 0.01f}},
{"soccer ball", {"toy", 22.0f, 0.43f}},
{"baseball", {"toy", 7.0f, 0.15f}},
{"rubiks cube", {"toy", 5.7f, 0.10f}},
{"knife", {"dish", 20.0f, 0.10f}},
{"fork", {"dish", 20.0f, 0.09f}},
{"bowl", {"dish", 15.0f, 0.35f}},
{"plate", {"dish", 25.0f, 0.50f}},
{"cup", {"dish", 10.0f, 0.20f}},
{"spoon", {"dish", 15.0f, 0.08f}},
{"sugar", {"food", 15.0f, 1.00f}},
{"coffee grounds", {"food", 15.0f, 0.50f}},
{"strawberry jello", {"food", 10.0f, 0.17f}},
{"chocolate jello", {"food", 10.0f, 0.17f}},
{"spam", {"food", 10.0f, 0.34f}},
{"tomato soup", {"food", 10.0f, 0.30f}},
{"mustard", {"food", 15.0f, 0.22f}},
{"tuna", {"food", 5.0f, 0.17f}},
{"plum", {"fruit", 5.0f, 0.08f}},
{"pear", {"fruit", 8.0f, 0.18f}},
{"apple", {"fruit", 8.0f, 0.20f}},
{"lemon", {"fruit", 6.0f, 0.10f}},
{"peach", {"fruit", 7.0f, 0.15f}},
{"strawberry", {"fruit", 3.0f, 0.02f}},
{"banana", {"fruit", 18.0f, 0.15f}},
{"orange", {"fruit", 8.0f, 0.20f}},
{"toothpaste", {"cleaning supply", 15.0f, 0.10f}},
{"cleanser", {"cleaning supply", 20.0f, 0.50f}},
{"sponge", {"cleaning supply", 10.0f, 0.02f}},
})
{
config().blackboard->get("node", node_);

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