Ordered matte vinyl fiducials

The operator supplied the order layout image on 2026-09-09 and confirmed that the four large stickers are intended for the palette and end effector. The installed assignment is 47 mm wrist markers and a small 46 mm palette marker; config/fiducials.json owns the exact family, IDs and sizes. The order-sheet measurements below remain dimension evidence, not a detector calibration.

Evidence and dimensions

  • The sheet is labelled 27.4 × 27.4 cm.

  • The sheet outline is approximately 1216 pixels square in the supplied image.

  • Each large sticker outline is approximately 450 pixels square, giving 274 × 450 / 1216 = 101.4 mm including its white border.

  • Its black square is approximately 360 pixels wide, giving 81.1 mm.

  • These are image-derived estimates, consistent with a nominal 4-inch sticker; the order’s exact physical dimensions and manufacturing tolerance are unknown.

  • OpenCV’s AprilTag 36h11 dictionary decodes the large stickers as IDs 20, 21, 22 and 23. The 16h5 dictionary detects none. The small stickers decode as 36h11 IDs 0–5 and 30. The installed palette uses small ID 0. The pink wrist uses small IDs 2, 3, 4; the blue wrist uses 5, 30, 1. No large sticker is installed.

The compact wrist carriers provide three 68 mm faces for 64 mm white stickers with 47 mm black squares. The palette’s diamond-shaped base seat is 60 mm square and carries a small sticker. Detector sizes use the installed dimensions.

Current compatibility

The installed calibration palette v11 reuses small ID 0 on its 60 mm base-mounted diamond seat. The 46 mm black edge is the retained sticker’s inventory value. The old v10 pose does not transfer: the new printed-pattern orientation and station placement need confirmation and a fresh ROS fix. See palette.

The compact rear-facing revision-3 wrist carriers replace the large V17/V5 carrier panels. Their assembly meshes and nominal face datums are retained under urdf/meshes/ee/fiducial-cubes-47mm-rear/. The original tool cradles remain.

The installed config/fiducials.json is authoritative. Both wrist layouts were measured again after the replacement; nominal CAD faces do not qualify a tracking layout. The replacement family is 36h11, including palette ID 0.