[faust1706]

That's the idea, kind of. It's mainly going to be used for autonomous piece pick up and stacking it to my understanding. It could be used for that, sure. We have generated paths before based on the what the depth map sees. Then you could use the poofs code to drive on that curve if you're daring.

I think I accounted for everything. Depth returns distance, x rotation to the center of the object, how many degrees the tote is offset if it is a tote, how many totes high the stack is, if it is a yellow or gray tote or green bin, and soon if it has a bin on it. If there is something I didn't account for, please let me know and I'll see if it I can incorporate it.