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Storing different objects in different layers

Hello,

I want to store different objects in different layers so as to inflate them with different inflation radii. As a test case, I have two object categories: one is structural object like a wall and other is a furniture object.

I want to store them in different layers. Any suggestions on how this could be? For object recognition component I am planning to write a dummy node for now which can publish object pose and may be its footprint. Is this a good option?