update scene: add aruco_marker_25 for conductor

rbs_mill_assist/assets/aruco_c/meshes/aruco_template.mtl

@@ -0,0 +1,12 @@
+# Blender 4.2.1 LTS MTL File: 'aruco_template.blend'
+# www.blender.org
+
+newmtl aruco_tag_124
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+map_Kd aruco_marker_25.png

rbs_mill_assist/assets/aruco_c/meshes/aruco_template.obj

@@ -0,0 +1,48 @@
+# Blender 4.2.1 LTS
+# www.blender.org
+mtllib aruco_template.mtl
+o aruco_tag_124
+v -0.000464 0.000314 0.039912
+v 0.039536 0.000314 0.039912
+v 0.039536 0.000314 -0.000088
+v -0.000464 0.000314 -0.000088
+v -0.000464 0.001314 0.039912
+v 0.039536 0.001314 0.039912
+v 0.039536 0.001314 -0.000088
+v -0.000464 0.001314 -0.000088
+vn -0.0000 -1.0000 -0.0000
+vn -0.0000 1.0000 -0.0000
+vn 0.9999 0.0125 -0.0000
+vn -1.0000 -0.0000 -0.0000
+vn -0.9997 -0.0250 -0.0000
+vn -1.0000 -0.0080 -0.0000
+vn 1.0000 -0.0000 -0.0000
+vn 1.0000 0.0080 -0.0000
+vn 0.9997 0.0250 -0.0000
+vn -0.9999 -0.0125 -0.0000
+vn -0.0000 0.0125 -0.9999
+vn -0.0000 -0.0000 1.0000
+vn -0.0000 -0.0250 0.9997
+vn -0.0000 -0.0080 1.0000
+vn -0.0000 -0.0000 -1.0000
+vn -0.0000 0.0080 -1.0000
+vn -0.0000 0.0250 -0.9997
+vn -0.0000 -0.0125 0.9999
+vt 0.000000 0.000000
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+s 0
+usemtl aruco_tag_124
+f 1/1/1 2/2/1 3/3/1
+f 1/1/1 3/3/1 4/4/1
+f 5/1/2 6/2/2 7/3/2
+f 5/1/2 7/3/2 8/4/2
+f 1/1/3 2/2/4 6/3/5
+f 1/1/6 6/3/4 5/4/4
+f 4/1/7 3/2/7 7/3/8
+f 4/1/9 7/3/10 8/4/7
+f 1/1/11 4/2/12 8/3/13
+f 1/1/14 8/3/12 5/4/12
+f 2/1/15 3/2/15 7/3/16
+f 2/1/17 7/3/18 6/4/15

rbs_mill_assist/assets/aruco_c/model.config

@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<model>
+  <name>aruco_c</name>
+  <version>1.0</version>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    A flat ARUco tag with the ID 124, designed to be used in Gazebo Harmonic.
+    This model has a 1x1 m flat surface with a texture applied to it.
+  </description>
+  <author>
+    <name>Yoan Mollard</name>
+    <email>opensource@aubrune.eu</email>
+  </author>
+  <license>http://www.apache.org/licenses/LICENSE-2.0</license>
+  <category>Other</category>
+  <tags>ARUco, tag, marker, Gazebo</tags>
+</model>

rbs_mill_assist/assets/aruco_c/model.sdf

@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+    <model name="aruco_c">
+        <static>true</static>
+        <pose>0 0 0 0 0 0</pose>
+        <link name="link">
+            <visual name="visual">
+                <geometry>
+                    <mesh>
+                        <uri>model://aruco_c/meshes/aruco_template.obj</uri>
+                    </mesh>
+                </geometry>
+            </visual>
+        </link>
+    </model>
+</sdf>

rbs_mill_assist/world/config/places.yaml

@@ -73,6 +73,18 @@ models:
         p: 0.0
         y: 0.0
 
+  - name: aruco_c
+    mesh_filename: aruco_template.obj
+    pose:
+      position:
+        x: 0.2021
+        y: -0.1503
+        z: 0.0106
+      orientation:
+        r: 1.57
+        p: 0.0
+        y: 0.0
+
   - name: conductor
     mesh_filename: conductor.stl
     pose:

rbs_mill_assist/world/world_macro.xacro

@@ -58,8 +58,7 @@
       <!-- </xacro:model> -->
 
       <xacro:rgbd_camera>
-        <pose>0.22 -0.46 0.3 0 0.4 1.81</pose>
-        <!-- <pose>0 -0.93 0.42 0 0.4 1.81</pose> -->
+        <pose>0.2283 -0.5803 0.2874 -0.067 0.395 1.638</pose>
       </xacro:rgbd_camera>
 
       <xacro:table />