From 5848612a5bb61dbbff53c43dde0017b2924d1eb3 Mon Sep 17 00:00:00 2001
From: shalenikol <shaniks77s@gmail.com>
Date: Fri, 28 Mar 2025 21:40:37 +0300
Subject: [PATCH] aruco-marker models for scene

---
 .gitignore                                    |   3 ++
 .../assets/aruco_1/meshes/aruco_marker_21.png | Bin 0 -> 3034 bytes
 .../assets/aruco_1/meshes/aruco_template.mtl  |  12 +++++
 .../assets/aruco_1/meshes/aruco_template.obj  |  48 ++++++++++++++++++
 rbs_mill_assist/assets/aruco_1/model.config   |  17 +++++++
 rbs_mill_assist/assets/aruco_1/model.sdf      |  16 ++++++
 .../assets/aruco_2/meshes/aruco_marker_22.png | Bin 0 -> 3043 bytes
 .../assets/aruco_2/meshes/aruco_template.mtl  |  13 +++++
 .../assets/aruco_2/meshes/aruco_template.obj  |  48 ++++++++++++++++++
 rbs_mill_assist/assets/aruco_2/model.config   |  17 +++++++
 rbs_mill_assist/assets/aruco_2/model.sdf      |  16 ++++++
 .../assets/aruco_3/meshes/aruco_marker_23.png | Bin 0 -> 3307 bytes
 .../assets/aruco_3/meshes/aruco_template.mtl  |  12 +++++
 .../assets/aruco_3/meshes/aruco_template.obj  |  48 ++++++++++++++++++
 rbs_mill_assist/assets/aruco_3/model.config   |  17 +++++++
 rbs_mill_assist/assets/aruco_3/model.sdf      |  16 ++++++
 .../assets/aruco_4/meshes/aruco_marker_24.png | Bin 0 -> 2866 bytes
 .../assets/aruco_4/meshes/aruco_template.mtl  |  12 +++++
 .../assets/aruco_4/meshes/aruco_template.obj  |  48 ++++++++++++++++++
 rbs_mill_assist/assets/aruco_4/model.config   |  17 +++++++
 rbs_mill_assist/assets/aruco_4/model.sdf      |  16 ++++++
 21 files changed, 376 insertions(+)
 create mode 100644 .gitignore
 create mode 100644 rbs_mill_assist/assets/aruco_1/meshes/aruco_marker_21.png
 create mode 100644 rbs_mill_assist/assets/aruco_1/meshes/aruco_template.mtl
 create mode 100644 rbs_mill_assist/assets/aruco_1/meshes/aruco_template.obj
 create mode 100644 rbs_mill_assist/assets/aruco_1/model.config
 create mode 100644 rbs_mill_assist/assets/aruco_1/model.sdf
 create mode 100644 rbs_mill_assist/assets/aruco_2/meshes/aruco_marker_22.png
 create mode 100644 rbs_mill_assist/assets/aruco_2/meshes/aruco_template.mtl
 create mode 100644 rbs_mill_assist/assets/aruco_2/meshes/aruco_template.obj
 create mode 100644 rbs_mill_assist/assets/aruco_2/model.config
 create mode 100644 rbs_mill_assist/assets/aruco_2/model.sdf
 create mode 100644 rbs_mill_assist/assets/aruco_3/meshes/aruco_marker_23.png
 create mode 100644 rbs_mill_assist/assets/aruco_3/meshes/aruco_template.mtl
 create mode 100644 rbs_mill_assist/assets/aruco_3/meshes/aruco_template.obj
 create mode 100644 rbs_mill_assist/assets/aruco_3/model.config
 create mode 100644 rbs_mill_assist/assets/aruco_3/model.sdf
 create mode 100644 rbs_mill_assist/assets/aruco_4/meshes/aruco_marker_24.png
 create mode 100644 rbs_mill_assist/assets/aruco_4/meshes/aruco_template.mtl
 create mode 100644 rbs_mill_assist/assets/aruco_4/meshes/aruco_template.obj
 create mode 100644 rbs_mill_assist/assets/aruco_4/model.config
 create mode 100644 rbs_mill_assist/assets/aruco_4/model.sdf

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..49165bf
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,3 @@
+*.blend1
+*.vscode
+**/__pycache__/**
diff --git a/rbs_mill_assist/assets/aruco_1/meshes/aruco_marker_21.png b/rbs_mill_assist/assets/aruco_1/meshes/aruco_marker_21.png
new file mode 100644
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GIT binary patch
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diff --git a/rbs_mill_assist/assets/aruco_1/meshes/aruco_template.mtl b/rbs_mill_assist/assets/aruco_1/meshes/aruco_template.mtl
new file mode 100644
index 0000000..b129471
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_1/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_21.png
diff --git a/rbs_mill_assist/assets/aruco_1/meshes/aruco_template.obj b/rbs_mill_assist/assets/aruco_1/meshes/aruco_template.obj
new file mode 100644
index 0000000..8b8dc1a
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_1/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
diff --git a/rbs_mill_assist/assets/aruco_1/model.config b/rbs_mill_assist/assets/aruco_1/model.config
new file mode 100644
index 0000000..a8f06d1
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_1/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<model>
+  <name>aruco_1</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>
diff --git a/rbs_mill_assist/assets/aruco_1/model.sdf b/rbs_mill_assist/assets/aruco_1/model.sdf
new file mode 100644
index 0000000..0409e46
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_1/model.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+    <model name="aruco_1">
+        <static>true</static>
+        <pose>0 0 0 0 0 0</pose>
+        <link name="link">
+            <visual name="visual">
+                <geometry>
+                    <mesh>
+                        <uri>model://aruco_1/meshes/aruco_template.obj</uri>
+                    </mesh>
+                </geometry>
+            </visual>
+        </link>
+    </model>
+</sdf>
diff --git a/rbs_mill_assist/assets/aruco_2/meshes/aruco_marker_22.png b/rbs_mill_assist/assets/aruco_2/meshes/aruco_marker_22.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6a5e407ff4d8caee54e10e0f4f285d9e86c8be6
GIT binary patch
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diff --git a/rbs_mill_assist/assets/aruco_2/meshes/aruco_template.mtl b/rbs_mill_assist/assets/aruco_2/meshes/aruco_template.mtl
new file mode 100644
index 0000000..a048f46
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_2/meshes/aruco_template.mtl
@@ -0,0 +1,13 @@
+# 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_22.png
+map_Ka aruco_marker_22.png
diff --git a/rbs_mill_assist/assets/aruco_2/meshes/aruco_template.obj b/rbs_mill_assist/assets/aruco_2/meshes/aruco_template.obj
new file mode 100644
index 0000000..8b8dc1a
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_2/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
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+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
diff --git a/rbs_mill_assist/assets/aruco_2/model.config b/rbs_mill_assist/assets/aruco_2/model.config
new file mode 100644
index 0000000..c9e79b1
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_2/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<model>
+  <name>aruco_2</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>
diff --git a/rbs_mill_assist/assets/aruco_2/model.sdf b/rbs_mill_assist/assets/aruco_2/model.sdf
new file mode 100644
index 0000000..24b1028
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_2/model.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+    <model name="aruco_2">
+        <static>true</static>
+        <pose>0 0 0 0 0 0</pose>
+        <link name="link">
+            <visual name="visual">
+                <geometry>
+                    <mesh>
+                        <uri>model://aruco_2/meshes/aruco_template.obj</uri>
+                    </mesh>
+                </geometry>
+            </visual>
+        </link>
+    </model>
+</sdf>
diff --git a/rbs_mill_assist/assets/aruco_3/meshes/aruco_marker_23.png b/rbs_mill_assist/assets/aruco_3/meshes/aruco_marker_23.png
new file mode 100644
index 0000000000000000000000000000000000000000..377fd6d28d346428c0385d464cd64bad102633ab
GIT binary patch
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diff --git a/rbs_mill_assist/assets/aruco_3/meshes/aruco_template.mtl b/rbs_mill_assist/assets/aruco_3/meshes/aruco_template.mtl
new file mode 100644
index 0000000..065c8da
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_3/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_23.png
diff --git a/rbs_mill_assist/assets/aruco_3/meshes/aruco_template.obj b/rbs_mill_assist/assets/aruco_3/meshes/aruco_template.obj
new file mode 100644
index 0000000..8b8dc1a
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_3/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
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+vt 0.000000 1.000000
+s 0
+usemtl aruco_tag_124
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+f 1/1/1 3/3/1 4/4/1
+f 5/1/2 6/2/2 7/3/2
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+f 1/1/3 2/2/4 6/3/5
+f 1/1/6 6/3/4 5/4/4
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diff --git a/rbs_mill_assist/assets/aruco_3/model.config b/rbs_mill_assist/assets/aruco_3/model.config
new file mode 100644
index 0000000..f8d0193
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_3/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<model>
+  <name>aruco_3</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>
diff --git a/rbs_mill_assist/assets/aruco_3/model.sdf b/rbs_mill_assist/assets/aruco_3/model.sdf
new file mode 100644
index 0000000..3389aa2
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_3/model.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+    <model name="aruco_3">
+        <static>true</static>
+        <pose>0 0 0 0 0 0</pose>
+        <link name="link">
+            <visual name="visual">
+                <geometry>
+                    <mesh>
+                        <uri>model://aruco_3/meshes/aruco_template.obj</uri>
+                    </mesh>
+                </geometry>
+            </visual>
+        </link>
+    </model>
+</sdf>
diff --git a/rbs_mill_assist/assets/aruco_4/meshes/aruco_marker_24.png b/rbs_mill_assist/assets/aruco_4/meshes/aruco_marker_24.png
new file mode 100644
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diff --git a/rbs_mill_assist/assets/aruco_4/meshes/aruco_template.mtl b/rbs_mill_assist/assets/aruco_4/meshes/aruco_template.mtl
new file mode 100644
index 0000000..0803561
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_4/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_24.png
diff --git a/rbs_mill_assist/assets/aruco_4/meshes/aruco_template.obj b/rbs_mill_assist/assets/aruco_4/meshes/aruco_template.obj
new file mode 100644
index 0000000..8b8dc1a
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_4/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
diff --git a/rbs_mill_assist/assets/aruco_4/model.config b/rbs_mill_assist/assets/aruco_4/model.config
new file mode 100644
index 0000000..e1c5682
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_4/model.config
@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<model>
+  <name>aruco_4</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>
diff --git a/rbs_mill_assist/assets/aruco_4/model.sdf b/rbs_mill_assist/assets/aruco_4/model.sdf
new file mode 100644
index 0000000..e2dde7b
--- /dev/null
+++ b/rbs_mill_assist/assets/aruco_4/model.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+    <model name="aruco_4">
+        <static>true</static>
+        <pose>0 0 0 0 0 0</pose>
+        <link name="link">
+            <visual name="visual">
+                <geometry>
+                    <mesh>
+                        <uri>model://aruco_4/meshes/aruco_template.obj</uri>
+                    </mesh>
+                </geometry>
+            </visual>
+        </link>
+    </model>
+</sdf>