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aruco-marker models for scene

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shalenikol 2025-03-28 21:40:37 +03:00
parent b4d4b8133d
commit 5848612a5b
21 changed files with 376 additions and 0 deletions
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.gitignore vendored Normal file
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*.blend1
*.vscode
**/__pycache__/**

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rbs_mill_assist/assets/aruco_1/meshes/aruco_template.mtl Normal file
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# 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

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rbs_mill_assist/assets/aruco_1/meshes/aruco_template.obj Normal file
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# 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
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vn -0.0000 -0.0080 1.0000
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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

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rbs_mill_assist/assets/aruco_1/model.config Normal file
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<?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>

16
rbs_mill_assist/assets/aruco_1/model.sdf Normal file
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<?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>

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rbs_mill_assist/assets/aruco_2/meshes/aruco_marker_22.png Normal file
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rbs_mill_assist/assets/aruco_2/meshes/aruco_template.mtl Normal file
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# 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

48
rbs_mill_assist/assets/aruco_2/meshes/aruco_template.obj Normal file
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# 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
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vn -1.0000 -0.0080 -0.0000
vn 1.0000 -0.0000 -0.0000
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vn 0.9997 0.0250 -0.0000
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vn -0.0000 0.0125 -0.9999
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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

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rbs_mill_assist/assets/aruco_2/model.config Normal file
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<?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>

16
rbs_mill_assist/assets/aruco_2/model.sdf Normal file
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<?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>

BIN
rbs_mill_assist/assets/aruco_3/meshes/aruco_marker_23.png Normal file
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rbs_mill_assist/assets/aruco_3/meshes/aruco_template.mtl Normal file
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# 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

48
rbs_mill_assist/assets/aruco_3/meshes/aruco_template.obj Normal file
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# 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
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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

17
rbs_mill_assist/assets/aruco_3/model.config Normal file
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<?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>

16
rbs_mill_assist/assets/aruco_3/model.sdf Normal file
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<?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>

BIN
rbs_mill_assist/assets/aruco_4/meshes/aruco_marker_24.png Normal file
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rbs_mill_assist/assets/aruco_4/meshes/aruco_template.mtl Normal file
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# 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

48
rbs_mill_assist/assets/aruco_4/meshes/aruco_template.obj Normal file
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# 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
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vn -0.0000 0.0080 -1.0000
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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

17
rbs_mill_assist/assets/aruco_4/model.config Normal file
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<?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>

16
rbs_mill_assist/assets/aruco_4/model.sdf Normal file
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<?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>