From 4ccc17a81d63c2ad0b6985b66ab5e8f7915e31a5 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 1 Jun 2017 12:18:46 +0200
Subject: [PATCH] Added QR codes to detect the left and right sides of an
object.
---
bioloid_description/urdf/qrcodes/E1L.dae | 122 +++++++++++++++++++++++
bioloid_description/urdf/qrcodes/E1L.png | Bin 0 -> 477 bytes
bioloid_description/urdf/qrcodes/E1R.dae | 122 +++++++++++++++++++++++
bioloid_description/urdf/qrcodes/E1R.png | Bin 0 -> 475 bytes
bioloid_description/urdf/qrcodes/N1L.dae | 122 +++++++++++++++++++++++
bioloid_description/urdf/qrcodes/N1L.png | Bin 0 -> 488 bytes
bioloid_description/urdf/qrcodes/N1R.dae | 122 +++++++++++++++++++++++
bioloid_description/urdf/qrcodes/N1R.png | Bin 0 -> 477 bytes
bioloid_description/urdf/qrcodes/S1L.dae | 122 +++++++++++++++++++++++
bioloid_description/urdf/qrcodes/S1L.png | Bin 0 -> 480 bytes
bioloid_description/urdf/qrcodes/S1R.dae | 122 +++++++++++++++++++++++
bioloid_description/urdf/qrcodes/S1R.png | Bin 0 -> 481 bytes
bioloid_description/urdf/qrcodes/W1L.dae | 122 +++++++++++++++++++++++
bioloid_description/urdf/qrcodes/W1L.png | Bin 0 -> 487 bytes
bioloid_description/urdf/qrcodes/W1R.dae | 122 +++++++++++++++++++++++
bioloid_description/urdf/qrcodes/W1R.png | Bin 0 -> 471 bytes
16 files changed, 976 insertions(+)
create mode 100644 bioloid_description/urdf/qrcodes/E1L.dae
create mode 100644 bioloid_description/urdf/qrcodes/E1L.png
create mode 100644 bioloid_description/urdf/qrcodes/E1R.dae
create mode 100644 bioloid_description/urdf/qrcodes/E1R.png
create mode 100644 bioloid_description/urdf/qrcodes/N1L.dae
create mode 100644 bioloid_description/urdf/qrcodes/N1L.png
create mode 100644 bioloid_description/urdf/qrcodes/N1R.dae
create mode 100644 bioloid_description/urdf/qrcodes/N1R.png
create mode 100644 bioloid_description/urdf/qrcodes/S1L.dae
create mode 100644 bioloid_description/urdf/qrcodes/S1L.png
create mode 100644 bioloid_description/urdf/qrcodes/S1R.dae
create mode 100644 bioloid_description/urdf/qrcodes/S1R.png
create mode 100644 bioloid_description/urdf/qrcodes/W1L.dae
create mode 100644 bioloid_description/urdf/qrcodes/W1L.png
create mode 100644 bioloid_description/urdf/qrcodes/W1R.dae
create mode 100644 bioloid_description/urdf/qrcodes/W1R.png
diff --git a/bioloid_description/urdf/qrcodes/E1L.dae b/bioloid_description/urdf/qrcodes/E1L.dae
new file mode 100644
index 0000000..59e1541
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/E1L.dae
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2014-10-05T08:59:28Z</created><keywords></keywords><modified>2014-10-05T08:59:28Z</modified><revision></revision><subject></subject><title></title><unit meter="0.025400" name="centimeter"></unit><up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1"><init_from>E1L.png</init_from></image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0.000000 0.000000 0.000000 1.000000</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.000000 0.000000 0.000000 1.000000</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2.000000</float>
+ </shininess>
+ <reflective>
+ <color sid="reflective">0.000000 0.000000 0.000000 1.000000</color>
+ </reflective>
+ <reflectivity>
+ <float sid="reflectivity">1.000000</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1.000000 1.000000 1.000000 1.000000</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="QR_Code-lib" name="QR_CodeMesh">
+ <mesh>
+ <source id="QR_Code-POSITION">
+ <float_array id="QR_Code-POSITION-array" count="12">
+-3.149606 -3.149606 0.000000
+3.149606 -3.149606 0.000000
+-3.149606 3.149606 0.000000
+3.149606 3.149606 0.000000
+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-POSITION-array" count="4" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="QR_Code-Normal0">
+ <float_array id="QR_Code-Normal0-array" count="18">
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+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-Normal0-array" count="6" stride="3">
+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <source id="QR_Code-UV0">
+ <float_array id="QR_Code-UV0-array" count="8">
+0.000499 0.000500
+0.999500 0.000499
+0.000500 0.999501
+0.999501 0.999500
+</float_array>
+ <technique_common>
+ <accessor source="#QR_Code-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="QR_Code-VERTEX">
+ <input semantic="POSITION" source="#QR_Code-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36"><input semantic="VERTEX" offset="0" source="#QR_Code-VERTEX"/><input semantic="NORMAL" offset="1" source="#QR_Code-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#QR_Code-UV0"/><p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p></triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="QR_Code" id="QR_Code" sid="QR_Code"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#QR_Code-lib"><bind_material><technique_common><instance_material symbol="Material #36" target="#Material #36"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
+ <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/bioloid_description/urdf/qrcodes/E1L.png b/bioloid_description/urdf/qrcodes/E1L.png
new file mode 100644
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diff --git a/bioloid_description/urdf/qrcodes/E1R.dae b/bioloid_description/urdf/qrcodes/E1R.dae
new file mode 100644
index 0000000..7522ffa
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/E1R.dae
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2014-10-05T08:59:28Z</created><keywords></keywords><modified>2014-10-05T08:59:28Z</modified><revision></revision><subject></subject><title></title><unit meter="0.025400" name="centimeter"></unit><up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1"><init_from>E1R.png</init_from></image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
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+ <phong>
+ <emission>
+ <color sid="emission">0.000000 0.000000 0.000000 1.000000</color>
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+ <ambient>
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+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.000000 0.000000 0.000000 1.000000</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2.000000</float>
+ </shininess>
+ <reflective>
+ <color sid="reflective">0.000000 0.000000 0.000000 1.000000</color>
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+ <reflectivity>
+ <float sid="reflectivity">1.000000</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1.000000 1.000000 1.000000 1.000000</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="QR_Code-lib" name="QR_CodeMesh">
+ <mesh>
+ <source id="QR_Code-POSITION">
+ <float_array id="QR_Code-POSITION-array" count="12">
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+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
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+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
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+ </technique_common>
+ </source>
+ <source id="QR_Code-UV0">
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+0.999500 0.000499
+0.000500 0.999501
+0.999501 0.999500
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+ <accessor source="#QR_Code-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="QR_Code-VERTEX">
+ <input semantic="POSITION" source="#QR_Code-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36"><input semantic="VERTEX" offset="0" source="#QR_Code-VERTEX"/><input semantic="NORMAL" offset="1" source="#QR_Code-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#QR_Code-UV0"/><p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p></triangles>
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+ </geometry>
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+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
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diff --git a/bioloid_description/urdf/qrcodes/N1L.dae b/bioloid_description/urdf/qrcodes/N1L.dae
new file mode 100644
index 0000000..b12f1e2
--- /dev/null
+++ b/bioloid_description/urdf/qrcodes/N1L.dae
@@ -0,0 +1,122 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2014-10-05T08:59:28Z</created><keywords></keywords><modified>2014-10-05T08:59:28Z</modified><revision></revision><subject></subject><title></title><unit meter="0.025400" name="centimeter"></unit><up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1"><init_from>N1L.png</init_from></image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
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+ <phong>
+ <emission>
+ <color sid="emission">0.000000 0.000000 0.000000 1.000000</color>
+ </emission>
+ <ambient>
+ <color sid="ambient">1.000000 1.000000 1.000000 1.000000</color>
+ </ambient>
+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0.000000 0.000000 0.000000 1.000000</color>
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+ <shininess>
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+ <transparency>
+ <float sid="transparency">0.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="QR_Code-lib" name="QR_CodeMesh">
+ <mesh>
+ <source id="QR_Code-POSITION">
+ <float_array id="QR_Code-POSITION-array" count="12">
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+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
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+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
+ </accessor>
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+ </source>
+ <source id="QR_Code-UV0">
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+</float_array>
+ <technique_common>
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+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="QR_Code-VERTEX">
+ <input semantic="POSITION" source="#QR_Code-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36"><input semantic="VERTEX" offset="0" source="#QR_Code-VERTEX"/><input semantic="NORMAL" offset="1" source="#QR_Code-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#QR_Code-UV0"/><p> 0 0 0 1 1 1 3 2 3 3 3 3 2 4 2 0 5 0</p></triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="QR_Code" id="QR_Code" sid="QR_Code"><matrix sid="matrix">1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#QR_Code-lib"><bind_material><technique_common><instance_material symbol="Material #36" target="#Material #36"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node>
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+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/bioloid_description/urdf/qrcodes/N1L.png b/bioloid_description/urdf/qrcodes/N1L.png
new file mode 100644
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