From 0e19b67b3e1bcac207bb03776b5d97588fd088f3 Mon Sep 17 00:00:00 2001
From: Alopez <alopez@iri.upc.edu>
Date: Mon, 17 May 2021 16:34:24 +0200
Subject: [PATCH] Added alvar markers 0 -> 3 inverted and with 1cm margin
---
urdf/signs/dae/alvar0_neg_1.dae | 170 ++++++++++++++++++++++++++++
urdf/signs/dae/alvar1_neg_1.dae | 170 ++++++++++++++++++++++++++++
urdf/signs/dae/alvar2_neg_1.dae | 170 ++++++++++++++++++++++++++++
urdf/signs/dae/alvar3_neg_1.dae | 170 ++++++++++++++++++++++++++++
urdf/signs/dae/png/alvar0_neg_1.png | Bin 0 -> 263 bytes
urdf/signs/dae/png/alvar1_neg_1.png | Bin 0 -> 276 bytes
urdf/signs/dae/png/alvar2_neg_1.png | Bin 0 -> 267 bytes
urdf/signs/dae/png/alvar3_neg_1.png | Bin 0 -> 274 bytes
8 files changed, 680 insertions(+)
create mode 100644 urdf/signs/dae/alvar0_neg_1.dae
create mode 100644 urdf/signs/dae/alvar1_neg_1.dae
create mode 100644 urdf/signs/dae/alvar2_neg_1.dae
create mode 100644 urdf/signs/dae/alvar3_neg_1.dae
create mode 100644 urdf/signs/dae/png/alvar0_neg_1.png
create mode 100644 urdf/signs/dae/png/alvar1_neg_1.png
create mode 100644 urdf/signs/dae/png/alvar2_neg_1.png
create mode 100644 urdf/signs/dae/png/alvar3_neg_1.png
diff --git a/urdf/signs/dae/alvar0_neg_1.dae b/urdf/signs/dae/alvar0_neg_1.dae
new file mode 100644
index 0000000..98832b0
--- /dev/null
+++ b/urdf/signs/dae/alvar0_neg_1.dae
@@ -0,0 +1,170 @@
+<?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>
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+ <title></title>
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+ <color sid="transparent">1 1 1 1</color>
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+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
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+ <input semantic="NORMAL" offset="1" source="#image-Normal0"/>
+ <input semantic="TEXCOORD" offset="2" set="0" source="#image-UV0"/>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="image" id="image" sid="image">
+ <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+ <instance_geometry url="#image-lib">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material #36" target="#Material #36"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
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+ <technique profile="FCOLLADA">
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+ </technique>
+ <technique profile="FCOLLADA">
+ <start_time>0</start_time>
+ <end_time>3.333333</end_time>
+ </technique>
+ </extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
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diff --git a/urdf/signs/dae/alvar1_neg_1.dae b/urdf/signs/dae/alvar1_neg_1.dae
new file mode 100644
index 0000000..a784fba
--- /dev/null
+++ b/urdf/signs/dae/alvar1_neg_1.dae
@@ -0,0 +1,170 @@
+<?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="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/alvar1_neg_1.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>
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+ <ambient>
+ <color sid="ambient">1 1 1 1</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 0 0 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2</float>
+ </shininess>
+ <reflective>
+ <color sid="reflective">0 0 0 1</color>
+ </reflective>
+ <reflectivity>
+ <float sid="reflectivity">1</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
+ <geometry id="image-lib" name="image">
+ <mesh>
+ <source id="image-POSITION">
+ <float_array id="image-POSITION-array" count="12">
+ -0.5 -0.5 0
+ 0.5 -0.5 0
+ -0.5 0.5 0
+ 0.5 0.5 0
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+ 0.000500 0.999501
+ 0.999501 0.999500
+ -->
+ <technique_common>
+ <accessor source="#image-UV0-array" count="4" stride="2">
+ <param name="S" type="float"/>
+ <param name="T" type="float"/>
+ </accessor>
+ </technique_common>
+ </source>
+ <vertices id="image-VERTEX">
+ <input semantic="POSITION" source="#image-POSITION"/>
+ </vertices>
+ <triangles count="2" material="Material #36">
+ <input semantic="VERTEX" offset="0" source="#image-VERTEX"/>
+ <input semantic="NORMAL" offset="1" source="#image-Normal0"/>
+ <input semantic="TEXCOORD" offset="2" set="0" source="#image-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="image" id="image" sid="image">
+ <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+ <instance_geometry url="#image-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</visibility>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="MAX3D">
+ <frame_rate>30</frame_rate>
+ </technique>
+ <technique profile="FCOLLADA">
+ <start_time>0</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/urdf/signs/dae/alvar2_neg_1.dae b/urdf/signs/dae/alvar2_neg_1.dae
new file mode 100644
index 0000000..643b4e1
--- /dev/null
+++ b/urdf/signs/dae/alvar2_neg_1.dae
@@ -0,0 +1,170 @@
+<?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="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/alvar2_neg_1.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>
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+ <ambient>
+ <color sid="ambient">1 1 1 1</color>
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+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
+ <technique profile="MAYA">
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+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
+ <color sid="specular">0 0 0 1</color>
+ </specular>
+ <shininess>
+ <float sid="shininess">2</float>
+ </shininess>
+ <reflective>
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+ </reflective>
+ <reflectivity>
+ <float sid="reflectivity">1</float>
+ </reflectivity>
+ <transparent opaque="RGB_ZERO">
+ <color sid="transparent">1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
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+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
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+ <mesh>
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+ 0.5 -0.5 0
+ -0.5 0.5 0
+ 0.5 0.5 0
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+ <param name="X" type="float"/>
+ <param name="Y" type="float"/>
+ <param name="Z" type="float"/>
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+ <param name="X" type="float"/>
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+ <source id="image-UV0">
+ <float_array id="image-UV0-array" count="8">
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+ 0 1
+ 1 1
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+ 0.000500 0.999501
+ 0.999501 0.999500
+ -->
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+ </instance_geometry>
+ <extra>
+ <technique profile="FCOLLADA">
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+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="MAX3D">
+ <frame_rate>30</frame_rate>
+ </technique>
+ <technique profile="FCOLLADA">
+ <start_time>0</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/urdf/signs/dae/alvar3_neg_1.dae b/urdf/signs/dae/alvar3_neg_1.dae
new file mode 100644
index 0000000..298be62
--- /dev/null
+++ b/urdf/signs/dae/alvar3_neg_1.dae
@@ -0,0 +1,170 @@
+<?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="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/alvar3_neg_1.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>
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+ <ambient>
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+ <diffuse>
+ <texture texture="Map #1-image" texcoord="CHANNEL0">
+ <extra>
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+ <wrapU sid="wrapU0">TRUE</wrapU>
+ <wrapV sid="wrapV0">TRUE</wrapV>
+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
+ <specular>
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+ <color sid="transparent">1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float sid="transparency">0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_geometries>
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+ <mesh>
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+ 0.999501 0.999500
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--
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