diff --git a/urdf/signs/dae/aruco0.dae b/urdf/signs/dae/aruco0.dae new file mode 100644 index 0000000000000000000000000000000000000000..363add20a2e4bae1fb53cf790338468e6b903dbf --- /dev/null +++ b/urdf/signs/dae/aruco0.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/aruco0.png</init_from> + </image> + </library_images> + <library_materials> + <material id="Material #36" name="Material #36"> + <instance_effect url="#Material 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count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco1.dae b/urdf/signs/dae/aruco1.dae new file mode 100644 index 0000000000000000000000000000000000000000..458accf5949f6c84ee521c60dfd2503c50cc43c3 --- /dev/null +++ b/urdf/signs/dae/aruco1.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/aruco1.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 0 0 1</color> + </emission> + <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 + </float_array> + <technique_common> + <accessor source="#image-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="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco10.dae b/urdf/signs/dae/aruco10.dae new file mode 100644 index 0000000000000000000000000000000000000000..b7343d62bb1e41c54ff6ba0615c2b97398a80891 --- /dev/null +++ b/urdf/signs/dae/aruco10.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/aruco10.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 0 0 1</color> + </emission> + <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 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<accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco11.dae b/urdf/signs/dae/aruco11.dae new file mode 100644 index 0000000000000000000000000000000000000000..c802c2ec751a404a5a1b790403462c9173853fc0 --- /dev/null +++ b/urdf/signs/dae/aruco11.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/aruco11.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" 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<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 + </float_array> + <technique_common> + <accessor source="#image-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="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco12.dae b/urdf/signs/dae/aruco12.dae new file mode 100644 index 0000000000000000000000000000000000000000..8aaacda199151af3488a8dbe0df75c8bf929feac --- /dev/null +++ b/urdf/signs/dae/aruco12.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> + 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type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco13.dae b/urdf/signs/dae/aruco13.dae new file mode 100644 index 0000000000000000000000000000000000000000..ff03d81d3fb4a2999029aeadd45213a37cad9c29 --- /dev/null +++ b/urdf/signs/dae/aruco13.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/aruco13.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 0 0 1</color> + </emission> + <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 + </float_array> + <technique_common> + <accessor source="#image-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="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco14.dae b/urdf/signs/dae/aruco14.dae new file mode 100644 index 0000000000000000000000000000000000000000..e8313de6f9fff725e06870a8c87c15b709365dc9 --- /dev/null +++ b/urdf/signs/dae/aruco14.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/aruco14.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" 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<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 + </float_array> + <technique_common> + <accessor source="#image-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="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco2.dae b/urdf/signs/dae/aruco2.dae new file mode 100644 index 0000000000000000000000000000000000000000..960f6e8d2856b434aafc8630769fdb64fcdf91d3 --- /dev/null +++ b/urdf/signs/dae/aruco2.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/aruco2.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 0 0 1</color> + </emission> + <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 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type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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" 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</technique> + </extra> + </visual_scene> + </library_visual_scenes> + <scene> + <instance_visual_scene url="#"></instance_visual_scene> + </scene> +</COLLADA> diff --git a/urdf/signs/dae/aruco3.dae b/urdf/signs/dae/aruco3.dae new file mode 100644 index 0000000000000000000000000000000000000000..fd65d5a610dba44510e753391c17ccaa79a0df02 --- /dev/null +++ b/urdf/signs/dae/aruco3.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"> + 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name="X" type="float"/> + <param name="Y" type="float"/> + <param name="Z" type="float"/> + </accessor> + </technique_common> + </source> + <source id="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco4.dae b/urdf/signs/dae/aruco4.dae new file mode 100644 index 0000000000000000000000000000000000000000..673a94a8a6002259869f090c15e367ee6c57c5c5 --- /dev/null +++ b/urdf/signs/dae/aruco4.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/aruco4.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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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 + </float_array> + <technique_common> + <accessor source="#image-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="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco5.dae b/urdf/signs/dae/aruco5.dae new file mode 100644 index 0000000000000000000000000000000000000000..866d317abb6abd9754ea5758d1e1f575ed524dfe --- /dev/null +++ b/urdf/signs/dae/aruco5.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/aruco5.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 0 0 1</color> + </emission> + <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 + </float_array> + <technique_common> + <accessor source="#image-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="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco6.dae b/urdf/signs/dae/aruco6.dae new file mode 100644 index 0000000000000000000000000000000000000000..ede810487b5d50cc5794da331cf63edf63e20f2c --- /dev/null +++ b/urdf/signs/dae/aruco6.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/aruco6.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 0 0 1</color> + </emission> + <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 + </float_array> + <technique_common> + <accessor source="#image-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="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco7.dae b/urdf/signs/dae/aruco7.dae new file mode 100644 index 0000000000000000000000000000000000000000..070723b47894f5c9e1bfc36e04f5b08178856e5b --- /dev/null +++ b/urdf/signs/dae/aruco7.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/aruco7.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 0 0 1</color> + </emission> + <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 + </float_array> + <technique_common> + <accessor source="#image-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="image-Normal0"> + <float_array id="image-Normal0-array" count="18"> + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + 0 0 1 + </float_array> + <technique_common> + <accessor source="#image-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="image-UV0"> + <float_array id="image-UV0-array" count="8"> + 0 0 + 1 0 + 0 1 + 1 1 + </float_array> + <!-- + 0.000499 0.000500 + 0.999500 0.000499 + 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/aruco8.dae b/urdf/signs/dae/aruco8.dae new file mode 100644 index 0000000000000000000000000000000000000000..45956e7141d95d7889cfb305c469ffc67f7d0f3d --- /dev/null +++ b/urdf/signs/dae/aruco8.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> + 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