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00000000..820574b4 Binary files /dev/null and b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_98.png differ diff --git a/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_99.png b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_99.png new file mode 100644 index 00000000..de9fb863 Binary files /dev/null and b/clover_simulation/models/aruco_cmit_txt/materials/textures/aruco_marker_2_99.png differ diff --git a/clover_simulation/models/aruco_cmit_txt/model.config b/clover_simulation/models/aruco_cmit_txt/model.config new file mode 100644 index 00000000..25016bbf --- /dev/null +++ b/clover_simulation/models/aruco_cmit_txt/model.config @@ -0,0 +1,14 @@ + + + + ArUco field from cmit.txt (dictionary 2) + 1.0 + aruco_model.sdf + + Marker Generator script + marker@generator.sh + + + ArUco field from cmit.txt (dictionary 2) + + diff --git a/clover_simulation/resources/worlds/clover_aruco.world b/clover_simulation/resources/worlds/clover_aruco.world new file mode 100644 index 00000000..7b3b736f --- /dev/null +++ b/clover_simulation/resources/worlds/clover_aruco.world @@ -0,0 +1,47 @@ + + + + + + model://sun + + + model://parquet_plane + 0 0 -0.01 0 0 0 + + + + model://aruco_cmit_txt + + + + 0.8 0.8 0.8 1 + 0.8 0.9 1 1 + false + false + false + + + + 0 0 -9.8066 + + + quick + 10 + 1.3 + 0 + + + 0 + 0.2 + 100 + 0.001 + + + 0.004 + 1 + 250 + 6.0e-6 2.3e-5 -4.2e-5 + + +