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Add Apriltag to Hatch Door #22

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Merged
eholum-nasa merged 5 commits into from
Feb 13, 2026
Merged

Add Apriltag to Hatch Door #22

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467b785
generated apriltag successfully, missing greater scene apriltag texture
crainen-nasa Feb 13, 2026
3561f35
added apriltag manually to greater scene
crainen-nasa Feb 13, 2026
b6c003a
deleted extra apriltag object
crainen-nasa Feb 13, 2026
7ba306d
removed extra file from converter
crainen-nasa Feb 13, 2026
0818132
Pre-commit
eholum-nasa Feb 13, 2026
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3 changes: 3 additions & 0 deletions clr_mujoco_config/description/assets/full/apriltag/apriltag.obj
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21 changes: 21 additions & 0 deletions clr_mujoco_config/description/assets/full/apriltag/apriltag.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
<mujoco model="apriltag">
<default>
<default class="visual">
<geom group="2" type="mesh" contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom group="3" type="mesh"/>
</default>
</default>
<asset>
<texture type="2d" name="material_m36_0" file="material_m36_0.png"/>
<material name="material_m36_0" texture="material_m36_0" specular="0.4000000000000001" shininess="0.001"/>
<mesh file="apriltag.obj"/>
</asset>
<worldbody>
<body name="apriltag">
<geom material="material_m36_0" mesh="apriltag" class="visual"/>
<geom mesh="apriltag" class="collision"/>
</body>
</worldbody>
</mujoco>
6 changes: 6 additions & 0 deletions clr_mujoco_config/description/assets/full/apriltag/material_m36_0.mtl
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Original file line number Diff line number Diff line change
@@ -0,0 +1,6 @@
newmtl material_m36_0
Ka 0.40000000 0.40000000 0.40000000
Kd 1.00000000 1.00000000 1.00000000
Ks 0.40000000 0.40000000 0.40000000
Ns 1.00000000
map_Kd material_m36_0.png
Binary file added clr_mujoco_config/description/assets/full/apriltag/material_m36_0.png
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4 changes: 4 additions & 0 deletions clr_mujoco_config/description/clr.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -202,6 +202,9 @@
<mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_0.obj" scale="1.0 1.0 1.0"/>
<mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_1.obj" scale="1.0 1.0 1.0"/>
<mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_2.obj" scale="1.0 1.0 1.0"/>
<mesh name="apriltag" content_type="model/obj" file="full/apriltag/apriltag.obj"/>
<texture type="2d" name="material_m36_0" file="assets/full/apriltag/material_m36_0.png"/>
<material name="material_m36_0" texture="material_m36_0" specular="0.4000000000000001" shininess="0.001"/>
<mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_3.obj" scale="1.0 1.0 1.0"/>
<mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_4.obj" scale="1.0 1.0 1.0"/>
<mesh file="decomposed/simplified_hatch_4060_face/simplified_hatch_4060_face/simplified_hatch_4060_face_collision_5.obj" scale="1.0 1.0 1.0"/>
Expand Down Expand Up @@ -559,6 +562,7 @@
<site name="lorge/internal_rotary_wheel" pos="0 0 0" quat="1.0 0 0 0"/>
</body>
<geom material="new_mat_color.013" mesh="simplified_hatch_4060_face" class="visual" pos="" quat=""/>
<geom pos="-0.1 -1 1.1" type="mesh" material="material_m36_0" contype="0" conaffinity="0" group="1" density="0" mesh="apriltag"/>
<geom mesh="simplified_hatch_4060_face_collision_0" rgba="0.23114486446067817 0.6443186093814433 0.8157719947585795 1" class="collision" pos="" quat=""/>
<geom mesh="simplified_hatch_4060_face_collision_1" rgba="0.2852520794576222 0.46912330212483255 0.3072842247308417 1" class="collision" pos="" quat=""/>
<geom mesh="simplified_hatch_4060_face_collision_2" rgba="0.8530487553194221 0.3179077121549385 0.23740639023622678 1" class="collision" pos="" quat=""/>
Expand Down
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