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Add apriltag to the hatch #5

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Merged
eholum-nasa merged 2 commits into from
Feb 13, 2026
Merged

Add apriltag to the hatch #5

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15c10d1
added apriltag to the hatch
crainen-nasa Feb 12, 2026
9f0537d
updated UV mapping so the apriltag is identical on both sides of the …
crainen-nasa Feb 13, 2026
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3 changes: 3 additions & 0 deletions hatch_4060/meshes/visual/apriltag.dae
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Binary file added hatch_4060/meshes/visual/apriltag_hatch.png
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19 changes: 19 additions & 0 deletions hatch_4060/urdf/hatch_4060.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,25 @@
</collision>
</link>

<joint name="${prefix}apriltag_joint" type="fixed">
<parent link="${prefix}hatch_face"/>
<child link="${prefix}apriltag"/>
<origin xyz="-0.07 -1.0 1.1" rpy="0 0 0"/>

@eholum-nasa eholum-nasa Feb 12, 2026

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I did this in my head and it's definitely right.

</joint>

<!-- apriltag -->
<link name="${prefix}apriltag">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://hatch_4060/meshes/visual/apriltag.dae"/>
</geometry>
<material name="${prefix}apriltag_texture">
<texture filename="package://hatch_4060/meshes/visual/apriltag_hatch.png"/>
</material>
</visual>
</link>

<!-- sim latch -->
<xacro:if value="${latch}">
<joint name="${prefix}hatch_outer_frame_to_latch_spring_anchor" type="fixed">
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