Tutorial to create your own 3D object mesh for FoundationPose
===================================================================


Overview
---------

This tutorial walks you through create a 3D mesh for an arbitrary object using your mobile phone.


Tutorial Walkthrough
--------------------

1. Install the `AR Code Object Capture 3D Scan` app on your mobile phone. 

    .. note::

      An iPhone 12 Pro or a newer model is necessary for this app. While we reference the iPhone here, equivalent applications should be available in the Android app store.

2. Open the app, follow the prompt instructions to scan the object.

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/mac_and_cheese_1.png>`
      :width: 300px
      :align: center

3. Finish scan, generate the object mesh and export as `.usdz` file.

   .. figure:: :ir_lfs:`<resources/isaac_ros_docs/concepts/pose_estimation/foundationpose/mac_and_cheese_2.png>`
      :width: 300px
      :align: center

4. Convert the `.usdz` file to `.obj` use `online tools <https://products.aspose.app/3d/conversion/usdz-to-obj>`__

5. Make sure the origin frame of the object is shifted to the center follow this :doc:`tutorial </concepts/pose_estimation/foundationpose/tutorial_shift_mesh_center>`.

6. Download the obj file to your workspace, you should see the `.obj` file along with the `.mtl` and texture `.png` files in a folder.