1648 lines
23 KiB
Plaintext
1648 lines
23 KiB
Plaintext
import * from "grid.material"
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vertex_program Gazebo/DepthMapVS glsl
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{
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source depth_map.vert
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default_params
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{
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param_named_auto texelOffsets texel_offsets
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}
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}
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fragment_program Gazebo/DepthMapFS glsl
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{
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source depth_map.frag
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default_params
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{
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param_named_auto pNear near_clip_distance
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param_named_auto pFar far_clip_distance
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}
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}
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material Gazebo/DepthMap
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{
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technique
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{
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pass
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{
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vertex_program_ref Gazebo/DepthMapVS { }
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fragment_program_ref Gazebo/DepthMapFS { }
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}
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}
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}
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vertex_program Gazebo/XYZPointsVS glsl
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{
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source depth_points_map.vert
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}
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fragment_program Gazebo/XYZPointsFS glsl
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{
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source depth_points_map.frag
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default_params
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{
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param_named_auto width viewport_width
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param_named_auto height viewport_height
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}
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}
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material Gazebo/XYZPoints
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{
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technique
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{
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pass pcd_tex
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{
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separate_scene_blend one zero one zero
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vertex_program_ref Gazebo/XYZPointsVS { }
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fragment_program_ref Gazebo/XYZPointsFS { }
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}
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}
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}
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vertex_program Gazebo/LaserScan1stVS glsl
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{
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source laser_1st_pass.vert
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}
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fragment_program Gazebo/LaserScan1stFS glsl
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{
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source laser_1st_pass.frag
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default_params
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{
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param_named retro float 0.0
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param_named_auto near near_clip_distance
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param_named_auto far far_clip_distance
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}
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}
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material Gazebo/LaserScan1st
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{
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technique
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{
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pass laser_tex
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{
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separate_scene_blend one zero one zero
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vertex_program_ref Gazebo/LaserScan1stVS { }
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fragment_program_ref Gazebo/LaserScan1stFS { }
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}
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}
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}
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vertex_program Gazebo/LaserScan2ndVS glsl
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{
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source laser_2nd_pass.vert
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}
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fragment_program Gazebo/LaserScan2ndFS glsl
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{
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source laser_2nd_pass.frag
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default_params
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{
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param_named tex1 int 0
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param_named tex2 int 1
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param_named tex3 int 2
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param_named_auto texSize texture_size 0
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}
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}
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material Gazebo/LaserScan2nd
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{
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technique
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{
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pass laser_tex_2nd
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{
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separate_scene_blend one zero one zero
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vertex_program_ref Gazebo/LaserScan2ndVS { }
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fragment_program_ref Gazebo/LaserScan2ndFS { }
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}
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}
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}
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material Gazebo/Grey
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{
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technique
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{
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pass main
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{
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ambient .3 .3 .3 1.0
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diffuse .7 .7 .7 1.0
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specular 0.01 0.01 0.01 1.000000 1.500000
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}
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}
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}
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material Gazebo/DarkGrey
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{
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technique
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{
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pass main
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{
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ambient .175 .175 .175 1.0
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diffuse .175 .175 .175 1.0
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specular .175 .175 .175 1.000000 1.500000
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}
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}
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}
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material Gazebo/White
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{
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technique
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{
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pass ambient
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{
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ambient 1 1 1 1
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}
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pass light
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{
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diffuse 1 1 1 1
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specular .1 .1 .1 128
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}
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}
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}
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material Gazebo/FlatBlack
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{
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technique
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{
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pass
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{
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ambient 0.1 0.1 0.1
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diffuse 0.1 0.1 0.1
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specular 0.01 0.01 0.01 1.0 1.0
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}
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}
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}
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material Gazebo/Black
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{
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technique
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{
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pass
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{
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ambient 0 0 0 1
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diffuse 0 0 0 1
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specular 0.1 0.1 0.1 1 5.0
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}
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}
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}
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material Gazebo/Red
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{
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technique
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{
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pass ambient
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{
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ambient 1 0 0
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diffuse 1 0 0
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specular 0.1 0.1 0.1 1 1
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}
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}
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}
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material Gazebo/RedBright
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{
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technique
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{
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pass ambient
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{
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ambient 0.87 0.26 0.07
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diffuse 0.87 0.26 0.07
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specular 0.87 0.26 0.07 1 1
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}
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}
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}
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material Gazebo/Green
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{
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technique
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{
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pass ambient
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{
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ambient 0 1 0
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diffuse 0 1 0
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specular 0.1 0.1 0.1 1 1
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}
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}
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}
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material Gazebo/Blue
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{
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technique
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{
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pass ambient
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{
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ambient 0 0 1
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diffuse 0 0 1
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specular 0.1 0.1 0.1 1 1
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}
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}
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}
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material Gazebo/SkyBlue
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{
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technique
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{
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pass ambient
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{
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ambient 0.13 0.44 0.70
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diffuse 0 0 1
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specular 0.1 0.1 0.1 1 1
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}
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}
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}
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material Gazebo/Yellow
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{
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technique
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{
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pass ambient
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{
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ambient 1 1 0 1
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diffuse 1 1 0 1
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specular 0 0 0 0 0
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}
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}
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}
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material Gazebo/ZincYellow
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{
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technique
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{
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pass ambient
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{
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ambient 0.9725 0.9529 0.2078 1
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diffuse 0.9725 0.9529 0.2078 1
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specular 0.9725 0.9529 0.2078 1 1
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}
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}
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}
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material Gazebo/DarkYellow
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{
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technique
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{
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pass ambient
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{
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ambient 0.7 0.7 0 1
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diffuse 0.7 0.7 0 1
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specular 0 0 0 0 0
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}
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}
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}
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material Gazebo/Purple
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{
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technique
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{
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pass ambient
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{
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ambient 1 0 1
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diffuse 1 0 1
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specular 0.1 0.1 0.1 1 1
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}
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}
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}
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material Gazebo/Turquoise
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{
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technique
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{
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pass ambient
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{
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ambient 0 1 1
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diffuse 0 1 1
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specular 0.1 0.1 0.1 1 1
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}
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}
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}
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material Gazebo/Orange
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{
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technique
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{
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pass ambient
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{
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lighting on
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ambient 1 0.5088 0.0468 1
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diffuse 1 0.5088 0.0468 1
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specular 0.5 0.5 0.5 128
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}
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}
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}
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material Gazebo/Indigo
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{
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technique
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{
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pass ambient
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{
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ambient 0.33 0.0 0.5
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diffuse 0.33 0.0 0.5
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specular 0.1 0.1 0.1 1
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}
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}
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}
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material Gazebo/WhiteGlow : Gazebo/White
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{
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technique
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{
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pass light
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{
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emissive 1 1 1
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}
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}
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}
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material Gazebo/RedGlow
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{
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technique
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{
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pass ambient
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{
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ambient 1 0 0
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diffuse 1 0 0
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emissive 1 0 0
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specular 0 0 0 128
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}
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pass light
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{
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ambient 1 0 0
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diffuse 1 0 0
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emissive 1 0 0
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specular 1 0 0 128
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}
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}
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}
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material Gazebo/GreenGlow : Gazebo/Green
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{
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technique
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{
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pass ambient
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{
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emissive 0 1 0
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}
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pass light
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{
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emissive 0 1 0
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}
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}
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}
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material Gazebo/BlueGlow : Gazebo/Blue
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{
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technique
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{
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pass light
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{
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emissive 0 0 1
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}
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}
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}
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material Gazebo/YellowGlow : Gazebo/Yellow
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{
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technique
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{
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pass light
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{
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emissive 1 1 0
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}
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}
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}
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material Gazebo/PurpleGlow : Gazebo/Purple
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{
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technique
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{
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pass light
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{
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emissive 1 0 1
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}
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}
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}
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material Gazebo/TurquoiseGlow : Gazebo/Turquoise
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{
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technique
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{
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pass light
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{
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emissive 0 1 1
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}
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}
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}
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material Gazebo/TurquoiseGlowOutline
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{
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technique
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{
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pass ambient
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{
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scene_blend alpha_blend
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//lighting off
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diffuse 0 1 1 1
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specular .1 .1 .1 128
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}
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pass ambient2
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{
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scene_blend alpha_blend
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diffuse 0 1 1
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specular .1 .1 .1 128
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emissive 0 1 1
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polygon_mode wireframe
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}
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}
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}
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material Gazebo/RedTransparentOverlay
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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lighting off
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depth_check off
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texture_unit
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{
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colour_op_ex source1 src_manual src_current 1 0 0
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alpha_op_ex source1 src_manual src_current 0.5
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}
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}
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}
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}
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material Gazebo/BlueTransparentOverlay
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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lighting off
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depth_check off
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texture_unit
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{
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colour_op_ex source1 src_manual src_current 0 0 1
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alpha_op_ex source1 src_manual src_current 0.5
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}
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}
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}
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}
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material Gazebo/GreenTransparentOverlay
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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lighting off
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depth_check off
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texture_unit
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{
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colour_op_ex source1 src_manual src_current 0 1 0
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alpha_op_ex source1 src_manual src_current 0.5
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}
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}
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}
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}
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material Gazebo/OrangeTransparentOverlay
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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lighting off
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depth_check off
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ambient 1 0.5088 0.0468
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texture_unit
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{
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colour_op_ex source1 src_manual src_current 1 0.5088 0.0468
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alpha_op_ex source1 src_manual src_current 0.8
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}
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}
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}
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}
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material Gazebo/DarkOrangeTransparentOverlay
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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lighting off
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depth_check off
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ambient 0.6 0.305 0.028
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texture_unit
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{
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colour_op_ex source1 src_manual src_current 0.6 0.305 0.028
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alpha_op_ex source1 src_manual src_current 0.8
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}
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}
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}
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}
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material Gazebo/RedTransparent
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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lighting off
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texture_unit
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{
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colour_op_ex source1 src_manual src_current 1 0 0
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alpha_op_ex source1 src_manual src_current 0.5
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}
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}
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}
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}
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material Gazebo/GreenTransparent
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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ambient 0.0 1.0 0.0 1
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diffuse 0.0 1.0 0.0 1
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texture_unit
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{
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colour_op_ex source1 src_current src_current 0 1 0
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alpha_op_ex source1 src_manual src_current 0.5
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}
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}
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}
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}
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material Gazebo/BlueTransparent
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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ambient 0.0 0.0 1.0 1
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diffuse 0.0 0.0 1.0 1
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texture_unit
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{
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colour_op_ex source1 src_current src_current 0 1 0
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alpha_op_ex source1 src_manual src_current 0.5
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}
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}
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}
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}
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material Gazebo/DarkMagentaTransparent
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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ambient 0.6 0.0 0.6 1
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diffuse 0.6 0.0 0.6 1
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texture_unit
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{
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colour_op_ex source1 src_current src_current 0.6 0 0.6
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alpha_op_ex source1 src_manual src_current 0.5
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}
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}
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}
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}
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material Gazebo/GreyTransparent
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{
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technique
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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ambient 0.5 0.5 0.5 1
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diffuse 0.5 0.5 0.5 1
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texture_unit
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{
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colour_op_ex source1 src_current src_current 0 1 0
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alpha_op_ex source1 src_manual src_current 0.5
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}
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}
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}
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}
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material Gazebo/BlackTransparent
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{
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technique
|
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{
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pass
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{
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scene_blend alpha_blend
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depth_write off
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|
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ambient 0.0 0.0 0.0 1
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diffuse 0.0 0.0 0.0 1
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|
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texture_unit
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{
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colour_op_ex source1 src_current src_current 0 1 0
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alpha_op_ex source1 src_manual src_current 0.5
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}
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|
}
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|
}
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|
}
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|
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material Gazebo/YellowTransparent
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
scene_blend alpha_blend
|
|
depth_write off
|
|
|
|
ambient 1.0 1.0 0.0 1
|
|
diffuse 1.0 1.0 0.0 1
|
|
|
|
texture_unit
|
|
{
|
|
colour_op_ex source1 src_current src_current 0 1 0
|
|
alpha_op_ex source1 src_manual src_current 0.5
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/LightOn
|
|
{
|
|
technique
|
|
{
|
|
pass ambient
|
|
{
|
|
diffuse 0 1 0
|
|
ambient 0 1 0
|
|
emissive 0 1 0
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/LightOff
|
|
{
|
|
technique
|
|
{
|
|
pass ambient
|
|
{
|
|
diffuse 1 0 0
|
|
ambient 1 0 0
|
|
emissive 1 0 0
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/LightBlueLaser
|
|
{
|
|
receive_shadows off
|
|
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
scene_blend alpha_blend
|
|
depth_write off
|
|
cull_hardware none
|
|
|
|
ambient 0.5 0.5 1.0 1
|
|
diffuse 0.5 0.5 1.0 1
|
|
|
|
texture_unit
|
|
{
|
|
colour_op_ex source1 src_current src_current 0 1 0
|
|
alpha_op_ex source1 src_manual src_current 0.4
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/BlueLaser
|
|
{
|
|
receive_shadows off
|
|
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
scene_blend alpha_blend
|
|
depth_write off
|
|
cull_hardware none
|
|
|
|
ambient 0.0 0.0 1.0 1
|
|
diffuse 0.0 0.0 1.0 1
|
|
|
|
texture_unit
|
|
{
|
|
colour_op_ex source1 src_current src_current 0 1 0
|
|
alpha_op_ex source1 src_manual src_current 0.4
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/OrangeTransparent
|
|
{
|
|
receive_shadows off
|
|
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
scene_blend alpha_blend
|
|
depth_write off
|
|
|
|
ambient 1.0 0.44 0.0 1
|
|
diffuse 1.0 0.44 0.0 1
|
|
|
|
texture_unit
|
|
{
|
|
colour_op_ex source1 src_current src_current 0 1 0
|
|
alpha_op_ex source1 src_manual src_current 0.4
|
|
}
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
material Gazebo/JointAnchor
|
|
{
|
|
receive_shadows off
|
|
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 1.000000 1.000000 1.000000 1.000000
|
|
diffuse 1.000000 1.000000 1.000000 1.000000
|
|
specular 1.000000 1.000000 1.000000 1.000000
|
|
emissive 1.000000 1.000000 1.000000 1.000000
|
|
lighting off
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/CoM
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.5 0.5 0.5 1.000000
|
|
|
|
texture_unit
|
|
{
|
|
texture com.png
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/WoodFloor
|
|
{
|
|
receive_shadows on
|
|
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.5 0.5 0.5 1.000000
|
|
|
|
texture_unit
|
|
{
|
|
texture hardwood_floor.jpg
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/CeilingTiled
|
|
{
|
|
receive_shadows on
|
|
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.5 0.5 0.5 1.000000
|
|
|
|
texture_unit
|
|
{
|
|
texture ceiling_tiled.jpg
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/PaintedWall
|
|
{
|
|
receive_shadows on
|
|
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 1.0 1.0 1.0 1.000000
|
|
|
|
texture_unit
|
|
{
|
|
texture paintedWall.jpg
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/PioneerBody
|
|
{
|
|
receive_shadows on
|
|
technique
|
|
{
|
|
pass Ambient
|
|
{
|
|
ambient 0.5 0 0
|
|
|
|
texture_unit
|
|
{
|
|
texture pioneerBody.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
pass DirectionalLight
|
|
{
|
|
ambient 0 0 0
|
|
diffuse 1 0 0 1
|
|
specular 0.5 0 0 1 10
|
|
|
|
texture_unit
|
|
{
|
|
texture pioneerBody.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
pass PointLight
|
|
{
|
|
ambient 0 0 0
|
|
diffuse 1 0 0 1
|
|
specular 0.5 0 0 1 10
|
|
|
|
texture_unit
|
|
{
|
|
texture pioneerBody.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
material Gazebo/Pioneer2Body
|
|
{
|
|
receive_shadows on
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
//ambient 0.500000 0.500000 0.500000 1.000000
|
|
ambient 0.481193 0.000123 0.000123 1.000000
|
|
diffuse 0.681193 0.000923 0.000923 1.000000
|
|
specular 0.500000 0.500000 0.500000 1.000000 12.500000
|
|
emissive 0.000000 0.000000 0.000000 1.000000
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Gold
|
|
{
|
|
receive_shadows on
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.400000 0.248690 0.020759 1.000000
|
|
diffuse 0.800000 0.648690 0.120759 1.000000
|
|
specular 0.400000 0.400000 0.400000 1.000000 12.500000
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/GreyGradientSky
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
depth_write off
|
|
lighting off
|
|
|
|
texture_unit
|
|
{
|
|
texture grey_gradient.jpg
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/CloudySky
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
depth_write off
|
|
lighting off
|
|
|
|
texture_unit
|
|
{
|
|
texture clouds.jpg
|
|
scroll_anim 0.15 0
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/WoodPallet
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.5 0.5 0.5 1.0
|
|
diffuse 1.0 1.0 1.0 1.0
|
|
specular 0.0 0.0 0.0 1.0 0.5
|
|
|
|
texture_unit
|
|
{
|
|
texture WoodPallet.png
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
|
|
/*
|
|
technique
|
|
{
|
|
scheme GBuffer
|
|
pass DeferredShading/GBuffer/Pass_16
|
|
{
|
|
lighting off
|
|
|
|
vertex_program_ref Gazebo/NateVS
|
|
{
|
|
}
|
|
|
|
fragment_program_ref Gazebo/NateFS
|
|
{
|
|
}
|
|
}
|
|
}*/
|
|
}
|
|
|
|
material Gazebo/Wood
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 1.0 1.0 1.0 1.0
|
|
diffuse 1.0 1.0 1.0 1.0
|
|
specular 0.2 0.2 0.2 1.0 12.5
|
|
|
|
texture_unit
|
|
{
|
|
texture wood.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Bricks
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 1.0 1.0 1.0 1.0
|
|
diffuse 1.0 1.0 1.0 1.0
|
|
specular 0.2 0.2 0.2 1.0 12.5
|
|
|
|
texture_unit
|
|
{
|
|
texture bricks.png
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Road
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture road1.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Residential
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture residential.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Tertiary
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture residential.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Pedestrian
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture sidewalk.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Footway
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture sidewalk.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Motorway
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture motorway.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Lanes_6
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture motorway.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Trunk
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture trunk.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Lanes_4
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture trunk.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Primary
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture primary.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Lanes_2
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture primary.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Secondary
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture secondary.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Lane_1
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture secondary.jpg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Steps
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.1 0.1 0.1 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.01 0.01 0.01 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture steps.jpeg
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material drc/san_fauxcity_sign
|
|
{
|
|
receive_shadows off
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.8 0.8 0.8 1.0
|
|
diffuse 0.8 0.8 0.8 1.0
|
|
specular 0.1 0.1 0.1 1.0 2.0
|
|
|
|
texture_unit
|
|
{
|
|
texture san_fauxcity.png
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
vertex_program Gazebo/GaussianCameraNoiseVS glsl
|
|
{
|
|
source camera_noise_gaussian_vs.glsl
|
|
}
|
|
|
|
fragment_program Gazebo/GaussianCameraNoiseFS glsl
|
|
{
|
|
source camera_noise_gaussian_fs.glsl
|
|
default_params
|
|
{
|
|
param_named RT int 0
|
|
param_named mean float 0.0
|
|
param_named stddev float 1.0
|
|
param_named offsets float3 0.0 0.0 0.0
|
|
}
|
|
}
|
|
|
|
material Gazebo/GaussianCameraNoise
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
vertex_program_ref Gazebo/GaussianCameraNoiseVS { }
|
|
fragment_program_ref Gazebo/GaussianCameraNoiseFS { }
|
|
|
|
texture_unit RT
|
|
{
|
|
tex_coord_set 0
|
|
tex_address_mode clamp
|
|
filtering linear linear linear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
vertex_program Gazebo/CameraDistortionMapVS glsl
|
|
{
|
|
source camera_distortion_map_vs.glsl
|
|
}
|
|
|
|
fragment_program Gazebo/CameraDistortionMapFS glsl
|
|
{
|
|
source camera_distortion_map_fs.glsl
|
|
default_params
|
|
{
|
|
param_named RT int 0
|
|
param_named distortionMap int 1
|
|
param_named scale float3 1.0 1.0 1.0
|
|
}
|
|
}
|
|
|
|
material Gazebo/CameraDistortionMap
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
vertex_program_ref Gazebo/CameraDistortionMapVS { }
|
|
fragment_program_ref Gazebo/CameraDistortionMapFS { }
|
|
|
|
texture_unit RT
|
|
{
|
|
tex_coord_set 0
|
|
tex_address_mode border
|
|
filtering linear linear linear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
vertex_program Gazebo/WideLensMapVS glsl
|
|
{
|
|
source wide_lens_map_vs.glsl
|
|
default_params
|
|
{
|
|
param_named ratio float 1
|
|
}
|
|
}
|
|
|
|
fragment_program Gazebo/WideLensMapFS glsl
|
|
{
|
|
source wide_lens_map_fp.glsl
|
|
default_params
|
|
{
|
|
param_named envMap int 0
|
|
param_named c1 float 1
|
|
param_named c2 float 1
|
|
param_named c3 float 0
|
|
param_named f float 1
|
|
param_named fun float3 0 1
|
|
param_named cutOffAngle float 3.14
|
|
}
|
|
}
|
|
|
|
material Gazebo/WideLensMap
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
vertex_program_ref Gazebo/WideLensMapVS { }
|
|
fragment_program_ref Gazebo/WideLensMapFS { }
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
vertex_program Gazebo/CameraLesnFlareVS glsl
|
|
{
|
|
source camera_lens_flare_vs.glsl
|
|
}
|
|
|
|
fragment_program Gazebo/CameraLesnFlareFS glsl
|
|
{
|
|
source camera_lens_flare_fs.glsl
|
|
|
|
default_params
|
|
{
|
|
param_named RT int 0
|
|
param_named noiseRGBA int 1
|
|
param_named time float 0.0
|
|
param_named viewport float3 0.0 0.0 0.0
|
|
param_named lightPos float3 0 0 0
|
|
param_named scale float 1.0
|
|
}
|
|
}
|
|
|
|
material Gazebo/CameraLensFlare
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
vertex_program_ref Gazebo/CameraLesnFlareVS { }
|
|
fragment_program_ref Gazebo/CameraLesnFlareFS { }
|
|
|
|
texture_unit RT
|
|
{
|
|
tex_coord_set 0
|
|
tex_address_mode border
|
|
filtering linear linear linear
|
|
}
|
|
texture_unit noiseRGBA
|
|
{
|
|
texture noise_rgba.png
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/PointCloud
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
diffuse vertexcolour
|
|
specular vertexcolour
|
|
ambient vertexcolour
|
|
point_size 3
|
|
point_sprites off
|
|
point_size_attenuation off
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/PointHandle
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
lighting off
|
|
scene_blend alpha_blend
|
|
depth_write off
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/BuildingFrame
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 1.0 1.0 1.0 1.0
|
|
diffuse 1.0 1.0 1.0 1.0
|
|
specular 0.2 0.2 0.2 1.0 12.5
|
|
|
|
texture_unit
|
|
{
|
|
texture building_frame.png
|
|
filtering trilinear
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Runway
|
|
{
|
|
receive_shadows on
|
|
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.5 0.5 0.5 1.000000
|
|
|
|
texture_unit
|
|
{
|
|
texture runway.png
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Grass
|
|
{
|
|
receive_shadows on
|
|
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
ambient 0.5 0.5 0.5 1.000000
|
|
|
|
texture_unit
|
|
{
|
|
scale .02 .02
|
|
texture grass.jpg
|
|
filtering anisotropic
|
|
max_anisotropy 16
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/Editor
|
|
{
|
|
technique
|
|
{
|
|
pass ambient
|
|
{
|
|
ambient 1.0 1.0 1.0 1.0
|
|
diffuse 1.0 1.0 1.0 1
|
|
specular .1 .1 .1 128
|
|
}
|
|
}
|
|
}
|
|
|
|
material Gazebo/EditorPlane
|
|
{
|
|
technique
|
|
{
|
|
pass
|
|
{
|
|
scene_blend colour_blend
|
|
|
|
ambient .3 .3 .3 1.0
|
|
diffuse .7 .7 .7 1.0
|
|
specular 0.01 0.01 0.01 1.000000 1.500000
|
|
}
|
|
}
|
|
}
|