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Absolem: Added ceiling light.
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+316
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‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/reflector.dae

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<?xml version="1.0" encoding="utf-8"?>
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<asset>
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<contributor>
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<author>Blender User</author>
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<authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
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</contributor>
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<created>2021-03-13T01:45:10</created>
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<modified>2021-03-13T01:45:10</modified>
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<unit name="meter" meter="1"/>
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<up_axis>Z_UP</up_axis>
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</asset>
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<library_effects>
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<effect id="Material_002-effect">
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<profile_COMMON>
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<technique sid="common">
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<lambert>
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<emission>
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<color sid="emission">0.3645575 0.3628713 0.1835204 1</color>
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</emission>
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<diffuse>
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<color sid="diffuse">0.8 0.8 0.8 1</color>
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</diffuse>
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<reflectivity>
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<float sid="specular">1</float>
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</reflectivity>
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<index_of_refraction>
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<float sid="ior">1.45</float>
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</index_of_refraction>
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</lambert>
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</technique>
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</profile_COMMON>
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</effect>
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<effect id="Material_001-effect">
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<profile_COMMON>
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<technique sid="common">
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<lambert>
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<emission>
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<color sid="emission">0 0 0 1</color>
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</emission>
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<diffuse>
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<color sid="diffuse">0.01738771 0.01738771 0.01738771 1</color>
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</diffuse>
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<reflectivity>
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<float sid="specular">0.3255033</float>
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</reflectivity>
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</lambert>
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</technique>
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</profile_COMMON>
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</effect>
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</library_effects>
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<library_images/>
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<library_materials>
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<material id="Material_002-material" name="Material.002">
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<instance_effect url="#Material_002-effect"/>
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</material>
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<material id="Material_001-material" name="Material.001">
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<instance_effect url="#Material_001-effect"/>
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</material>
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</library_materials>
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<library_geometries>
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<geometry id="Reflector_LED_Custom_001-mesh" name="Reflector LED Custom.001">
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<mesh>
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<source id="Reflector_LED_Custom_001-mesh-positions">
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</accessor>
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</technique_common>
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</source>
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<vertices id="Reflector_LED_Custom_001-mesh-vertices">
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<input semantic="POSITION" source="#Reflector_LED_Custom_001-mesh-positions"/>
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</vertices>
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<triangles material="Material_002-material" count="37">
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<input semantic="VERTEX" source="#Reflector_LED_Custom_001-mesh-vertices" offset="0"/>
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<input semantic="NORMAL" source="#Reflector_LED_Custom_001-mesh-normals" offset="1"/>
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</triangles>
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</mesh>
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</geometry>
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<geometry id="Reflector_LED_Custom-mesh" name="Reflector LED Custom">
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<mesh>
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<source id="Reflector_LED_Custom-mesh-positions">
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<param name="Z" type="float"/>
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</source>
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<vertices id="Reflector_LED_Custom-mesh-vertices">
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<input semantic="POSITION" source="#Reflector_LED_Custom-mesh-positions"/>
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</vertices>
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<triangles material="Material_001-material" count="123">
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<input semantic="VERTEX" source="#Reflector_LED_Custom-mesh-vertices" offset="0"/>
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<input semantic="NORMAL" source="#Reflector_LED_Custom-mesh-normals" offset="1"/>
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</triangles>
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</mesh>
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</geometry>
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</library_geometries>
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<library_visual_scenes>
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<visual_scene id="Scene" name="Scene">
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<node id="Reflector_LED_Custom_001" name="Reflector LED Custom.001" type="NODE">
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<matrix sid="transform">9.99987e-4 0 0 -0.0138748 0 9.99987e-4 0 -0.003306625 0 0 9.99987e-4 -4.42537e-4 0 0 0 1</matrix>
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<instance_geometry url="#Reflector_LED_Custom_001-mesh" name="Reflector LED Custom.001">
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<bind_material>
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<technique_common>
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<instance_material symbol="Material_002-material" target="#Material_002-material"/>
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</technique_common>
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</bind_material>
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</instance_geometry>
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</node>
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<node id="Reflector_LED_Custom" name="Reflector LED Custom" type="NODE">
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<matrix sid="transform">9.99987e-4 0 0 -0.0138748 0 9.99987e-4 0 -0.003306625 0 0 9.99987e-4 -4.42537e-4 0 0 0 1</matrix>
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<instance_geometry url="#Reflector_LED_Custom-mesh" name="Reflector LED Custom">
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<bind_material>
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<technique_common>
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<instance_material symbol="Material_001-material" target="#Material_001-material"/>
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</bind_material>
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</instance_geometry>
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</node>
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</visual_scene>
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</library_visual_scenes>
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<scene>
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<instance_visual_scene url="#Scene"/>
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</scene>
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</COLLADA>

‎submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/lights.xacro

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<?xml version="1.0"?>
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<root xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="spot_light_up" params="name pose">
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<light name="${name}" type="spot">
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<pose>${pose}</pose>
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<attenuation>
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<range>60</range>
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<linear>0</linear>
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<constant>0.1</constant>
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<quadratic>0.0025</quadratic>
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</attenuation>
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<diffuse>0.8 0.8 0.5 1</diffuse>
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<specular>0.8 0.8 0.5 1</specular>
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<spot>
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<inner_angle>${pi/3}</inner_angle>
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<outer_angle>${pi/2}</outer_angle>
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<falloff>1</falloff>
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</spot>
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<direction>0 0 -1</direction>
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</light>
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</xacro:macro>
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</root>

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