Merge pull request ros-industrial#377 from dniewinski/mesh-brightness

Updated mesh ambience so the model isn't so dark in gazebo
dniewinski · Oct 17, 2018 · f528e20 · f528e20
2 parents 9084aa0 + 896f0b4
commit f528e20
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Showing 21 changed files with 66 additions and 66 deletions.
diff --git a/ur_description/meshes/ur10/visual/base.dae b/ur_description/meshes/ur10/visual/base.dae
@@ -20,7 +20,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.371451 0.371451 0.371451 1</color>
@@ -46,7 +46,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.1781961 0.1781961 0.1781961 1</color>
@@ -72,7 +72,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.3137255 0.4341961 0.512 1</color>

diff --git a/ur_description/meshes/ur10/visual/forearm.dae b/ur_description/meshes/ur10/visual/forearm.dae
@@ -198,7 +198,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.2227451 0.2227451 0.2227451 1</color>
@@ -224,7 +224,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.3921569 0.5427451 0.64 1</color>
@@ -250,7 +250,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.4643137 0.4643137 0.4643137 1</color>
@@ -276,7 +276,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.6563138 0.6563138 0.6563138 1</color>
@@ -302,7 +302,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.08031373 0.08031373 0.08031373 1</color>

diff --git a/ur_description/meshes/ur10/visual/shoulder.dae b/ur_description/meshes/ur10/visual/shoulder.dae
@@ -198,7 +198,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.2227451 0.2227451 0.2227451 1</color>
@@ -224,7 +224,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.3921569 0.5427451 0.64 1</color>
@@ -250,7 +250,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.4643137 0.4643137 0.4643137 1</color>

diff --git a/ur_description/meshes/ur10/visual/upperarm.dae b/ur_description/meshes/ur10/visual/upperarm.dae
@@ -565,7 +565,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.2227451 0.2227451 0.2227451 1</color>
@@ -591,7 +591,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.3921569 0.5427451 0.64 1</color>
@@ -617,7 +617,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.4643137 0.4643137 0.4643137 1</color>
@@ -643,7 +643,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.6563138 0.6563138 0.6563138 1</color>
@@ -669,7 +669,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.08031373 0.08031373 0.08031373 1</color>

diff --git a/ur_description/meshes/ur10/visual/wrist1.dae b/ur_description/meshes/ur10/visual/wrist1.dae
@@ -304,7 +304,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.2227451 0.2227451 0.2227451 1</color>
@@ -330,7 +330,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.3921569 0.5427451 0.64 1</color>
@@ -356,7 +356,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.4643137 0.4643137 0.4643137 1</color>

diff --git a/ur_description/meshes/ur10/visual/wrist2.dae b/ur_description/meshes/ur10/visual/wrist2.dae
@@ -111,7 +111,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.2227451 0.2227451 0.2227451 1</color>
@@ -137,7 +137,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.3921569 0.5427451 0.64 1</color>
@@ -163,7 +163,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.4643137 0.4643137 0.4643137 1</color>

diff --git a/ur_description/meshes/ur10/visual/wrist3.dae b/ur_description/meshes/ur10/visual/wrist3.dae
@@ -111,7 +111,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.4643137 0.4643137 0.4643137 1</color>
@@ -137,7 +137,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.2227451 0.2227451 0.2227451 1</color>
@@ -163,7 +163,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.3921569 0.5427451 0.64 1</color>
@@ -189,7 +189,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.6563138 0.6563138 0.6563138 1</color>
@@ -215,7 +215,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.08031373 0.08031373 0.08031373 1</color>

diff --git a/ur_description/meshes/ur3/visual/base.dae b/ur_description/meshes/ur3/visual/base.dae
@@ -111,7 +111,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.2688 0.2688 0.2688 1</color>
@@ -137,7 +137,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0 0 0 1</color>

diff --git a/ur_description/meshes/ur3/visual/forearm.dae b/ur_description/meshes/ur3/visual/forearm.dae
@@ -111,7 +111,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.14272 0.14272 0.14272 1</color>
@@ -137,7 +137,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.335872 0.335872 0.335872 1</color>
@@ -163,7 +163,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.25088 0.34752 0.4096 1</color>

diff --git a/ur_description/meshes/ur3/visual/shoulder.dae b/ur_description/meshes/ur3/visual/shoulder.dae
@@ -111,7 +111,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.114176 0.114176 0.114176 1</color>
@@ -137,7 +137,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.200704 0.278016 0.32768 1</color>
@@ -163,7 +163,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.04096 0.04096 0.04096 1</color>

diff --git a/ur_description/meshes/ur3/visual/upperarm.dae b/ur_description/meshes/ur3/visual/upperarm.dae
@@ -198,7 +198,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.25088 0.34752 0.4096 1</color>
@@ -224,7 +224,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.14272 0.14272 0.14272 1</color>
@@ -250,7 +250,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.335872 0.335872 0.335872 1</color>

diff --git a/ur_description/meshes/ur3/visual/wrist1.dae b/ur_description/meshes/ur3/visual/wrist1.dae
@@ -111,7 +111,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.14272 0.14272 0.14272 1</color>
@@ -137,7 +137,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.25088 0.34752 0.4096 1</color>

diff --git a/ur_description/meshes/ur3/visual/wrist2.dae b/ur_description/meshes/ur3/visual/wrist2.dae
@@ -111,7 +111,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.25088 0.34752 0.4096 1</color>
@@ -137,7 +137,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.14272 0.14272 0.14272 1</color>

diff --git a/ur_description/meshes/ur3/visual/wrist3.dae b/ur_description/meshes/ur3/visual/wrist3.dae
@@ -20,7 +20,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.335872 0.335872 0.335872 1</color>
@@ -46,7 +46,7 @@
               <color sid="emission">0 0 0 1</color>
             </emission>
             <ambient>
-              <color sid="ambient">0 0 0 1</color>
+              <color sid="ambient">0.5 0.5 0.5 1</color>
             </ambient>
             <diffuse>
               <color sid="diffuse">0.14272 0.14272 0.14272 1</color>