From a41bbd906d8e326eb015ae8a84c3da0ece163a43 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 12 Dec 2019 10:46:32 +0100
Subject: [PATCH] Add ambient to dae textures. Add rotated sun to gazebo worlds
---
meshes/brl.dae | 12 ++++++------
meshes/brl_text.dae | 12 ++++++------
meshes/fme_door_open.dae | 2 +-
meshes/ramps.dae | 2 +-
meshes/willow.dae | 8 ++++----
worlds/brl.world | 16 ++++++++++++++++
worlds/brl_text.world | 16 ++++++++++++++++
worlds/empty.world | 18 +++++++++++++++++-
worlds/fme_door_open.world | 16 ++++++++++++++++
worlds/ramps.world | 16 ++++++++++++++++
worlds/rooms.world | 2 +-
worlds/willow.world | 16 ++++++++++++++++
12 files changed, 116 insertions(+), 20 deletions(-)
diff --git a/meshes/brl.dae b/meshes/brl.dae
index 139fdd1..a8119e0 100644
--- a/meshes/brl.dae
+++ b/meshes/brl.dae
@@ -176,7 +176,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.64 0.64 0.64 1</color>
@@ -202,7 +202,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.64 0.64 0.64 1</color>
@@ -228,7 +228,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.64 0.64 0.64 1</color>
@@ -254,7 +254,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.2248073 0.2248073 0.2248073 1</color>
@@ -280,7 +280,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.05074915 0.06841572 0.09896782 1</color>
@@ -306,7 +306,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.07267014 0.07267014 0.07267014 1</color>
diff --git a/meshes/brl_text.dae b/meshes/brl_text.dae
index f095ba6..90ec545 100644
--- a/meshes/brl_text.dae
+++ b/meshes/brl_text.dae
@@ -115,7 +115,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.2248073 0.2248073 0.2248073 1</color>
@@ -141,7 +141,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.05074915 0.06841572 0.09896782 1</color>
@@ -167,7 +167,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.07267014 0.07267014 0.07267014 1</color>
@@ -203,7 +203,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<texture texture="bricks_jpg_002-sampler"/>
@@ -239,7 +239,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<texture texture="grey_tile_jpg_002-sampler"/>
@@ -275,7 +275,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<texture texture="bricks_jpg_002-sampler"/>
diff --git a/meshes/fme_door_open.dae b/meshes/fme_door_open.dae
index d50132c..85d88a8 100644
--- a/meshes/fme_door_open.dae
+++ b/meshes/fme_door_open.dae
@@ -459,7 +459,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.64 0.64 0.64 1</color>
diff --git a/meshes/ramps.dae b/meshes/ramps.dae
index 83e2776..8880a9e 100644
--- a/meshes/ramps.dae
+++ b/meshes/ramps.dae
@@ -115,7 +115,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.64 0.6264319 0.5867408 1</color>
diff --git a/meshes/willow.dae b/meshes/willow.dae
index 61e1e7c..1b1893d 100644
--- a/meshes/willow.dae
+++ b/meshes/willow.dae
@@ -285,7 +285,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.64 0.3457769 0.3457769 1</color>
@@ -311,7 +311,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.64 0.587768 0.3296951 1</color>
@@ -337,7 +337,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.3598191 0.4211674 0.64 1</color>
@@ -363,7 +363,7 @@
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
- <color sid="ambient">0 0 0 1</color>
+ <color sid="ambient">0.3 0.3 0.3 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.3161188 0.64 0.2839875 1</color>
diff --git a/worlds/brl.world b/worlds/brl.world
index 15d54fa..46e49ab 100644
--- a/worlds/brl.world
+++ b/worlds/brl.world
@@ -1,10 +1,26 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="brl">
+ <!--
<include>
<uri>model://sun</uri>
</include>
+ -->
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0.2 0.2 0.2</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.2 0.2 0.2 1</specular>
+ <attenuation>
+ <range>1000</range>
+ <constant>0.9</constant>
+ <linear>0.01</linear>
+ <quadratic>0.001</quadratic>
+ </attenuation>
+ <direction>-0.5 0.1 -0.9</direction>
+ </light>
+
<!--
<include>
<uri>model://ground_plane</uri>
diff --git a/worlds/brl_text.world b/worlds/brl_text.world
index dedf925..f8fd193 100644
--- a/worlds/brl_text.world
+++ b/worlds/brl_text.world
@@ -1,9 +1,25 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="brl_text">
+ <!--
<include>
<uri>model://sun</uri>
</include>
+ -->
+
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0.2 0.2 0.2</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.2 0.2 0.2 1</specular>
+ <attenuation>
+ <range>1000</range>
+ <constant>0.9</constant>
+ <linear>0.01</linear>
+ <quadratic>0.001</quadratic>
+ </attenuation>
+ <direction>-0.5 0.1 -0.9</direction>
+ </light>
<!--
<include>
diff --git a/worlds/empty.world b/worlds/empty.world
index 38d19b4..a7a7abe 100644
--- a/worlds/empty.world
+++ b/worlds/empty.world
@@ -1,10 +1,26 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
- <!-- A global light source -->
+ <!--
<include>
<uri>model://sun</uri>
</include>
+ -->
+
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0.2 0.2 0.2</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.2 0.2 0.2 1</specular>
+ <attenuation>
+ <range>1000</range>
+ <constant>0.9</constant>
+ <linear>0.01</linear>
+ <quadratic>0.001</quadratic>
+ </attenuation>
+ <direction>-0.5 0.1 -0.9</direction>
+ </light>
+
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
diff --git a/worlds/fme_door_open.world b/worlds/fme_door_open.world
index 884a07a..342ca15 100644
--- a/worlds/fme_door_open.world
+++ b/worlds/fme_door_open.world
@@ -1,9 +1,25 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="fme_door_open">
+ <!--
<include>
<uri>model://sun</uri>
</include>
+ -->
+
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0.2 0.2 0.2</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.2 0.2 0.2 1</specular>
+ <attenuation>
+ <range>1000</range>
+ <constant>0.9</constant>
+ <linear>0.01</linear>
+ <quadratic>0.001</quadratic>
+ </attenuation>
+ <direction>-0.5 0.1 -0.9</direction>
+ </light>
<include>
<uri>model://ground_plane</uri>
diff --git a/worlds/ramps.world b/worlds/ramps.world
index c7a5cc4..ca0f65b 100644
--- a/worlds/ramps.world
+++ b/worlds/ramps.world
@@ -1,9 +1,25 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="ramps">
+ <!--
<include>
<uri>model://sun</uri>
</include>
+ -->
+
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0.2 0.2 0.2</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.2 0.2 0.2 1</specular>
+ <attenuation>
+ <range>1000</range>
+ <constant>0.9</constant>
+ <linear>0.01</linear>
+ <quadratic>0.001</quadratic>
+ </attenuation>
+ <direction>-0.5 0.1 -0.9</direction>
+ </light>
<!--
<include>
diff --git a/worlds/rooms.world b/worlds/rooms.world
index fd33c5b..f31693d 100644
--- a/worlds/rooms.world
+++ b/worlds/rooms.world
@@ -2,7 +2,7 @@
<world name='default'>
<light name='sun' type='directional'>
<cast_shadows>1</cast_shadows>
- <pose frame=''>0 0 10 0 -0 0</pose>
+ <pose frame=''>0 0 10 0.2 0.2 0.2</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
diff --git a/worlds/willow.world b/worlds/willow.world
index bcf434f..0b1b585 100644
--- a/worlds/willow.world
+++ b/worlds/willow.world
@@ -1,9 +1,25 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<world name="willow">
+ <!--
<include>
<uri>model://sun</uri>
</include>
+ -->
+
+ <light type="directional" name="sun">
+ <cast_shadows>true</cast_shadows>
+ <pose>0 0 10 0.2 0.2 0.2</pose>
+ <diffuse>0.8 0.8 0.8 1</diffuse>
+ <specular>0.2 0.2 0.2 1</specular>
+ <attenuation>
+ <range>1000</range>
+ <constant>0.9</constant>
+ <linear>0.01</linear>
+ <quadratic>0.001</quadratic>
+ </attenuation>
+ <direction>-0.5 0.1 -0.9</direction>
+ </light>
<include>
<uri>model://ground_plane</uri>
--
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