From df6efe54d9ffbde3b6c246cfe4a00a1ac9c8cf5f Mon Sep 17 00:00:00 2001
From: Brian Delhaisse <briandelhaisse@gmail.com>
Date: Fri, 3 May 2019 04:36:23 +0200
Subject: [PATCH] fix urdf color for pepper

---
 pyrobolearn/robots/urdfs/pepper/pepper.urdf | 78 +++++++++++++++++++++
 1 file changed, 78 insertions(+)

diff --git a/pyrobolearn/robots/urdfs/pepper/pepper.urdf b/pyrobolearn/robots/urdfs/pepper/pepper.urdf
index dfe80ed..ac5f174 100644
--- a/pyrobolearn/robots/urdfs/pepper/pepper.urdf
+++ b/pyrobolearn/robots/urdfs/pepper/pepper.urdf
@@ -7,6 +7,37 @@
  ****** File automatically generated by generate_urdf.py script ******
  *********************************************************************-->
 <robot name="JulietteY20MP" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <material name="black">
+    <color rgba="0.2 0.2 0.2 1"/>
+  </material>
+  <material name="white">
+    <color rgba="0.9 0.9 0.9 1"/>
+  </material>
+  <material name="dark_gray">
+    <color rgba="0.3 0.3 0.3 1"/>
+  </material>
+  <material name="gray">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="light_gray">
+    <color rgba="0.7 0.7 0.7 1"/>
+  </material>
+  <material name="pure_red">
+    <color rgba="1.0 0.0 0.0 1"/>
+  </material>
+  <material name="red">
+    <color rgba="0.5 0.1 0.2 1"/>
+  </material>
+  <material name="pure_green">
+    <color rgba="0.0 1.0 0.0 1"/>
+  </material>
+  <material name="pure_blue">
+    <color rgba="0.0 0.0 1.0 1"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.2 0.3 1"/>
+  </material>
+
   <joint name="HeadYaw" type="revolute">
     <parent link="torso"/>
     <child link="Neck"/>
@@ -21,6 +52,7 @@
       <origin rpy="0 0 0" xyz="-0.00207 0 -0.02636"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/HeadYaw.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -47,6 +79,7 @@
       <origin rpy="0 0 0" xyz="0.00312 0 0.11152"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/HeadPitch.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -73,6 +106,7 @@
       <origin rpy="0 0 0" xyz="0.00032 0 -0.06039"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/HipRoll.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -99,6 +133,7 @@
       <origin rpy="0 0 0" xyz="0.00237 0 -0.09654"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/HipPitch.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -125,6 +160,7 @@
       <origin rpy="0 0 0" xyz="0.00220451 0 -0.185729"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/KneePitch.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -163,6 +199,7 @@
       <origin rpy="0 0 0" xyz="0.00322 0 -0.01029"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/Torso.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -189,6 +226,7 @@
       <origin rpy="0 0 0" xyz="0.00018 -0.01856 0.00099"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LShoulderPitch.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -215,6 +253,7 @@
       <origin rpy="0 0 0" xyz="0.08151 0.01284 -0.01017"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/LShoulderRoll.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -241,6 +280,7 @@
       <origin rpy="0 0 0" xyz="-0.02297 -0.00019 0.00119"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LElbowYaw.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -267,6 +307,7 @@
       <origin rpy="0 0 0" xyz="0.0593 0.00271 -0.01014"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/LElbowRoll.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -293,6 +334,7 @@
       <origin rpy="0 0 0" xyz="0.03536 -0.00072 -0.00207"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/LWristYaw.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -332,6 +374,7 @@
       <origin rpy="0 0 0" xyz="0.00018 0.01856 0.00099"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RShoulderPitch.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -358,6 +401,7 @@
       <origin rpy="0 0 0" xyz="0.08151 -0.01284 -0.01017"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/RShoulderRoll.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -384,6 +428,7 @@
       <origin rpy="0 0 0" xyz="-0.02297 0.00019 0.00119"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RElbowYaw.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -410,6 +455,7 @@
       <origin rpy="0 0 0" xyz="0.0593 -0.00271 -0.01014"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/RElbowRoll.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -436,6 +482,7 @@
       <origin rpy="0 0 0" xyz="0.03536 0.00072 -0.00207"/>
     </inertial>
     <visual>
+      <material name="white"/>
       <geometry>
         <mesh filename="meshes/1.0/RWristYaw.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -880,6 +927,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger41.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -906,6 +954,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger42.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -932,6 +981,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger12.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -958,6 +1008,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger33.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -984,6 +1035,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger31.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1010,6 +1062,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger21.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1036,6 +1089,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger32.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1062,6 +1116,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger13.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1088,6 +1143,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger32.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1114,6 +1170,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger11.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1140,6 +1197,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger22.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1166,6 +1224,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger13.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1192,6 +1251,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger22.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1218,6 +1278,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger21.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1244,6 +1305,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger41.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1270,6 +1332,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger12.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1296,6 +1359,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger23.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1322,6 +1386,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger11.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1348,6 +1413,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger23.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1374,6 +1440,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger43.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1400,6 +1467,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger43.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1426,6 +1494,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger42.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1452,6 +1521,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LFinger31.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1478,6 +1548,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RFinger33.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1504,6 +1575,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LThumb1.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1530,6 +1602,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RThumb2.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1556,6 +1629,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/RThumb1.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1582,6 +1656,7 @@
       <inertia ixx="1.1e-09" ixy="0" ixz="0" iyy="1.1e-09" iyz="0" izz="1.1e-09"/>
     </inertial>
     <visual>
+      <material name="light_gray"/>
       <geometry>
         <mesh filename="meshes/1.0/LThumb2.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1609,6 +1684,7 @@
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </inertial>
     <visual>
+      <material name="black"/>
       <geometry>
         <mesh filename="meshes/1.0/WheelFL.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1635,6 +1711,7 @@
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </inertial>
     <visual>
+      <material name="black"/>
       <geometry>
         <mesh filename="meshes/1.0/WheelB.obj" scale="0.1 0.1 0.1"/>
       </geometry>
@@ -1661,6 +1738,7 @@
       <origin rpy="0 0 0" xyz="0 0 0"/>
     </inertial>
     <visual>
+      <material name="black"/>
       <geometry>
         <mesh filename="meshes/1.0/WheelFR.obj" scale="0.1 0.1 0.1"/>
       </geometry>