Adjust models scale and diffusion parameters.

PickNikRobotics · Nov 29, 2023 · b73d033 · b73d033
1 parent c0a2e5a
commit b73d033
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/config/config.yaml b/src/picknik_ur_gazebo_scan_and_plan_config/config/config.yaml
@@ -9,3 +9,4 @@ based_on_package: "picknik_ur_gazebo_config"
 optional_feature_params:
   gazebo_world_package_name: "picknik_ur_gazebo_scan_and_plan_config"
   gazebo_world_path: "description/simulation_worlds/scan_and_plan_world.sdf"
+  gazebo_gui: True
diff --git a/...knik_ur_gazebo_scan_and_plan_config/description/simulation_worlds/scan_and_plan_world.sdf b/...knik_ur_gazebo_scan_and_plan_config/description/simulation_worlds/scan_and_plan_world.sdf
@@ -190,6 +190,7 @@
           <geometry>
             <mesh>
               <uri>package://picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl</uri>
+              <scale>0.003 0.003 0.003</scale>
             </mesh>
           </geometry>
           <surface>
@@ -215,11 +216,12 @@
           <geometry>
             <mesh>
               <uri>package://picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl</uri>
+              <scale>0.003 0.003 0.003</scale>
             </mesh>
           </geometry>
           <material>
             <ambient>0 0 0 1</ambient>
-            <diffuse>1 1 1 1</diffuse>
+            <diffuse>0.5 0.5 0.5 1</diffuse>
             <specular>0.2 0.2 0.2 1</specular>
           </material>
         </visual>