Materials

Materials

Child element of a <visual> element. A visual may contain only one material.

# Import the element creator
from pcg_gazebo.parsers.sdf import create_sdf_element

# Material elements are initially empty since all its child elements are optional
material = create_sdf_element('material')
print(material)

<material/>

# To create all optional elements with its default elements, use reset()
material.reset(with_optional_elements=True)
print(material)

<material>
  <specular>0.1 0.1 0.1 1</specular>
  <diffuse>0 0 0 1</diffuse>
  <lighting>0</lighting>
  <script>
    <uri>file://media/materials/scripts/gazebo.material</uri>
    <name>default</name>
  </script>
  <shader type="pixel">
    <normal_map>default</normal_map>
  </shader>
  <emissive>0 0 0 1</emissive>
  <ambient>0 0 0 1</ambient>
</material>

Creating a custom material

# Setting the script
# URI of the material script file
# Gazebo's default material file can be found at
# https://bitbucket.org/osrf/gazebo/src/bd1cdea8fa3d71d6afcdaa83c9b01891d5f72e71/media/materials/scripts/gazebo.material?at=default&fileviewer=file-view-default
material.script.uri = 'file://media/materials/scripts/gazebo.material'
# Name of the script within the script file
material.script.name = 'Gazebo/Wood'

# Setting the shader
# The shader type can be one of the list below:
# ['vertex', 'pixel', 'normal_map_objectspace', 'normal_map_tangentspace']
material.shader.type = 'vertex'
material.shader.normal_map = 'file://normal_map'

# If lighting is false, dynamic lighting will be disabled
material.lighting = False
# The colors must be a set of four numbers in the range of [0, 1]
material.ambient = [0.2, 0.2, 0.2, 1]
material.diffuse = [0.2, 0.4, 0.2, 1]
material.specular = [0.2, 0.2, 0.6, 1]
material.emissive = [0.5, 0.5, 0.5, 1]

print(material)

<material>
  <specular>0.2 0.2 0.6 1</specular>
  <diffuse>0.2 0.4 0.2 1</diffuse>
  <lighting>0</lighting>
  <script>
    <uri>file://media/materials/scripts/gazebo.material</uri>
    <name>Gazebo/Wood</name>
  </script>
  <shader type="vertex">
    <normal_map>file://normal_map</normal_map>
  </shader>
  <emissive>0.5 0.5 0.5 1</emissive>
  <ambient>0.2 0.2 0.2 1</ambient>
</material>