From b4c2deb68d63a17da9923e041c38d302407d2b82 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= <ahcorde@gmail.com>
Date: Wed, 13 Sep 2023 21:52:44 +0200
Subject: [PATCH] Improve joint controller world visualization
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Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 examples/worlds/joint_controller.sdf | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/examples/worlds/joint_controller.sdf b/examples/worlds/joint_controller.sdf
index 7152726bfa..65cf6fe938 100644
--- a/examples/worlds/joint_controller.sdf
+++ b/examples/worlds/joint_controller.sdf
@@ -39,7 +39,7 @@
       <direction>-0.5 0.1 -0.9</direction>
     </light>
     <model name="joint_controller_demo">
-      <pose>0 0 0 0 1.57 0</pose>
+      <pose>0 0 0 0 -1.57 0</pose>
       <link name="base_link">
         <pose>0.0 0.0 0.0 0 0 0</pose>
         <inertial>
@@ -91,6 +91,8 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
+            <diffuse>0.2 0.8 0.2 1</diffuse>
+            <specular>0.2 0.8 0.2 1</specular>
           </material>
         </visual>
         <collision name="collision">
@@ -125,7 +127,7 @@
     </model>
 
     <model name="joint_controller_demo_2">
-      <pose>0 0.5 0 0 1.57 0</pose>
+      <pose>0 0.5 0 0 -1.57 0</pose>
       <link name="base_link">
         <pose>0.0 0.0 0.0 0 0 0</pose>
         <inertial>
@@ -177,6 +179,8 @@
           </geometry>
           <material>
             <ambient>0.2 0.8 0.2 1</ambient>
+            <diffuse>0.2 0.8 0.2 1</diffuse>
+            <specular>0.2 0.8 0.2 1</specular>
           </material>
         </visual>
         <collision name="collision">