From fa16256a76eae9565d8e17e9f4e5be2fb61a8807 Mon Sep 17 00:00:00 2001
From: matheecs <matheecs@qq.com>
Date: Wed, 17 Jul 2024 20:56:35 +0800
Subject: [PATCH] fix material names

---
 robots/g1_description/g1.urdf                |  86 +++++++--------
 robots/h1_description/urdf/h1.urdf           |  48 ++++-----
 robots/h1_description/urdf/h1_with_hand.urdf | 104 +++++++++----------
 3 files changed, 119 insertions(+), 119 deletions(-)

diff --git a/robots/g1_description/g1.urdf b/robots/g1_description/g1.urdf
index 62ce991..5723b00 100644
--- a/robots/g1_description/g1.urdf
+++ b/robots/g1_description/g1.urdf
@@ -21,7 +21,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/pelvis.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -38,7 +38,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/pelvis_contour_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.2 0.2 0.2 1"/>
       </material>
     </visual>
@@ -60,7 +60,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_hip_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.2 0.2 0.2 1"/>
       </material>
     </visual>
@@ -89,7 +89,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_hip_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -118,7 +118,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_hip_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -147,7 +147,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_knee_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -176,7 +176,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_ankle_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -205,7 +205,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_ankle_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.2 0.2 0.2 1"/>
       </material>
     </visual>
@@ -258,7 +258,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_hip_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.2 0.2 0.2 1"/>
       </material>
     </visual>
@@ -287,7 +287,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_hip_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -316,7 +316,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_hip_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -345,7 +345,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_knee_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -374,7 +374,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_ankle_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -403,7 +403,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_ankle_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.2 0.2 0.2 1"/>
       </material>
     </visual>
@@ -458,7 +458,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/torso_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -489,7 +489,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/head_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.2 0.2 0.2 1"/>
       </material>
     </visual>
@@ -518,7 +518,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_shoulder_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -547,7 +547,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_shoulder_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -576,7 +576,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_shoulder_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -605,7 +605,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_elbow_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -634,7 +634,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_elbow_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -665,7 +665,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_shoulder_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -694,7 +694,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_shoulder_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -723,7 +723,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_shoulder_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -752,7 +752,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_elbow_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -781,7 +781,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_elbow_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -817,7 +817,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/logo_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.2 0.2 0.2 1"/>
       </material>
     </visual>
@@ -855,7 +855,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_palm_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -884,7 +884,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_zero_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -913,7 +913,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_one_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -942,7 +942,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_two_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -971,7 +971,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_three_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1000,7 +1000,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_four_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1029,7 +1029,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_five_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1058,7 +1058,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/left_six_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1088,7 +1088,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_palm_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1117,7 +1117,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_zero_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1146,7 +1146,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_one_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1175,7 +1175,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_two_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1204,7 +1204,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_three_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1233,7 +1233,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_four_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1262,7 +1262,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_five_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
@@ -1291,7 +1291,7 @@
       <geometry>
         <mesh filename="package://g1_description/meshes/right_six_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="0.7 0.7 0.7 1"/>
       </material>
     </visual>
diff --git a/robots/h1_description/urdf/h1.urdf b/robots/h1_description/urdf/h1.urdf
index 63b4ba2..f54b548 100644
--- a/robots/h1_description/urdf/h1.urdf
+++ b/robots/h1_description/urdf/h1.urdf
@@ -43,7 +43,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/pelvis.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -80,7 +80,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/left_hip_yaw_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -135,7 +135,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/left_hip_roll_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -190,7 +190,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/left_hip_pitch_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -245,7 +245,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/left_knee_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -300,7 +300,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/left_ankle_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -355,7 +355,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/right_hip_yaw_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -410,7 +410,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/right_hip_roll_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -465,7 +465,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/right_hip_pitch_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -520,7 +520,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/right_knee_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -575,7 +575,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/right_ankle_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -630,7 +630,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/torso_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -685,7 +685,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/left_shoulder_pitch_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -740,7 +740,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/left_shoulder_roll_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -795,7 +795,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/left_shoulder_yaw_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -850,7 +850,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/left_elbow_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -905,7 +905,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/right_shoulder_pitch_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -960,7 +960,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/right_shoulder_roll_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -1015,7 +1015,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/right_shoulder_yaw_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -1070,7 +1070,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/right_elbow_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -1123,7 +1123,7 @@ Stephen Brawner (brawner@gmail.com)
           filename="package://h1_description/meshes/logo_link.dae" />
       </geometry>
       <material
-        name="">
+        name="white">
         <color
           rgba="1 1 1 1" />
       </material>
@@ -1157,7 +1157,7 @@ Stephen Brawner (brawner@gmail.com)
           radius="0.001" />
       </geometry>
       <material
-        name="">
+        name="white">
         <color
           rgba="1 1 1 1" />
       </material>
@@ -1196,7 +1196,7 @@ Stephen Brawner (brawner@gmail.com)
           radius="0.001" />
       </geometry>
       <material
-        name="">
+        name="white">
         <color
           rgba="1 1 1 1" />
       </material>
@@ -1235,7 +1235,7 @@ Stephen Brawner (brawner@gmail.com)
           radius="0.001" />
       </geometry>
       <material
-        name="">
+        name="white">
         <color
           rgba="1 1 1 1" />
       </material>
diff --git a/robots/h1_description/urdf/h1_with_hand.urdf b/robots/h1_description/urdf/h1_with_hand.urdf
index 6ba2204..4bb2555 100644
--- a/robots/h1_description/urdf/h1_with_hand.urdf
+++ b/robots/h1_description/urdf/h1_with_hand.urdf
@@ -25,7 +25,7 @@
           filename="package://h1_description/meshes/pelvis.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -62,7 +62,7 @@
           filename="package://h1_description/meshes/left_hip_yaw_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -117,7 +117,7 @@
           filename="package://h1_description/meshes/left_hip_roll_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -172,7 +172,7 @@
           filename="package://h1_description/meshes/left_hip_pitch_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -227,7 +227,7 @@
           filename="package://h1_description/meshes/left_knee_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -282,7 +282,7 @@
           filename="package://h1_description/meshes/left_ankle_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -337,7 +337,7 @@
           filename="package://h1_description/meshes/right_hip_yaw_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -392,7 +392,7 @@
           filename="package://h1_description/meshes/right_hip_roll_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -447,7 +447,7 @@
           filename="package://h1_description/meshes/right_hip_pitch_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -502,7 +502,7 @@
           filename="package://h1_description/meshes/right_knee_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -557,7 +557,7 @@
           filename="package://h1_description/meshes/right_ankle_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -612,7 +612,7 @@
           filename="package://h1_description/meshes/torso_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -667,7 +667,7 @@
           filename="package://h1_description/meshes/left_shoulder_pitch_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -722,7 +722,7 @@
           filename="package://h1_description/meshes/left_shoulder_roll_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -777,7 +777,7 @@
           filename="package://h1_description/meshes/left_shoulder_yaw_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -832,7 +832,7 @@
           filename="package://h1_description/meshes/left_elbow_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -887,7 +887,7 @@
           filename="package://h1_description/meshes/left_hand_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -952,7 +952,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/L_hand_base_link.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -988,7 +988,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link11_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1043,7 +1043,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link12_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1098,7 +1098,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link13_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1157,7 +1157,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link14_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1216,7 +1216,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link15_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1271,7 +1271,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link16_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1330,7 +1330,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link17_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1385,7 +1385,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link18_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1444,7 +1444,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link19_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1499,7 +1499,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link20_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1558,7 +1558,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link21_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1613,7 +1613,7 @@
         <geometry>
           <mesh filename="package://h1_description/meshes/Link22_L.dae" />
         </geometry>
-        <material name="">
+        <material name="dark">
           <color rgba="0.1 0.1 0.1 1" />
         </material>
       </visual>
@@ -1674,7 +1674,7 @@
           filename="package://h1_description/meshes/right_shoulder_pitch_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -1729,7 +1729,7 @@
           filename="package://h1_description/meshes/right_shoulder_roll_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -1784,7 +1784,7 @@
           filename="package://h1_description/meshes/right_shoulder_yaw_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -1839,7 +1839,7 @@
           filename="package://h1_description/meshes/right_elbow_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -1894,7 +1894,7 @@
           filename="package://h1_description/meshes/right_hand_link.dae" />
       </geometry>
       <material
-        name="">
+        name="dark">
         <color
           rgba="0.1 0.1 0.1 1" />
       </material>
@@ -1960,7 +1960,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/R_hand_base_link.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -1996,7 +1996,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link11_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2051,7 +2051,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link12_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2106,7 +2106,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link13_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2165,7 +2165,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link14_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2224,7 +2224,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link15_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2279,7 +2279,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link16_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2338,7 +2338,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link17_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2393,7 +2393,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link18_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2452,7 +2452,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link19_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2507,7 +2507,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link20_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2566,7 +2566,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link21_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2621,7 +2621,7 @@
       <geometry>
         <mesh filename="package://h1_description/meshes/Link22_R.dae" />
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1" />
       </material>
     </visual>
@@ -2668,7 +2668,7 @@
           filename="package://h1_description/meshes/logo_link.dae" />
       </geometry>
       <material
-        name="">
+        name="white">
         <color
           rgba="1 1 1 1" />
       </material>
@@ -2702,7 +2702,7 @@
           radius="0.001" />
       </geometry>
       <material
-        name="">
+        name="white">
         <color
           rgba="1 1 1 1" />
       </material>
@@ -2741,7 +2741,7 @@
           radius="0.001" />
       </geometry>
       <material
-        name="">
+        name="white">
         <color
           rgba="1 1 1 1" />
       </material>
@@ -2780,7 +2780,7 @@
           radius="0.001" />
       </geometry>
       <material
-        name="">
+        name="white">
         <color
           rgba="1 1 1 1" />
       </material>