added textures to model

diff --git a/models/centenario/model.sdf b/models/centenario/model.sdf
index 3a2a07b..c21e369 100644 (file)
--- a/models/centenario/model.sdf
+++ b/models/centenario/model.sdf
@@ -12,10 +12,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -38,10 +47,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -64,10 +82,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -90,10 +117,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -116,10 +152,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -142,10 +187,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -168,10 +222,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -194,10 +257,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -220,10 +292,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -246,10 +327,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -272,10 +362,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -298,10 +397,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -324,10 +432,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -350,10 +467,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -376,10 +502,19 @@
                 </geometry>
                 <material>
                     <script>
-                        <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <uri>file://media/materials/scripts/kitchen.material</uri>
+                        <name>Kitchen/CounterTop</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/granite2.jpg</albedo_map>
+                            <normal_map>materials/textures/granite2.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -406,9 +541,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -432,9 +576,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -458,9 +611,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -484,9 +646,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -510,9 +681,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -536,9 +716,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -565,9 +754,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -591,9 +789,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -617,9 +824,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -643,9 +859,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -669,9 +894,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -695,9 +929,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -724,9 +967,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -750,9 +1002,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -776,9 +1037,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -802,9 +1072,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -828,9 +1107,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -854,9 +1142,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -880,9 +1177,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -906,9 +1212,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -932,9 +1247,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -958,9 +1282,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -984,9 +1317,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1010,9 +1352,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1036,9 +1387,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1065,9 +1425,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1091,9 +1460,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1117,9 +1495,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1146,9 +1533,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1172,9 +1568,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1198,9 +1603,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1227,9 +1641,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1253,9 +1676,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1279,9 +1711,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1315,9 +1756,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1337,9 +1787,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1363,9 +1822,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1389,9 +1857,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1415,9 +1892,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1441,9 +1927,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1467,9 +1962,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1496,9 +2000,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1522,9 +2035,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1548,9 +2070,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1574,9 +2105,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1600,9 +2140,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1626,9 +2175,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1652,9 +2210,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1678,9 +2245,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1704,9 +2280,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1730,9 +2315,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1759,9 +2353,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1785,9 +2388,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1811,9 +2423,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1837,9 +2458,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1863,9 +2493,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1892,9 +2531,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1918,9 +2566,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1944,9 +2601,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1970,9 +2636,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -1996,9 +2671,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2022,9 +2706,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2048,9 +2741,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2077,9 +2779,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2103,9 +2814,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2129,9 +2849,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2155,9 +2884,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2181,9 +2919,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2207,9 +2954,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2233,9 +2989,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2259,9 +3024,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2285,9 +3059,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2314,9 +3097,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2340,9 +3132,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2366,9 +3167,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2395,9 +3205,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2421,9 +3240,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2447,9 +3275,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2473,9 +3310,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2499,9 +3345,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2525,9 +3380,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2551,9 +3415,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2577,9 +3450,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2603,9 +3485,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2629,9 +3520,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2655,9 +3555,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2681,9 +3590,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2707,9 +3625,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2733,9 +3660,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2759,9 +3695,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2785,9 +3730,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2811,9 +3765,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2840,9 +3803,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2866,9 +3838,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2892,9 +3873,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2918,9 +3908,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2944,9 +3943,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2970,9 +3978,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -2999,9 +4016,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3025,9 +4051,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3051,9 +4086,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3077,9 +4121,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3106,9 +4159,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3132,9 +4194,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3158,9 +4229,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3184,9 +4264,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3213,9 +4302,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3239,9 +4337,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3265,9 +4372,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3291,9 +4407,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3317,9 +4442,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3346,9 +4480,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3372,9 +4515,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3398,9 +4550,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3424,9 +4585,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3450,9 +4620,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3476,9 +4655,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3502,9 +4690,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3528,9 +4725,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3554,9 +4760,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3580,9 +4795,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3616,9 +4840,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3645,9 +4878,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3674,9 +4916,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3696,9 +4947,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3722,9 +4982,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3748,9 +5017,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3784,9 +5062,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3813,9 +5100,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3835,9 +5131,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3861,9 +5166,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3887,9 +5201,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3916,9 +5239,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3942,9 +5274,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -3968,9 +5309,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4004,9 +5354,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4026,9 +5385,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4052,9 +5420,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4078,9 +5455,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4104,9 +5490,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4130,9 +5525,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4156,9 +5560,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4182,9 +5595,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4208,9 +5630,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4237,9 +5668,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4263,9 +5703,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4289,9 +5738,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4315,9 +5773,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4341,9 +5808,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4367,9 +5843,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4393,9 +5878,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4419,9 +5913,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4445,9 +5948,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4471,9 +5983,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4497,9 +6018,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4523,9 +6053,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4552,9 +6091,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4578,9 +6126,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4604,9 +6161,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4630,9 +6196,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4656,9 +6231,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4682,9 +6266,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4718,9 +6311,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4747,9 +6349,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4776,9 +6387,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4805,9 +6425,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4827,9 +6456,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4853,9 +6491,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4879,9 +6526,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4905,9 +6561,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4931,9 +6596,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4967,9 +6641,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -4996,9 +6679,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -5025,9 +6717,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -5047,9 +6748,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -5073,9 +6783,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -5099,9 +6818,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -5125,9 +6853,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>
@@ -5151,9 +6888,18 @@
                 <material>
                     <script>
                         <uri>file://media/materials/scripts/gazebo.material</uri>
-                        <name>Gazebo/Grey</name>
+                        <name>Gazebo/Wood</name>
                     </script>
                     <ambient>1 1 1 1</ambient>
+                    <diffuse>1 1 1 1</diffuse>
+                    <specular>1 1 1 1</specular>
+                    <emissive>0 0 0 1</emissive>
+                    <pbr>
+                        <metal>
+                            <albedo_map>materials/textures/wood.jpg</albedo_map>
+                            <normal_map>materials/textures/wood.jpg</normal_map>
+                        </metal>
+                    </pbr>
                 </material>
                 <meta>
                     <layer>0</layer>

diff --git a/package.xml b/package.xml
index 0446b3c..2bc37ec 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -12,9 +12,9 @@
     <test_depend>ament_lint_auto</test_depend>
     <test_depend>ament_lint_common</test_depend>
 
-  <export>
-    <build_type>ament_cmake</build_type>
-    <gazebo_ros gazebo_model_path="${prefix}/.."/>
-    <gazebo_ros gazebo_resource_path="${prefix}/.."/>
-  </export>
-</package>
+    <export>
+        <build_type>ament_cmake</build_type>
+        <gazebo_ros gazebo_model_path="${prefix}/models" />
+        <gazebo_ros gazebo_resource_path="${prefix}/.." />
+    </export>
+</package>
\ No newline at end of file