From 4e7932045c79e0e06b86d13002ce76431a57e6a3 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Fri, 22 Sep 2023 12:31:35 -0700
Subject: [PATCH 1/4] fix projector pose and change mascot position

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 harmonic_demo/Harmonic Mascot/model.sdf | 24 +++++++++++++++++++-----
 harmonic_demo/harmonic.sdf              |  3 +--
 2 files changed, 20 insertions(+), 7 deletions(-)

diff --git a/harmonic_demo/Harmonic Mascot/model.sdf b/harmonic_demo/Harmonic Mascot/model.sdf
index c0bb5a4..49cdf9c 100644
--- a/harmonic_demo/Harmonic Mascot/model.sdf	
+++ b/harmonic_demo/Harmonic Mascot/model.sdf	
@@ -8,7 +8,7 @@
         <geometry>
           <mesh>
             <uri>meshes/harmonic_mascot.dae</uri>
-            <scale>0.25 0.25 0.25</scale>
+            <scale>0.2 0.2 0.2</scale>
           </mesh>
         </geometry>
       </collision>
@@ -17,15 +17,29 @@
         <geometry>
           <mesh>
             <uri>meshes/harmonic_mascot.dae</uri>
-            <scale>0.25 0.25 0.25</scale>
+            <scale>0.2 0.2 0.2</scale>
           </mesh>
         </geometry>
       </visual>
+      <!-- uncomment to debug projector pose -->
+      <!--
+      <visual name="projector_debug_visual">
+        <pose>0.13 -0.09 0.25 0 -0.3 0</pose>
+        <geometry>
+          <box>
+            <size>0.02 0.02 0.02</size>
+          </box>
+        </geometry>
+        <material>
+          <diffuse>1 0 0 </diffuse>
+        </material>
+      </visual>
+      -->
       <projector name="projector">
-        <pose>0 0 0 0 0 0</pose>
+        <pose>0.13 -0.09 0.25 0 -0.3 0</pose>
         <near_clip>1</near_clip>
-        <far_clip>4.2</far_clip>
-        <fov>0.25</fov>
+        <far_clip>2.8</far_clip>
+        <fov>0.4</fov>
         <texture>materials/textures/harmonic_logo.png</texture>
       </projector>
     </link>
diff --git a/harmonic_demo/harmonic.sdf b/harmonic_demo/harmonic.sdf
index 65a9b0b..55b0189 100644
--- a/harmonic_demo/harmonic.sdf
+++ b/harmonic_demo/harmonic.sdf
@@ -306,7 +306,6 @@
       <uri>Lake House</uri>
       <pose>0 0 0 0 0 0</pose>
     </include>
-
     <include>
       <name>Water</name>
       <uri>Coast Waves 2</uri>
@@ -411,7 +410,7 @@
       <uri>Sky</uri>
     </include>
     <include>
-      <pose>0.52 2.07 10.24 0 0 -0.94</pose>
+      <pose>0 -0.1 9.46 0 0 0.0</pose>
       <name>Harmonic Mascot</name>
       <uri>Harmonic Mascot</uri>
     </include>

From b21e1b65517990ba4d54551179d50aaab6a85991 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Fri, 22 Sep 2023 14:37:14 -0700
Subject: [PATCH 2/4] update location to avoid seethrough, add point light

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 harmonic_demo/Harmonic Mascot/model.sdf |  2 +-
 harmonic_demo/harmonic.sdf              | 16 ++++++++++++++--
 2 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/harmonic_demo/Harmonic Mascot/model.sdf b/harmonic_demo/Harmonic Mascot/model.sdf
index 49cdf9c..37ea712 100644
--- a/harmonic_demo/Harmonic Mascot/model.sdf	
+++ b/harmonic_demo/Harmonic Mascot/model.sdf	
@@ -38,7 +38,7 @@
       <projector name="projector">
         <pose>0.13 -0.09 0.25 0 -0.3 0</pose>
         <near_clip>1</near_clip>
-        <far_clip>2.8</far_clip>
+        <far_clip>1.8</far_clip>
         <fov>0.4</fov>
         <texture>materials/textures/harmonic_logo.png</texture>
       </projector>
diff --git a/harmonic_demo/harmonic.sdf b/harmonic_demo/harmonic.sdf
index 55b0189..c4b98f4 100644
--- a/harmonic_demo/harmonic.sdf
+++ b/harmonic_demo/harmonic.sdf
@@ -292,7 +292,7 @@
     <light type="point" name="point_light">
       <pose>0.73 0.09 8.77 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>
-      <specular>.1 .1 .1 1</specular>
+      <specular>.05 .05 .05 1</specular>
       <attenuation>
         <range>20</range>
         <linear>0.2</linear>
@@ -301,6 +301,18 @@
       </attenuation>
       <cast_shadows>false</cast_shadows>
     </light>
+    <light type="point" name="point_light_upper">
+      <pose>0.73 0.09 11.7 0 0 0</pose>
+      <diffuse>1 1 1 1</diffuse>
+      <specular>.05 .05 .05 1</specular>
+      <attenuation>
+        <range>10</range>
+        <linear>0.4</linear>
+        <constant>0.8</constant>
+        <quadratic>0.01</quadratic>
+      </attenuation>
+      <cast_shadows>false</cast_shadows>
+    </light>
     <include>
       <name>Lake House</name>
       <uri>Lake House</uri>
@@ -410,7 +422,7 @@
       <uri>Sky</uri>
     </include>
     <include>
-      <pose>0 -0.1 9.46 0 0 0.0</pose>
+      <pose>1.1 -0.6 9.46 0 0 0.0</pose>
       <name>Harmonic Mascot</name>
       <uri>Harmonic Mascot</uri>
     </include>

From 4800530381c8d074eb67876b0843f53d3859d7c5 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Fri, 22 Sep 2023 14:39:41 -0700
Subject: [PATCH 3/4] revert light changes

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 harmonic_demo/harmonic.sdf | 12 ------------
 1 file changed, 12 deletions(-)

diff --git a/harmonic_demo/harmonic.sdf b/harmonic_demo/harmonic.sdf
index c4b98f4..8619afb 100644
--- a/harmonic_demo/harmonic.sdf
+++ b/harmonic_demo/harmonic.sdf
@@ -301,18 +301,6 @@
       </attenuation>
       <cast_shadows>false</cast_shadows>
     </light>
-    <light type="point" name="point_light_upper">
-      <pose>0.73 0.09 11.7 0 0 0</pose>
-      <diffuse>1 1 1 1</diffuse>
-      <specular>.05 .05 .05 1</specular>
-      <attenuation>
-        <range>10</range>
-        <linear>0.4</linear>
-        <constant>0.8</constant>
-        <quadratic>0.01</quadratic>
-      </attenuation>
-      <cast_shadows>false</cast_shadows>
-    </light>
     <include>
       <name>Lake House</name>
       <uri>Lake House</uri>

From a4d3788ca569ed7e0472e436a530072df415a965 Mon Sep 17 00:00:00 2001
From: Ian Chen <ichen@openrobotics.org>
Date: Fri, 22 Sep 2023 15:46:24 -0700
Subject: [PATCH 4/4] light changes

Signed-off-by: Ian Chen <ichen@openrobotics.org>
---
 harmonic_demo/Harmonic Mascot/model.sdf | 18 +++++++++++
 harmonic_demo/harmonic.sdf              | 42 ++++++++++++-------------
 2 files changed, 39 insertions(+), 21 deletions(-)

diff --git a/harmonic_demo/Harmonic Mascot/model.sdf b/harmonic_demo/Harmonic Mascot/model.sdf
index 37ea712..301bc4c 100644
--- a/harmonic_demo/Harmonic Mascot/model.sdf	
+++ b/harmonic_demo/Harmonic Mascot/model.sdf	
@@ -42,6 +42,24 @@
         <fov>0.4</fov>
         <texture>materials/textures/harmonic_logo.png</texture>
       </projector>
+      <light name="projector_light" type="spot">
+        <pose>0.13 -0.09 0.25 0 -0.3 0</pose>
+        <diffuse>1 1 1 1</diffuse>
+        <specular>0.5 0.5 0.5 1</specular>
+        <attenuation>
+          <range>5</range>
+          <linear>0.5</linear>
+          <constant>0.8</constant>
+          <quadratic>0.01</quadratic>
+        </attenuation>
+        <direction>1 0 0</direction>
+        <spot>
+          <inner_angle>0.1</inner_angle>
+          <outer_angle>0.6</outer_angle>
+          <falloff>0.8</falloff>
+        </spot>
+        <cast_shadows>false</cast_shadows>
+      </light>
     </link>
   </model>
 </sdf>
diff --git a/harmonic_demo/harmonic.sdf b/harmonic_demo/harmonic.sdf
index 374d07c..2d14d4d 100644
--- a/harmonic_demo/harmonic.sdf
+++ b/harmonic_demo/harmonic.sdf
@@ -286,13 +286,13 @@
       <cast_shadows>true</cast_shadows>
       <pose>0 0 20 -1.3 0 0.5</pose>
       <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
+      <specular>0.01 0.01 0.01 1</specular>
       <intensity>2</intensity>
     </light>
     <light type="point" name="point_light">
       <pose>0.73 0.09 8.77 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>
-      <specular>.05 .05 .05 1</specular>
+      <specular>.01 .01 .01 1</specular>
       <attenuation>
         <range>20</range>
         <linear>0.2</linear>
@@ -304,50 +304,50 @@
     <light type="point" name="point_light_01">
       <pose>3.482 -4.28 8.87 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>
-      <specular>.1 .1 .1 1</specular>
+      <specular>0.01 0.01 0.01 1</specular>
       <attenuation>
-        <range>20</range>
-        <linear>0.2</linear>
+        <range>10</range>
+        <linear>0.5</linear>
         <constant>0.8</constant>
-        <quadratic>0.01</quadratic>
+        <quadratic>0.001</quadratic>
       </attenuation>
-      <cast_shadows>true</cast_shadows>
+      <cast_shadows>false</cast_shadows>
     </light>
     <light type="point" name="point_light_02">
-      <pose>0.13 0.46 11.21 0 0 0</pose>
+      <pose>0.13 0.46 11.60 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>
-      <specular>.1 .1 .1 1</specular>
+      <specular>0.01 0.01 0.01 1</specular>
       <attenuation>
-        <range>20</range>
+        <range>10</range>
         <linear>0.2</linear>
-        <constant>0.8</constant>
-        <quadratic>0.01</quadratic>
+        <constant>0.5</constant>
+        <quadratic>0.001</quadratic>
       </attenuation>
-      <cast_shadows>true</cast_shadows>
+      <cast_shadows>false</cast_shadows>
     </light>
     <light type="point" name="point_light_03">
       <pose>4.27 -1.27 11.21 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>
-      <specular>.1 .1 .1 1</specular>
+      <specular>0.01 0.01 0.01 1</specular>
       <attenuation>
         <range>10</range>
-        <linear>0.2</linear>
+        <linear>0.5</linear>
         <constant>0.8</constant>
-        <quadratic>0.01</quadratic>
+        <quadratic>0.001</quadratic>
       </attenuation>
-      <cast_shadows>true</cast_shadows>
+      <cast_shadows>false</cast_shadows>
     </light>
     <light type="point" name="point_light_04">
       <pose>-0.31 -3.78 8.61 0 0 0</pose>
       <diffuse>1 1 1 1</diffuse>
-      <specular>.1 .1 .1 1</specular>
+      <specular>.01 .01 .01 1</specular>
       <attenuation>
         <range>10</range>
-        <linear>0.2</linear>
+        <linear>0.5</linear>
         <constant>0.8</constant>
-        <quadratic>0.01</quadratic>
+        <quadratic>0.001</quadratic>
       </attenuation>
-      <cast_shadows>true</cast_shadows>
+      <cast_shadows>false</cast_shadows>
     </light>
     <include>
       <name>Lake House</name>