fix: change go2w wheel color to black

Author: fan-ziqi

docs/imgs/unitree_go2w.png

@@ -10,6 +10,30 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
+  <library_effects>
+    <effect id="黑色塑料_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.023455 0.023455 0.023455 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="黑色塑料_003-material" name="黑色塑料.003">
+      <instance_effect url="#黑色塑料_003-effect"/>
+    </material>
+  </library_materials>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">
       <optics>

source/robot_lab/data/Robots/unitree/go2w_description/meshes/left_wheel.dae

@@ -10,6 +10,30 @@
     <unit name="meter" meter="1"/>
     <up_axis>Z_UP</up_axis>
   </asset>
+  <library_effects>
+    <effect id="黑色塑料_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <color sid="diffuse">0.023455 0.023455 0.023455 1</color>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="黑色塑料_003-material" name="黑色塑料.003">
+      <instance_effect url="#黑色塑料_003-effect"/>
+    </material>
+  </library_materials>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">
       <optics>

source/robot_lab/data/Robots/unitree/go2w_description/meshes/right_wheel.dae

@@ -199,9 +199,7 @@
       <geometry>
         <mesh filename="package://go2w_description/meshes/left_wheel.dae" />
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0.0 0" />
@@ -361,9 +359,7 @@
       <geometry>
         <mesh filename="package://go2w_description/meshes/right_wheel.dae" />
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 -0.0 0" />
@@ -524,9 +520,7 @@
       <geometry>
         <mesh filename="package://go2w_description/meshes/left_wheel.dae" />
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0.0 0" />
@@ -686,9 +680,7 @@
       <geometry>
         <mesh filename="package://go2w_description/meshes/right_wheel.dae" />
       </geometry>
-      <material name="">
-        <color rgba="1 1 1 1" />
-      </material>
+      <material name="黑色塑料_003-effect"><color rgba="0.023455 0.023455 0.023455 1" /></material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 -0.0 0" />