Controlling the appearance of physical shapes
	Geometries used in the physical simulator are given a default appearance based on color (ambiance, specular, diffused...) as well as texture. In addition, appearance can be managed using 3-D rendering parameters contained in a file. You can choose to use either solution, or both at the same time.
Realistic worlds
	In order to obtain the highest possible level of realism in the simulator, you may insert a variety of 3-D shapes contained in libraries or 3-D files into your virtual worlds. These objects do not play a role in terms of physical simulation, but they are very useful for working on image processing algorithms.
	Appearance is particularly useful for highlighting specific surface properties: For example, an infrared sensor does not ‘see‘ black rubber very well, but white plaster is no problem. Dressing the surfaces of a physical shape or 3-D model with these properties will help you see immediately why a robot either sees or doesn‘t see the shape.