I’ve added a “table” to my scene using Drake’s MultiBodyPlant.

plant.RegisterVisualGeometry(
    plant.world_body(), RigidTransform(p=table_position),
    table, "TableVisualGeometry",
    table_color)

You can see it appears very shiny in meshcat.

The documentation for RegisterVisualGeometry shows that I can specify an IllustrationProperty. This seems to be a simple key-value container, but I can’t see what keys and values should be specified to control the meshcat representation. Elsewhere I found some reference to MakePhongIllustrationProperties, but it looks like the input is a diffuse color, with no way to control the actual Phong constants (specular, diffuse, and ambient reflection constants).

Is there a way to make my table less shiny?