diff --git a/src/lab_sim/description/picknik_ur.xacro b/src/lab_sim/description/picknik_ur.xacro
index 98d1a434..ef388fa6 100644
--- a/src/lab_sim/description/picknik_ur.xacro
+++ b/src/lab_sim/description/picknik_ur.xacro
@@ -11,6 +11,9 @@
   <material name="offwhite">
     <color rgba="0.01 0.01 0.01 1" />
   </material>
+  <material name="pedestal_metal">
+    <color rgba="0.22 0.23 0.25 1" />
+  </material>
   <link name="world" />
   <joint name="tool_changer_joint" type="fixed">
     <!-- The parent link must be read from the robot model it is attached to. -->
@@ -785,6 +788,7 @@
       <geometry>
         <box size="0.16 0.2 0.4" />
       </geometry>
+      <material name="pedestal_metal" />
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.2" />
diff --git a/src/lab_sim/description/scene.xml b/src/lab_sim/description/scene.xml
index 133b8f15..85bfa34c 100644
--- a/src/lab_sim/description/scene.xml
+++ b/src/lab_sim/description/scene.xml
@@ -92,6 +92,7 @@
   <visual>
     <global offwidth="1280" offheight="720" />
     <headlight ambient="0.3 0.3 0.3" diffuse="0.5 0.5 0.5" />
+    <quality offsamples="4" shadowsize="4096" />
   </visual>
 
   <worldbody>
diff --git a/src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml b/src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml
index 385e825c..0480a87e 100644
--- a/src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml
+++ b/src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml
@@ -47,15 +47,6 @@
 
   <asset>
     <texture type="2d" name="desk_texture" file="assets/desk.png" />
-    <texture
-      type="2d"
-      name="granite_texture"
-      builtin="checker"
-      rgb1="0.04 0.04 0.05"
-      rgb2="0.09 0.09 0.10"
-      width="256"
-      height="256"
-    />
     <texture type="2d" name="shelf_texture" file="assets/shelf.png" />
     <texture type="2d" name="microscope_texture" file="assets/microscope.png" />
     <texture type="2d" name="stirrer_texture" file="assets/stirrer.png" />
@@ -75,10 +66,10 @@
     />
     <material
       name="granite"
-      texture="granite_texture"
-      specular="0.7"
-      shininess="0.8"
-      texrepeat="20 20"
+      rgba="0.07 0.07 0.08 1"
+      specular="1.0"
+      shininess="0.5"
+      reflectance="0.7"
     />
     <material
       name="shelf"
diff --git a/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail.xml b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail.xml
index 99bc5977..e4c1a3d1 100644
--- a/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail.xml
+++ b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail.xml
@@ -1,21 +1,21 @@
 <linear_rail>
   <body>
     <geom
-      rgba="0.4 0.4 0.4 0.4"
+      rgba="0.4 0.4 0.4 1"
       type="box"
       size="2.5 0.3 0.1"
       pos="0 0 0"
       euler="0 0 0"
     />
     <geom
-      rgba="0.4 0.4 0.4 0.4"
+      rgba="0.4 0.4 0.4 1"
       type="box"
       size="2.5 0.1 0.05"
       pos="0.0 0.14 0.15"
       euler="0 0 0"
     />
     <geom
-      rgba="0.4 0.4 0.4 0.4"
+      rgba="0.4 0.4 0.4 1"
       type="box"
       size="2.5 0.06 0.05"
       pos="0.0 -0.22 0.15"
@@ -24,7 +24,7 @@
     <body name="base_platform" pos="0 0 .6" euler="0 0 1.5707">
       <joint name="linear_rail_joint" type="slide" axis="0 1 0" range="-3 3" />
       <body name="adapter" pos="-0.06 -0.4 -0.2" euler="0 0 0">
-        <geom type="box" size="0.08 0.1 0.2" rgba="1 1 1 1" />
+        <geom type="box" size="0.08 0.1 0.2" material="pedestal_mat" />
         <site name="base_site" />
         <include file="ur5e/ur5e.xml" />
       </body>
diff --git a/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail_globals.xml b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail_globals.xml
index c28adb0f..e235d053 100644
--- a/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail_globals.xml
+++ b/src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail_globals.xml
@@ -1,5 +1,20 @@
 <ur5e_linear_rail_globals>
   <include file="ur5e/ur5e_globals.xml" />
+  <!-- Anodized-aluminum look for the robot pedestal: solid dark metallic
+       color with a specular sheen. The "metal" comes from shading, not a
+       texture, on purpose: a high-frequency procedural texture (e.g. random
+       speckle) aliases under minification and makes the color shimmer as the
+       pedestal slides toward/away from the camera. Color matches the URDF
+       "pedestal_metal" material. -->
+  <asset>
+    <material
+      name="pedestal_mat"
+      rgba="0.22 0.23 0.25 1"
+      specular="0.6"
+      shininess="0.6"
+      reflectance="0.1"
+    />
+  </asset>
   <actuator>
     <position
       class="robot"
