From 3c60222722cbfc174055a877e66de101305d37b7 Mon Sep 17 00:00:00 2001 From: Dave Coleman Date: Sun, 7 Jun 2026 00:57:54 -0600 Subject: [PATCH] feat(lab_sim): improve scene render quality - scene.xml: add 4x MSAA + 4096px shadows to the block - lab_desk granite table top: replace the black checker texture with a solid polished dark granite (specular/shininess + reflectance="0.7") - linear rail: make the three rail geoms opaque (alpha 0.4 -> 1) - robot pedestal: anodized-aluminum look in both the MuJoCo scene and the URDF (matching "pedestal_metal" color; base_link previously had no material). Solid shaded color + specular sheen rather than a procedural texture, since high-frequency texture aliases/shimmers under minification as the pedestal moves toward/away from the camera. --- src/lab_sim/description/picknik_ur.xacro | 4 ++++ src/lab_sim/description/scene.xml | 1 + .../mujoco_assets/lab_desk/desk_globals.xml | 17 ++++------------- .../mujoco_assets/ur5e/ur5e_linear_rail.xml | 8 ++++---- .../ur5e/ur5e_linear_rail_globals.xml | 15 +++++++++++++++ 5 files changed, 28 insertions(+), 17 deletions(-) diff --git a/src/lab_sim/description/picknik_ur.xacro b/src/lab_sim/description/picknik_ur.xacro index 98d1a4342..ef388fa63 100644 --- a/src/lab_sim/description/picknik_ur.xacro +++ b/src/lab_sim/description/picknik_ur.xacro @@ -11,6 +11,9 @@ + + + @@ -785,6 +788,7 @@ + diff --git a/src/lab_sim/description/scene.xml b/src/lab_sim/description/scene.xml index 133b8f15a..85bfa34c6 100644 --- a/src/lab_sim/description/scene.xml +++ b/src/lab_sim/description/scene.xml @@ -92,6 +92,7 @@ + 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 385e825c5..0480a87ef 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 @@ - @@ -75,10 +66,10 @@ /> - + 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 c28adb0fd..e235d0530 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 @@ + + + +