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Improve lab_sim scene render quality #691

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4 changes: 4 additions & 0 deletions src/lab_sim/description/picknik_ur.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -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. -->
Expand Down Expand Up @@ -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" />
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1 change: 1 addition & 0 deletions src/lab_sim/description/scene.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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17 changes: 4 additions & 13 deletions src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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" />
Expand All @@ -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"
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8 changes: 4 additions & 4 deletions src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail.xml
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Original file line number Diff line number Diff line change
@@ -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"
Expand All @@ -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>
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15 changes: 15 additions & 0 deletions src/picknik_accessories/mujoco_assets/ur5e/ur5e_linear_rail_globals.xml
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Original file line number Diff line number Diff line change
@@ -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"
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