Improve factory_sim sim and 3D viewer visuals

[davetcoleman]

Problem

factory_sim rendered with several flat-gray surfaces and a dated backdrop. The arm pedestal (the block the Fanuc sits on, plus its tool-holder tabs) had no material in either render path, so it showed as MuJoCo's default gray in the sim and flat white in the web 3D viewer. The scene also lacked basic render-quality settings.

Changes

MuJoCo sim (scene.xml):

• Removed the gradient skybox so the background is a plain backdrop.
• Switched the floor from a flat brown ground to a blue checker tile.
• Added render-quality settings: offsamples="4" (MSAA), shadowsize="4096", and map haze="0.1". Pure render settings — no physics effect.
• Added a pedestal_metal material (dark metal) and applied it to the 5 pedestal geoms.

Web 3D viewer (picknik_fanuc.xacro):

• Defined a matching pedestal_metal material and referenced it on the 5 pedestal visuals, so the viewer renders the pedestal consistently with the sim.

Scope / why

• Visual-only. No collision geometry, masses, joints, or contact parameters were touched.
• The suction_tool_tip geom flagged by analysis is class="collision", so it was deliberately left alone.
• The Fanuc arm links and bowls already carry their own colors and were not modified.
• The two render paths are independent (MuJoCo vs. Three.js); the pedestal color is duplicated across both by necessity, kept identical (0.30 0.32 0.35).

Verification

• Analyzer flat-render-risk dropped to 0 in both paths (excluding the intentional collision-geom exclusion).
• xacro expands cleanly; both files are well-formed XML.
• Visual confirmation in the running sim / viewer is pending.

[coderabbitai]

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ℹ️ Review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: b2d050c3-308d-4288-baa2-c5936946aaad

📥 Commits

Reviewing files that changed from the base of the PR and between 0c6dd67 and b70a298.

📒 Files selected for processing (2)

• src/factory_sim/description/picknik_fanuc.xacro
• src/factory_sim/description/scene.xml

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[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 35 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 16 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 35 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 16 passed