From b70a29803f299649aa8f4d429579baec64bd9f09 Mon Sep 17 00:00:00 2001 From: Dave Coleman Date: Sat, 13 Jun 2026 22:21:14 -0600 Subject: [PATCH] feat(factory_sim): improve sim and 3D viewer visuals MuJoCo scene: remove gradient skybox, switch floor to a blue checker tile, add anti-aliasing/shadow render-quality settings, and color the arm pedestal with a dark-metal material. URDF: give the pedestal the matching material so the web 3D viewer renders it consistently. --- .../description/picknik_fanuc.xacro | 11 +++- src/factory_sim/description/scene.xml | 61 +++++++++++++------ 2 files changed, 52 insertions(+), 20 deletions(-) diff --git a/src/factory_sim/description/picknik_fanuc.xacro b/src/factory_sim/description/picknik_fanuc.xacro index a0a281d93..2bece3766 100644 --- a/src/factory_sim/description/picknik_fanuc.xacro +++ b/src/factory_sim/description/picknik_fanuc.xacro @@ -15,6 +15,10 @@ filename="$(find factory_sim)/description/fanuc_lrmate200id.ros2_control.xacro" /> + + + + @@ -22,31 +26,36 @@ + + + + - + + diff --git a/src/factory_sim/description/scene.xml b/src/factory_sim/description/scene.xml index 952d8081c..f4526fab3 100644 --- a/src/factory_sim/description/scene.xml +++ b/src/factory_sim/description/scene.xml @@ -20,21 +20,15 @@ scale="0.001 0.001 0.002" /> - + @@ -43,8 +37,13 @@ texture="groundplane" texuniform="true" texrepeat="5 5" - reflectance="0" - metallic="0" + reflectance="0.2" + /> + @@ -54,6 +53,10 @@ + + + @@ -98,18 +101,38 @@ /> - + - - + + - - + +