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Improve factory_sim sim and 3D viewer visuals #712

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11 changes: 10 additions & 1 deletion src/factory_sim/description/picknik_fanuc.xacro
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -15,38 +15,47 @@
filename="$(find factory_sim)/description/fanuc_lrmate200id.ros2_control.xacro"
/>

<material name="pedestal_metal">
<color rgba="0.30 0.32 0.35 1.0" />
</material>

<link name="world"/>
<link name="arm_pedestal">
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<box size="0.4 0.4 0.3" />
</geometry>
<material name="pedestal_metal" />
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.23 0.05 0.1" />
<geometry>
<box size="0.12 0.02 0.02" />
</geometry>
<material name="pedestal_metal" />
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.23 0.11 0.1" />
<geometry>
<box size="0.12 0.02 0.02" />
</geometry>
<material name="pedestal_metal" />
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.23 -0.05 0.1" />
<geometry>
<box size="0.12 0.02 0.02" />
</geometry>
<material name="pedestal_metal" />
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.23 -0.11 0.1" />
<geometry>
<box size="0.12 0.02 0.02" />
</geometry>
</visual>
<material name="pedestal_metal" />
</visual>
</link>
<joint name="scene_joint" type="fixed">
<parent link="world" />
Expand Down
61 changes: 42 additions & 19 deletions src/factory_sim/description/scene.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,21 +20,15 @@
scale="0.001 0.001 0.002"
/>

<texture
type="skybox"
builtin="gradient"
rgb1="0.3 0.5 0.7"
rgb2="0 0 0"
width="512"
height="3072"
/>
<!-- Blue checker floor: rgb1/rgb2 are the light/dark alternating squares. -->
<texture
type="2d"
name="groundplane"
builtin="flat"
mark="random"
rgb1="0.47 0.42 0.41"
markrgb="0.2 0.2 0.2"
builtin="checker"
mark="edge"
rgb1="0.2 0.3 0.4"
rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8"
width="300"
height="300"
/>
Expand All @@ -43,8 +37,13 @@
texture="groundplane"
texuniform="true"
texrepeat="5 5"
reflectance="0"
metallic="0"
reflectance="0.2"
/>
<material
name="pedestal_metal"
rgba="0.30 0.32 0.35 1"
specular="0.4"
shininess="0.5"
/>
</asset>

Expand All @@ -54,6 +53,10 @@
<headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
<!-- Render quality only (no physics effect): 4x MSAA + larger shadow map.
map haze=0.1 is below MuJoCo's 0.3 default, so haze is subtle. -->
<quality offsamples="4" shadowsize="4096" />
<map haze="0.1" />
</visual>

<!-- Add Fanuc support files -->
Expand Down Expand Up @@ -98,18 +101,38 @@
/>

<body name="arm_pedestal" pos="0.0 0.0 0.15">
<geom type="box" size="0.2 0.2 0.15" />
<geom type="box" size="0.2 0.2 0.15" material="pedestal_metal" />
<!-- Holder for tool 1 -->
<geom type="box" size="0.06 0.01 0.01" pos="0.23 0.05 0.1" />
<geom type="box" size="0.06 0.01 0.01" pos="0.23 0.11 0.1" />
<geom
type="box"
size="0.06 0.01 0.01"
pos="0.23 0.05 0.1"
material="pedestal_metal"
/>
<geom
type="box"
size="0.06 0.01 0.01"
pos="0.23 0.11 0.1"
material="pedestal_metal"
/>
<site
name="suction_gripper_holder_site"
pos="0.25 0.08 0.15"
euler="3.1415 0 0"
/>
<!-- Holder for tool 2 -->
<geom type="box" size="0.06 0.01 0.01" pos="0.23 -0.05 0.1" />
<geom type="box" size="0.06 0.01 0.01" pos="0.23 -0.11 0.1" />
<geom
type="box"
size="0.06 0.01 0.01"
pos="0.23 -0.05 0.1"
material="pedestal_metal"
/>
<geom
type="box"
size="0.06 0.01 0.01"
pos="0.23 -0.11 0.1"
material="pedestal_metal"
/>
<site
name="inspection_tool_holder_site"
pos="0.25 -0.08 0.15"
Expand Down
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