Improve lab_sim render: MSAA, shadows, and solid table top

[davetcoleman]

Two visual-quality fixes for the lab_sim scene. Both are pure render/material changes — no physics, transform, or camera-resolution effect — and fully reversible.

1. Anti-aliasing + crisp shadows (src/lab_sim/description/scene.xml)

The <visual> block configured a <headlight> but left render quality at MuJoCo defaults — aliased edges and coarse shadows. Added one element:

<quality offsamples="4" shadowsize="4096" />

offsamples="4" = 4× MSAA; shadowsize="4096" = crisper shadow maps. <global offwidth/offheight> left untouched so the camera-resolution contract is unchanged.

2. Solid table top instead of black checkerboard (src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml)

The desk_top_granite geom used the granite material, a builtin="checker" texture in dark grays (rgb1=0.04…, rgb2=0.09…, texrepeat="20 20") — rendering as a black checkerboard. Replaced the texture with a solid rgba="0.07 0.07 0.08 1" (the mid-tone between the two checker colors), keeping specular/shininess so it still reads as polished stone. Removed the now-orphaned granite_texture definition.

Shared asset note: desk_globals.xml lives in picknik_accessories, so any config including lab_desk gets the solid top.

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 6c1fb03d-0099-42e5-aeed-8b8ca04904fb

📥 Commits

Reviewing files that changed from the base of the PR and between c7b17e1 and 4c9c99a.

📒 Files selected for processing (1)

• src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml

---

📝 Walkthrough

Summary by CodeRabbit

• Chores
  • Increased scene rendering quality: improved anti-aliasing and higher-resolution shadows for clearer, more realistic lab visuals.
  • Simplified desk material: removed patterned texture in favor of a consistent color finish, resulting in a more uniform appearance of desk surfaces.

Walkthrough

Adds a <quality> element to the scene visual settings (offsamples=4, shadowsize=4096) and replaces a textured granite asset in desk_globals.xml with a fixed rgba granite material (removed granite_texture and texrepeat).

Changes

Scene Rendering Quality Configuration

Layer / File(s)	Summary
Visual rendering quality settings src/lab_sim/description/scene.xml	Adds a <quality> element under <visual> with offsamples="4" and shadowsize="4096".

Desk Asset Material Update

Layer / File(s)	Summary
Granite texture removal and material update src/picknik_accessories/mujoco_assets/lab_desk/desk_globals.xml	Removes the granite_texture checker texture asset and updates the granite material to use a fixed rgba value while keeping specular and shininess (removed texture="granite_texture" and texrepeat).

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The pull request description clearly explains both changes: adding MSAA and shadow quality settings to scene.xml, and replacing the black checkerboard texture with a solid granite color in desk_globals.xml.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Human Review Check	✅ Passed	PR modifies only MuJoCo asset XML files for render quality and material appearance. No auth, CI/CD, infra, public API, or critical subsystem changes present.

_{✏️ Tip: You can configure your own custom pre-merge checks in the settings.}

---

_{Comment @coderabbitai help to get the list of available commands and usage tips.}

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• ✅ humble: view HTML report — 35 passed
• ✅ jazzy: view HTML report — 35 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• ✅ humble: view HTML report — 35 passed
• ✅ jazzy: view HTML report — 35 passed