Change SO-101 printed parts from near-black to off-white

[scopenhagenPickNik]

[written by AI]

The SO-101's 3d_printed URDF material was 0.05 0.05 0.05, which nearly disappears against the dark 3D view in the MoveIt Pro Desktop App. This changes it to a warm off-white, 0.88 0.87 0.83, in the named definition and its 16 inline repeats in src/so101_base_config/description/so101.urdf.xacro.

The sts3215 servo and tpu_fin materials stay dark on purpose: it matches a white-printed SO-101 with black servos, and the contrast keeps the joints readable. Off-white rather than 1 1 1 because pure white washes out surface detail under the viewer's lights. Collision geometry is untouched, and so101_sim inherits the description unchanged, so it picks up the color too. Both package thumbnails already show a light arm, so they were left alone.

Checked with a standalone before/after render using the app's @picknikrobotics/urdf-loader, Three.js 0.181.1, and the light rig from robot-visualization.tsx; not checked in the Desktop App itself. XML parses and pre-commit passes on the file.

Release notes

None

Claude agent checks

• code-reviewer
• SKIPPED documentation-bot
  • No documented behavior changed.
• SKIPPED licensing-privacy-bot
  • No licensing or privacy surfaces changed.
• SKIPPED platform-architect-bot
  • URDF material colors only.
• SKIPPED roboticist-bot
  • Visual materials only; no kinematics, collision, or control changes.
• SKIPPED frontend-noah-bot
  • No frontend code changed.
• SKIPPED security-auditor
  • No security-sensitive surfaces changed.
• SKIPPED compatibility-bot
  • No public names, ports, or interface contracts changed.
• SKIPPED sonar-bot
  • Only URDF xacro changed.
• SKIPPED test-runner
  • No buildable or testable code changed.

🤖 Generated with Claude Code

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ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Team

Run ID: 40cec48b-6dd4-4db7-8c86-d70b5a9b9cff

📥 Commits

Reviewing files that changed from the base of the PR and between c3fc121 and f25a8f6.

📒 Files selected for processing (1)

• src/so101_base_config/description/so101.urdf.xacro

Included review availability: 7 reviews are currently available. Your included PR review attempts over the past 7 days set your current allowance at 8 reviews per hour.

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📝 Summary

Summary by CodeRabbit

• Style
  • Updated the SO-101’s 3D-printed components to display in a light beige color instead of dark gray.
  • Geometry, joint behavior, and controls remain unchanged.

Walkthrough

The SO-101 URDF changes all 3d_printed visual materials from dark gray to light beige. Geometry, joints, and control behavior remain unchanged.

Changes

SO-101 visual materials

Layer / File(s)	Summary
Update 3D-printed material colors src/so101_base_config/description/so101.urdf.xacro	The visual materials for the camera mounts, base, arm, wrist, and soft-fin jaws now use light beige instead of dark gray.

Suggested reviewers: griswaldbrooks

Priority: ⬇️ Low

Merge Risk: ⚪ Minimal · up to f25a8

This updates the SO-101 model appearance without changing geometry or behavior, so it is ready to merge.

🚥 Pre-merge checks | ✅ 4

✅ Passed checks (4 passed)

Check name	Status	Explanation
Description check	✅ Passed	The pull request description directly explains the URDF material color changes, the affected SO-101 visuals, and the unchanged geometry and behavior.
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	PASS: The pull request changes one URDF file only. The complete 17-line change replaces the 3d_printed visual color and leaves geometry, joints, controls, collision elements, dark servo materials, a…

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[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 32 passed
• hangar_sim
  • ❌ jazzy: view HTML report — 7 failed, 11 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 32 passed
• hangar_sim
  • ❌ jazzy: view HTML report — 7 failed, 11 passed