From ac69024c5027cc293435d8b4bfccc3f8a8d9edb8 Mon Sep 17 00:00:00 2001
From: Aditya Kamath <2458029+adityakamath@users.noreply.github.com>
Date: Mon, 30 Jun 2025 16:17:56 +0200
Subject: [PATCH] Update Mujoco XML files with colors (#115)

* Update so101_new_calib.xml with URDF colors

* Update so101_old_calib.xml with URDF colors
---
 Simulation/SO101/so101_new_calib.xml | 26 +++++++++++++-------------
 Simulation/SO101/so101_old_calib.xml | 26 +++++++++++++-------------
 2 files changed, 26 insertions(+), 26 deletions(-)

diff --git a/Simulation/SO101/so101_new_calib.xml b/Simulation/SO101/so101_new_calib.xml
index f914311..e24ff77 100644
--- a/Simulation/SO101/so101_new_calib.xml
+++ b/Simulation/SO101/so101_new_calib.xml
@@ -136,19 +136,19 @@
     <mesh file="motor_holder_so101_wrist_v1.stl"/>
     <mesh file="sts3215_03a_no_horn_v1.stl"/>
     <mesh file="base_so101_v2.stl"/>
-    <material name="base_motor_holder_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="base_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="sts3215_03a_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
-    <material name="waveshare_mounting_plate_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="motor_holder_so101_base_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="rotation_pitch_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="upper_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="under_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="motor_holder_so101_wrist_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="sts3215_03a_no_horn_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
-    <material name="wrist_roll_pitch_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="wrist_roll_follower_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
+    <material name="base_motor_holder_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="base_so101_v2_material" rgba="1 0.82 0.12 1"/>
+    <material name="sts3215_03a_v1_material" rgba="0.1 0.1 0.1 1"/>
+    <material name="waveshare_mounting_plate_so101_v2_material" rgba="1 0.82 0.12 1"/>
+    <material name="motor_holder_so101_base_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="rotation_pitch_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="upper_arm_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="under_arm_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="motor_holder_so101_wrist_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="sts3215_03a_no_horn_v1_material" rgba="0.1 0.1 0.1 1.0"/>
+    <material name="wrist_roll_pitch_so101_v2_material" rgba="1 0.82 0.12 1"/>
+    <material name="wrist_roll_follower_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="moving_jaw_so101_v1_material" rgba="1 0.82 0.12 1"/>
   </asset>
   <actuator>
     <position class="sts3215" name="shoulder_pan" joint="shoulder_pan" forcerange="-3.35 3.35" ctrlrange="-1.91986 1.91986"/>
diff --git a/Simulation/SO101/so101_old_calib.xml b/Simulation/SO101/so101_old_calib.xml
index a5479d0..7bc79e9 100644
--- a/Simulation/SO101/so101_old_calib.xml
+++ b/Simulation/SO101/so101_old_calib.xml
@@ -134,19 +134,19 @@
     <mesh file="base_motor_holder_so101_v1.stl"/>
     <mesh file="wrist_roll_pitch_so101_v2.stl"/>
     <mesh file="sts3215_03a_no_horn_v1.stl"/>
-    <material name="base_motor_holder_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="base_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="sts3215_03a_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
-    <material name="waveshare_mounting_plate_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="motor_holder_so101_base_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="rotation_pitch_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="upper_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="under_arm_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="motor_holder_so101_wrist_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="sts3215_03a_no_horn_v1_material" rgba="0.627451 0.627451 0.627451 1"/>
-    <material name="wrist_roll_pitch_so101_v2_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="wrist_roll_follower_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
-    <material name="moving_jaw_so101_v1_material" rgba="0.964706 0.964706 0.952941 1"/>
+    <material name="base_motor_holder_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="base_so101_v2_material" rgba="1 0.82 0.12 1"/>
+    <material name="sts3215_03a_v1_material" rgba="0.1 0.1 0.1 1"/>
+    <material name="waveshare_mounting_plate_so101_v2_material" rgba="1 0.82 0.12 1"/>
+    <material name="motor_holder_so101_base_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="rotation_pitch_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="upper_arm_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="under_arm_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="motor_holder_so101_wrist_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="sts3215_03a_no_horn_v1_material" rgba="0.1 0.1 0.1 1"/>
+    <material name="wrist_roll_pitch_so101_v2_material" rgba="1 0.82 0.12 1"/>
+    <material name="wrist_roll_follower_so101_v1_material" rgba="1 0.82 0.12 1"/>
+    <material name="moving_jaw_so101_v1_material" rgba="1 0.82 0.12 1"/>
   </asset>
   <actuator>
     <position class="sts3215" name="shoulder_pan" joint="shoulder_pan" forcerange="-3.35 3.35" ctrlrange="-1.91986 1.91986"/>