Describe the problem you got
openarm_v20_emit_link hardcodes a flat placeholder color on every link, overriding each mesh’s own real materials.
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<material name="${link_name}_material"> |
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<color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" /> |
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</material> |
This causes every link <visual> to render as plain gray, instead of inheriting the color that is embedded in the DAE.
Suggested fix: either remove the block from openarm_v20_emit_link entirely (matching v1.0’s already-correct behavior), or thread a real per-link color through from config/arm/link/visuals.yaml (which has no color field today) if an explicit override is actually wanted.
Describe the problem you got
openarm_v20_emit_linkhardcodes a flat placeholder color on every link, overriding each mesh’s own real materials.openarm_description/assets/robot/openarm_v2.0/urdf/utils/openarm_v20_utils.xacro
Lines 112 to 114 in 6c7b720
This causes every link
<visual>to render as plain gray, instead of inheriting the color that is embedded in the DAE.Suggested fix: either remove the block from openarm_v20_emit_link entirely (matching v1.0’s already-correct behavior), or thread a real per-link color through from config/arm/link/visuals.yaml (which has no color field today) if an explicit override is actually wanted.