Datasets:

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Kashu7100

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eden_assets

Like 2

The stock OLI STL visuals are monochrome. This adds a silver/black appearance as static assets for both HU_D04_01.urdf and HU_D04_01_no_hand.urdf.

• Add 34 GLB visual meshes with embedded materials and color textures, shared by the two models. Black regions include the shoes, hands and joint/sensor covers; ankle mechanisms and exposed no-hand wrist flanges stay silver.
• Change only URDF visual mesh references and remove the old gray visual material overrides. Collision meshes remain the original STLs.
• No runtime coloring, Eden source-code changes, docs, scripts or test files are included.

Colors and boundaries are photo-based approximations, not manufacturer textures.

Validation:

• Both URDFs pass structural/mesh-reference validation without findings (31 movable joints each).
• Original and updated XML are identical after removing visual elements: joints, origins outside visuals, limits, collisions, masses and inertias are unchanged.
• Visual origins and triangle topology match the source; GLB vertex positions match within 1e-7 m (float32 export).
• Both models load 32 textured visual meshes through unmodified Eden/Genesis, retaining 37 floating-base DOFs.
• A two-robot scene was built, reset and rendered on one A100 through Eden's Genesis rasterizer. No learning was run.

This replaces the runtime implementation proposed in https://github.com/Kashu7100/Eden/pull/1031.

Eden rendering

The new static-asset comparison is attached to Eden PR #1031 (Eden repository access required). Left: original STL appearance. Right: static colored GLB assets. The image is a PR attachment, not a repository file.