pybullet renders wrong color

[OhmySallyGarden]

I load the URDF model of kinova jaco, and I find that the color of the robot in the simulation is not corresponding to the camera image.

upper left of the image and the environment are not same.
The urdf description is :

urdf.txt

[OhmySallyGarden]

The upper left of the image is what I want the physics engine to render. And I do not know how to use getVisualShapeData() and changeVisualShape() to only change the ring of the arm rather than the whole link.

[madurner]

Hey, could you share any code to be able to help you