[Feature]: Colors of robots are not fully applied in Viser

[AlexyLegrand]

🚀 Feature

Currently, when loading robot meshes (especially .dae files), colors defined in the model are not consistently applied in the viewer.
This feature aims to ensure that all visual elements of the robot display their intended color information.

Motivation

When visualizing robots in Viser, it’s important to distinguish each robot or component clearly, especially when working with multiple instances or analyzing visual vs collision geometry.
Proper color rendering improves debugging, scene readability, and visualization quality.

Alternatives

Keep using default gray meshes which makes it harder to differentiate between robots and links.

Manually assign colors after loading which is inefficient and inconsistent.

Additional context

A preliminary fix is being tested by modifying _add_mesh_from_path() in viser_visualizer.py to correctly handle effect.diffuse and pass the color data

Before :

After :

Checklist

• I have checked that there is no similar issue/discussion in the repo.

[jcarpent]

@AlexyLegrand Thanks for raising this issue with Vizer.
Could you provide and share the fix you suggest? We might think to integrate it directly in Pinocchio ;)

Best,
Justin

[AlexyLegrand]

I've opened PR #2793 to fix this issue.