[yuecideng]

Description

UR3/UR3e assets darkened the silver links and blue joint covers. Select the corrected UniversalRobots_v4.zip and checksum, retain the configured download source with a Hub fallback, and use a versioned UniversalRobotsV4 cache directory so existing assembled robots refresh their copied mesh materials. Public UniversalRobots/... asset references stay stable.

Refresh all six UR documentation images plus the CobotMagic and Aloha Mini 2 Pro illustrations using native OfflineRT. Add camera, lighting and display-pose manifests, improve figure layouts, and label the model, gripper and control-group details. CobotMagic and Aloha Mini use soft studio area lights; UR captures retain default lighting.

Dependencies: none. No associated issue.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Documentation update

Validation

• black . with Black 26.3.1: 1,504 files unchanged.
• python docs/scripts/check_api_docs.py: 2,805/2,805 exports documented.
• python -m pytest -q tests/data/test_download_prefix.py: 6 passed.
• python -m pytest -q -c /dev/null --noconftest tests/test_agent_context_map.py tests/test_agent_context_tools.py: 42 passed.
• Fresh-cache download and extraction through get_data_path() resolved all six public UR asset paths into UniversalRobotsV4; the published 54.64 MiB archive matched MD5 a92eda28a1d2f9034252cdb2936ceffc.
• Compared V3 and V4 archives: only eight UR3/UR3e Collada files differ. Their geometry, visual-scene and controller sections are unchanged; all other files, including URDFs and collision assets, are byte-identical.
• Focused Sphinx build of all three changed robot pages and the linked Aloha Mini API page, using repository settings with warnings treated as errors: passed. Visually inspected the illustrations; validated all eight image files, render manifests and Python example syntax.
• context.py check, affected-topic review and context size review: passed. Revised the data-assets overview to explain the V4 cache boundary and stable public paths.
• git diff --check: passed.

Test necessity reviewed: extended existing download-prefix cases to cover the versioned UR cache, configured-source priority and deduplicated Hub fallback. Archive comparison and the real download verify the asset update; documentation builds and image checks cover the render refresh. No additional simulation tests are needed because geometry, kinematics, collisions and inertial definitions are unchanged.

Screenshots

Robot	Before	After
UR3
CobotMagic
Aloha Mini 2 Pro

Checklist

• I have run the black . command to format the code base.
• I reviewed affected documentation and agent context, updated it where needed, or explained why no update was needed.
• Public API changes are reflected in the API docs (python docs/scripts/check_api_docs.py), if applicable (no API changes; gate passed).
• I verified appropriate behavioral coverage, reviewed the necessity of added or extended tests, and explained when no new tests were needed.
• Dependencies have been updated, if applicable (no dependency changes).

[greptile-apps]

Confidence Score: 4/5

[Medium impact] The changes reach the UR asset-loading workflow and three robot documentation pages.

The PR appears safe to merge, with a non-blocking error in the CLI's download status.

Findings

1.  Download status checks old files ▶

Fix with agent prompt

### Issue 1
embodichain/data/assets/robot_assets.py:322
The new `UniversalRobotsV4` cache name leaves `embodichain data list` checking the old directory. `cmd_list()` builds its path from the class name, so a fresh V4 download still appears missing, while an old V3 cache can appear ready without V4 being present.

Keep the versioned directory, but update the CLI to check the asset's declared cache prefix without downloading it.

---

For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

Summary

Updates UniversalRobots to the V4 archive and checksum, adds a Hub fallback, and uses a versioned cache to refresh copied materials.

• UR asset lookups use corrected V4 materials without changing public paths.
• The UR page shows updated images and explains the corrected materials.
• CobotMagic and Aloha Mini pages show refreshed robot illustrations.

_{Reviews (1) · Last reviewed commit: "fix(robots): correct UR3 materials and r..." · Reviewed by Greptile}

[greptile-apps]

Download status checks old files

The new UniversalRobotsV4 cache name leaves embodichain data list checking the old directory. cmd_list() builds its path from the class name, so a fresh V4 download still appears missing, while an old V3 cache can appear ready without V4 being present.

Keep the versioned directory, but update the CLI to check the asset's declared cache prefix without downloading it.

Knowledge Base Used: Asset and dataset management

Prompt To Fix With AI

This is a comment left during a code review.
Path: embodichain/data/assets/robot_assets.py
Line: 322

Comment:
**Download status checks old files**

The new `UniversalRobotsV4` cache name leaves `embodichain data list` checking the old directory. `cmd_list()` builds its path from the class name, so a fresh V4 download still appears missing, while an old V3 cache can appear ready without V4 being present.

Keep the versioned directory, but update the CLI to check the asset's declared cache prefix without downloading it.

**Knowledge Base Used:** [Asset and dataset management](https://app.greptile.com/dexforce/-/custom-context/knowledge-base/dexforce/embodichain/-/docs/asset-data-management.md)

---

For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.