Align W1 V030 rendering materials with V021

docs/source/_static/robots/dexforcew1_render.json

@@ -167,17 +167,50 @@
         "RIGHT_J7": 0.0
       },
       "rendered_from_catalog": true,
-      "image_sha256": "58d18c9a35ad390576a3928a4ff755c633fb88351935c41d7582953ca7ed4f7e",
+      "image_sha256": "4532f067e0717390cbdf020b7d0fbcf1c56affdff7176552259b9dd4a809dfc8",
       "asset": {
         "dataset_id": "DexforceW1V030",
         "cache_prefix": "DexforceW1V030",
         "repo_id": "DexForceAI/embodichain_data",
         "repo_type": "dataset",
-        "revision": "3544bad4b6f8c7bc4b3263473b4a04e18db20fff",
+        "revision": "cbaab0e32fdee1c9ecc6e69a1561f9a7b8851e29",
         "path": "dexforce_w1/v030/w1.zip",
-        "md5": "74ff7e835160f7309d32ade116172c52",
-        "sha256": "2cd4b2dbdfa5cbd3238d16e23d927f03a8e7c06f42a29846c633f60a636fc0e5"
-      }
+        "md5": "c3fa8994563f729a0e8387e2129a28c1",
+        "sha256": "5ee5109781efde2c1b57e9d5a544f4eec4dcfd2f591832bd4cb4edf873a51286",
+        "material_alignment": {
+          "source_asset": {
+            "repo_id": "DexForceAI/embodichain_data",
+            "repo_type": "dataset",
+            "revision": "3544bad4b6f8c7bc4b3263473b4a04e18db20fff",
+            "path": "dexforce_w1/v030/w1.zip",
+            "md5": "74ff7e835160f7309d32ade116172c52",
+            "sha256": "2cd4b2dbdfa5cbd3238d16e23d927f03a8e7c06f42a29846c633f60a636fc0e5"
+          },
+          "reference_variant": "v021/BrainCo",
+          "yellow_srgb": [
+            248,
+            195,
+            73
+          ],
+          "black_srgb": [
+            46,
+            46,
+            46
+          ],
+          "roughness": 0.408248290463863,
+          "metallic": 0.0,
+          "baked_shell_normals": false,
+          "baked_grille_normals": false,
+          "geometry_modified": false
+        }
+      },
+      "capture_date": "2026-10-24",
+      "runtime": {
+        "dexsim": "0.5.1+18e1c7f5902ecf20c103ab6d5153528d43395dbd",
+        "torch": "2.7.1+cu128",
+        "gpu": "NVIDIA GeForce RTX 5090"
+      },
+      "source_commit": "54870f2549ff4a0363dbb18c5d1fa57fd8e744c3"
     }
   },
   "source_worktree_modified": true,

docs/source/resources/robot/dexforce_w1.md

@@ -19,13 +19,18 @@ Both images are captured from the registered robot presets using the same
 camera, bent-elbow display pose and current `RenderCfg(renderer="rt")`
 defaults (OfflineRT), with default scene lighting.
 The display pose is for illustration; it does not change the preset home pose.
+V030 uses the V021 yellow (`#F8C349`) and dark
+(`#2E2E2E`) plastic palette with matching roughness, retaining V030 geometry
+and markings.
 
 :::{dropdown} Image rendering settings
 960 × 1200; 1 sample per pixel; DLSS offscreen reconstruction (quality 2);
 tone mapping off; exposure 1.0; path depths 4–8. The scene uses the default
 ground and environment emission, with no added direct lights. Camera settings,
 joint positions and the V030 asset revision are recorded in the
 [render manifest](../../_static/robots/dexforcew1_render.json).
+The manifest also records the V021 material parameters and the published
+archive checksums.
 :::
 
 ## Supported Body Revisions

embodichain/data/assets/w1_assets.py

@@ -158,8 +158,9 @@ class DexforceW1V030(EmbodiChainDataset):
 
     The archive is published at ``dexforce_w1/v030/w1.zip`` with
     ``w1/robot.urdf`` and the five component URDFs. Component visuals and
-    inertials match the corrected full body. Wrist camera and gripper assets
-    belong to independently assembled attachments.
+    inertials match the corrected full body. Its yellow and dark plastic
+    materials match V021. Wrist camera and gripper assets belong to independently
+    assembled attachments.
 
     Args:
         data_root: Download and extraction cache root. Defaults to the configured
@@ -169,7 +170,7 @@ class DexforceW1V030(EmbodiChainDataset):
     def __init__(self, data_root: str | None = None) -> None:
         descriptor = o3d.data.DataDescriptor(
             os.path.join(EMBODICHAIN_DOWNLOAD_PREFIX, w1_assets, "v030", "w1.zip"),
-            "74ff7e835160f7309d32ade116172c52",
+            "c3fa8994563f729a0e8387e2129a28c1",
         )
         path = EMBODICHAIN_DEFAULT_DATA_ROOT if data_root is None else data_root
         super().__init__(type(self).__name__, descriptor, path)