Spot model of spoteus with noetic does not visualize correctly about body color

[sktometometo]

I have created workspace based on https://github.com/k-okada/jsk_robot/tree/spot_arm/jsk_spot_robot#how-to-set-up-a-catkin-workspace-for-a-remote-pc and visualize spot model with IRTViewer, But its color is not correctly visualized.

(load "package://spoteus/spot-utils.l")
(spot)
(objects (list *spot*))

workspace configuration is

~/ros/ws_jsk_spot_remote/src $ wstool
workspace: /home/sktometometo/ros/ws_jsk_spot_remote/src

 Localname             S SCM Version (Spec) UID  (Spec)  URI  (Spec) [http(s)://...]
 ---------             - --- -------------- -----------  ---------------------------
 spot-ros                git arm            91276affbe45 github.com/k-okada/spot_ros-arm.git
 jsk_pr2eus              git master         16cb8fa58aa1 github.com/jsk-ros-pkg/jsk_pr2eus.git
 jsk_model_tools         git custom_limb    1b7b27f99aaf github.com/k-okada/jsk_model_tools.git
 jsk-ros-pkg/jsk_robot   git spot_arm       b3682c1adc7b github.com/k-okada/jsk_robot.git

[sktometometo]

With these branch, arm color is also not visualized like below.

Code is https://gitlab.jsk.imi.i.u-tokyo.ac.jp/papers/2023/si/shinjo_device_localization_with_history/-/blob/master/euslisp/device_scene.l

and

(load "./device_scene.l")
(run-spatial-device)

During its execution, there are some outputs which seems to have relation with color

 4irteusgl> (run-spatial-device)                                                                                                                                                                                   
 5Color name (:silver) not found                                                                                                                                                                                   
 6Color name (:silver) not found                                                                                                                                                                                   
 7Color name (:silver) not found                                                                                                                                                                                   
 8Color name (:silver) not found                                                                                                                                                                                   
 9Color name (:liughtsalmon) not found                                                                                                                                                                             
10Color name (:liughtsalmon) not found                                                                                                                                                                             
11Color name (:liughtsalmon) not found                                                                                                                                                                             
12Color name (:liughtsalmon) not found                                                                                                                                                                             
13;; (make-irtviewer) executed                                                                                                                                                                                     
14(#<room73b2-scene #X5620de50fe58 room73b2  0.0 0.0 0.0 / 0.0 0.0 0.0> #<room73a3-scene #X5620de84d590 room73a3  -3000.0 0.0 0.0 / 3.14 0.0 0.0> #<human-robot #X5620dcc8e090 human  7000.0 2000.0 0.0 / -1.57 0.\
  0 0.0> #<human-robot #X5620dd0601a0 human  -2994.628 -965.642 -53.772 / -1.58 -0.348 -0.006> #<spot-robot #X5620e23a2d50 spot  -1500.0 -3000.0 600.0 / 1.57 0.0 0.0> #<spot-robot #X5620e7174bd8 spot  1500.0 0.\
  0 600.0 / 0.0 0.0 0.0> #<spot-robot #X5620e75313c8 spot  7000.0 1000.0 600.0 / 1.57 0.0 0.0> #<spot-robot #X5620dcc88408 spot  1500.0 2500.0 600.0 / 0.0 0.0 0.0> #<spot-robot #X5620f0ecd290 spot  4500.0 1000.\
  0 600.0 / 0.0 0.0 0.0>) 

[sktometometo]

Since original xacro does not have color field in it, it seems that color information of STL or obj file seem not to be converted correctly to dae or euslisp.

[sktometometo]

With these branch, arm color is also not visualized like below.

Code is https://gitlab.jsk.imi.i.u-tokyo.ac.jp/papers/2023/si/shinjo_device_localization_with_history/-/blob/master/euslisp/device_scene.l

and

(load "./device_scene.l")
(run-spatial-device)

During its execution, there are some outputs which seems to have relation with color

 4irteusgl> (run-spatial-device)                                                                                                                                                                                   
 5Color name (:silver) not found                                                                                                                                                                                   
 6Color name (:silver) not found                                                                                                                                                                                   
 7Color name (:silver) not found                                                                                                                                                                                   
 8Color name (:silver) not found                                                                                                                                                                                   
 9Color name (:liughtsalmon) not found                                                                                                                                                                             
10Color name (:liughtsalmon) not found                                                                                                                                                                             
11Color name (:liughtsalmon) not found                                                                                                                                                                             
12Color name (:liughtsalmon) not found                                                                                                                                                                             
13;; (make-irtviewer) executed                                                                                                                                                                                     
14(#<room73b2-scene #X5620de50fe58 room73b2  0.0 0.0 0.0 / 0.0 0.0 0.0> #<room73a3-scene #X5620de84d590 room73a3  -3000.0 0.0 0.0 / 3.14 0.0 0.0> #<human-robot #X5620dcc8e090 human  7000.0 2000.0 0.0 / -1.57 0.\
  0 0.0> #<human-robot #X5620dd0601a0 human  -2994.628 -965.642 -53.772 / -1.58 -0.348 -0.006> #<spot-robot #X5620e23a2d50 spot  -1500.0 -3000.0 600.0 / 1.57 0.0 0.0> #<spot-robot #X5620e7174bd8 spot  1500.0 0.\
  0 600.0 / 0.0 0.0 0.0> #<spot-robot #X5620e75313c8 spot  7000.0 1000.0 600.0 / 1.57 0.0 0.0> #<spot-robot #X5620dcc88408 spot  1500.0 2500.0 600.0 / 0.0 0.0 0.0> #<spot-robot #X5620f0ecd290 spot  4500.0 1000.\
  0 600.0 / 0.0 0.0 0.0>) 

For this error, I have to use spot-utils..l instead of spot.l Where spot model is updated.