diff --git a/resources/robots/h1_2/h1_2_simplified.urdf b/resources/robots/h1_2/h1_2_simplified.urdf
index 1f2e703..c474fc8 100644
--- a/resources/robots/h1_2/h1_2_simplified.urdf
+++ b/resources/robots/h1_2/h1_2_simplified.urdf
@@ -22,7 +22,7 @@
       <geometry>
         <mesh filename="meshes/pelvis.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -40,7 +40,7 @@
       <geometry>
         <mesh filename="meshes/left_hip_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -63,7 +63,7 @@
       <geometry>
         <mesh filename="meshes/left_hip_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -86,7 +86,7 @@
       <geometry>
         <mesh filename="meshes/left_hip_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -109,7 +109,7 @@
       <geometry>
         <mesh filename="meshes/left_knee_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -138,7 +138,7 @@
       <geometry>
         <mesh filename="meshes/left_ankle_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -161,7 +161,7 @@
       <geometry>
         <mesh filename="meshes/left_ankle_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -192,7 +192,7 @@
       <geometry>
         <mesh filename="meshes/right_hip_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -215,7 +215,7 @@
       <geometry>
         <mesh filename="meshes/right_hip_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -238,7 +238,7 @@
       <geometry>
         <mesh filename="meshes/right_hip_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -261,7 +261,7 @@
       <geometry>
         <mesh filename="meshes/right_knee_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -290,7 +290,7 @@
       <geometry>
         <mesh filename="meshes/right_ankle_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -313,7 +313,7 @@
       <geometry>
         <mesh filename="meshes/right_ankle_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -344,7 +344,7 @@
       <geometry>
         <mesh filename="meshes/torso_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -375,7 +375,7 @@
       <geometry>
         <mesh filename="meshes/left_shoulder_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -398,7 +398,7 @@
       <geometry>
         <mesh filename="meshes/left_shoulder_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -421,7 +421,7 @@
       <geometry>
         <mesh filename="meshes/left_shoulder_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -444,7 +444,7 @@
       <geometry>
         <mesh filename="meshes/left_elbow_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -468,7 +468,7 @@
       <geometry>
         <mesh filename="meshes/left_elbow_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -492,7 +492,7 @@
       <geometry>
         <mesh filename="meshes/left_wrist_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -515,7 +515,7 @@
       <geometry>
         <mesh filename="meshes/wrist_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -540,7 +540,7 @@
       <geometry>
         <mesh filename="meshes/right_shoulder_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -563,7 +563,7 @@
       <geometry>
         <mesh filename="meshes/right_shoulder_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -587,7 +587,7 @@
       <geometry>
         <mesh filename="meshes/right_shoulder_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -610,7 +610,7 @@
       <geometry>
         <mesh filename="meshes/right_elbow_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -634,7 +634,7 @@
       <geometry>
         <mesh filename="meshes/right_elbow_roll_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -658,7 +658,7 @@
       <geometry>
         <mesh filename="meshes/right_wrist_pitch_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -681,7 +681,7 @@
       <geometry>
         <mesh filename="meshes/wrist_yaw_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -701,7 +701,7 @@
       <geometry>
         <mesh filename="meshes/logo_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="white">
         <color rgba="1 1 1 1"/>
       </material>
     </visual>
@@ -738,7 +738,7 @@
       <geometry>
         <mesh filename="meshes/L_hand_base_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -754,7 +754,7 @@
       <geometry>
         <mesh filename="meshes/link11_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -777,7 +777,7 @@
       <geometry>
         <mesh filename="meshes/link12_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -800,7 +800,7 @@
       <geometry>
         <mesh filename="meshes/link13_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -824,7 +824,7 @@
       <geometry>
         <mesh filename="meshes/link14_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -848,7 +848,7 @@
       <geometry>
         <mesh filename="meshes/link15_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -871,7 +871,7 @@
       <geometry>
         <mesh filename="meshes/link16_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -895,7 +895,7 @@
       <geometry>
         <mesh filename="meshes/link17_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -918,7 +918,7 @@
       <geometry>
         <mesh filename="meshes/link18_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -942,7 +942,7 @@
       <geometry>
         <mesh filename="meshes/link19_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -965,7 +965,7 @@
       <geometry>
         <mesh filename="meshes/link20_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -989,7 +989,7 @@
       <geometry>
         <mesh filename="meshes/link21_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1012,7 +1012,7 @@
       <geometry>
         <mesh filename="meshes/link22_L.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1043,7 +1043,7 @@
       <geometry>
         <mesh filename="meshes/R_hand_base_link.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1059,7 +1059,7 @@
       <geometry>
         <mesh filename="meshes/link11_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1082,7 +1082,7 @@
       <geometry>
         <mesh filename="meshes/link12_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1105,7 +1105,7 @@
       <geometry>
         <mesh filename="meshes/link13_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1129,7 +1129,7 @@
       <geometry>
         <mesh filename="meshes/link14_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1153,7 +1153,7 @@
       <geometry>
         <mesh filename="meshes/link15_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1176,7 +1176,7 @@
       <geometry>
         <mesh filename="meshes/link16_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1200,7 +1200,7 @@
       <geometry>
         <mesh filename="meshes/link17_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1223,7 +1223,7 @@
       <geometry>
         <mesh filename="meshes/link18_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1247,7 +1247,7 @@
       <geometry>
         <mesh filename="meshes/link19_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1270,7 +1270,7 @@
       <geometry>
         <mesh filename="meshes/link20_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1294,7 +1294,7 @@
       <geometry>
         <mesh filename="meshes/link21_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>
@@ -1317,7 +1317,7 @@
       <geometry>
         <mesh filename="meshes/link22_R.STL"/>
       </geometry>
-      <material name="">
+      <material name="dark">
         <color rgba="0.1 0.1 0.1 1"/>
       </material>
     </visual>