diff --git a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cpp b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cpp
index b81df58..04bceba 100644
--- a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cpp
+++ b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cpp
@@ -607,11 +607,12 @@ gxf_result_t FoundationposeRender::NvdiffrastRender(
     CHECK_CUDA_ERRORS(cudaGetLastError());
   } else {
     auto float_texture_map_data = float_texture_map_tensor_.exportData<nvcv::TensorDataStridedCuda>();
+    // The texture map is a list of vertex colors, needs broadcasting in interpolate to avoid illegal memory access
     interpolate(
         cuda_stream,
         reinterpret_cast<float*>(float_texture_map_data->basePtr()), rast_out_device_, mesh_data_ptr->mesh_faces_device, color_device_,
         mesh_data_ptr->num_vertices, mesh_data_ptr->num_faces, kVertexPoints,
-        H, W, N);
+        H, W, N, 1);
     CHECK_CUDA_ERRORS(cudaGetLastError());
   }
 
@@ -833,7 +834,11 @@ gxf_result_t FoundationposeRender::tick() noexcept {
   // Get mesh data from sampling component if not already set
   auto mesh_data_ptr = mesh_storage_.get()->GetMeshData();
 
-  if (float_texture_map_tensor_.empty() || texture_path_cache_ != mesh_data_ptr->texture_path) {
+  // For pure color texture (vetex colors), we can reuse the cached version if the size matches
+  if (float_texture_map_tensor_.empty() || texture_path_cache_ != mesh_data_ptr->texture_path
+      || mesh_data_ptr->texture_map_height != float_texture_map_tensor_.shape()[1]
+      || mesh_data_ptr->texture_map_width != float_texture_map_tensor_.shape()[2]
+      || mesh_data_ptr->texture_map_channels != float_texture_map_tensor_.shape()[3]) {
     NormalizeImage(
       cuda_stream_,
       mesh_data_ptr->texture_map_device, 
diff --git a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cu b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cu
index 3b992d7..4abdcd2 100644
--- a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cu
+++ b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cu
@@ -330,7 +330,7 @@ void rasterize(
 
 void interpolate(
     cudaStream_t stream, float* attr_ptr, float* rast_ptr, int32_t* tri_ptr, float* out, int num_vertices,
-    int num_triangles, int attr_dim, int H, int W, int C) {
+    int num_triangles, int attr_dim, int H, int W, int C, int attr_bc) {
   int instance_mode = attr_dim > 2 ? 1 : 0;
 
   InterpolateKernelParams p = {};  // Initialize all fields to zero.
@@ -346,7 +346,7 @@ void interpolate(
   p.attr = attr_ptr;
   p.rast = rast_ptr;
   p.tri = tri_ptr;
-  p.attrBC = 0;
+  p.attrBC = attr_bc;
   p.out = out;
 
   // Choose launch parameters.
diff --git a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cu.hpp b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cu.hpp
index 817124c..b241270 100644
--- a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cu.hpp
+++ b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/foundationpose_render.cu.hpp
@@ -50,7 +50,7 @@ void rasterize(
     int H, int W, int C);
 void interpolate(
     cudaStream_t stream, float* attr_ptr, float* rast_ptr, int32_t* tri_ptr, float* out, int num_vertices,
-    int num_triangles, int attr_dim, int H, int W, int C);
+    int num_triangles, int attr_dim, int H, int W, int C, int attr_bc = 0);
 void texture(
     cudaStream_t stream, float* tex_ptr, float* uv_ptr, float* out, int tex_height, int tex_width, int tex_channel,
     int tex_depth, int H, int W, int N);
diff --git a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/mesh_storage.cpp b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/mesh_storage.cpp
index d461ade..112267d 100644
--- a/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/mesh_storage.cpp
+++ b/isaac_ros_gxf_extensions/gxf_isaac_foundationpose/gxf/foundationpose/mesh_storage.cpp
@@ -32,8 +32,6 @@
 #include "foundationpose_utils.hpp"
 
 namespace {
-constexpr int kFixTextureMapWidth = 1920;
-constexpr int kFixTextureMapHeight = 1080;
 constexpr int kFixTextureMapColor = 128;
 }  // namespace
 
@@ -87,12 +85,13 @@ gxf_result_t MeshStorage::LoadTextureData(const std::string& texture_file_path)
   cv::Mat rgb_texture_map;
 
   if (!std::filesystem::exists(texture_file_path)) {
-    if (mesh_data_->texture_path.empty() && mesh_data_->texture_map_device != nullptr) {
+    if (mesh_data_->texture_path.empty() && mesh_data_->texture_map_device != nullptr && mesh_data_->texture_map_width == mesh_data_->num_vertices) {
       GXF_LOG_WARNING("[MeshStorage] %s could not be found, reuse the pure color texture map", texture_file_path.c_str());
       return GXF_SUCCESS;
     }
-    GXF_LOG_WARNING("[MeshStorage], %s could not be found, assign texture map with pure color", texture_file_path.c_str());
-    rgb_texture_map = cv::Mat(kFixTextureMapHeight, kFixTextureMapWidth, CV_8UC3,
+    GXF_LOG_WARNING("[MeshStorage] %s could not be found, assign texture map with pure color", texture_file_path.c_str());
+    // The pure color texture map is actually a list of vertex colors
+    rgb_texture_map = cv::Mat(1, mesh_data_->num_vertices, CV_8UC3,
                               cv::Scalar(kFixTextureMapColor, kFixTextureMapColor, kFixTextureMapColor));
     mesh_data_->has_tex = false;
   } else {
@@ -296,8 +295,9 @@ gxf_result_t MeshStorage::LoadMeshData(const std::string& mesh_file_path) {
     GXF_LOG_WARNING("[MeshStorage] No material index found for mesh");
   }
 
-  // Only reload texture if the path has changed
-  if (texture_path_str != mesh_data_->texture_path || mesh_data_->texture_map_device == nullptr) {
+  // Only reload texture if the path has changed or if no texture was loaded before
+  if (texture_path_str != mesh_data_->texture_path || mesh_data_->texture_map_device == nullptr
+      || !mesh_data_->has_tex) {
     GXF_LOG_DEBUG("[MeshStorage] Texture path has changed, reloading texture");
     auto result = LoadTextureData(texture_path_str);
     if (result != GXF_SUCCESS) {