Texture mismatch for articulated objects when load.load_urdf on Partnet-mobility

[jrryzh]

Describe the issue

Hi, I am using blenderproc to render views of objs in Partnet-mobility, since they are combined by a urdf, I import the obj using the load.load_urdf method, it worked out but the texture of different parts seems to be weired and I don't have a clue how to solve this issue. It would be great help, thank you!

Minimal code example

robot = bproc.loader.load_urdf(urdf_file=urdf_path)

    scale_factor = 0.75
    robot.set_scale([scale_factor, scale_factor, scale_factor])
    for urdf_obj in robot.get_all_urdf_objs():
        if hasattr(urdf_obj, 'enable_rigidbody'):  
            urdf_obj.enable_rigidbody(False, collision_shape='BOX',  
                                    friction=100.0, linear_damping=0.99, angular_damping=0.99)

Files required to run the code

No response

Expected behavior

I expect it to look normal like in sapien, but texture seems to be weird.

BlenderProc version

v2.8.0

[jrryzh]

@cornerfarmer
Would really appreciate your help!

[cornerfarmer]

Hey @jrryzh,

can you please share the urdf+obj files, so I can debug this issue?