[FEATURE] URDF-GLB import: support non-uint8 + 1/2-channel textures (#1343)

Author: LeonLiu4

genesis/options/textures.py

@@ -140,10 +140,34 @@ def __init__(self, **data):
 
         elif self.image_array is not None:
             if not isinstance(self.image_array, np.ndarray):
-                gs.raise_exception("`image_array` needs to be an numpy array.")
+                gs.raise_exception("`image_array` needs to be a numpy array.")
+            arr = self.image_array
+            if arr.dtype != np.uint8:
+                if np.issubdtype(arr.dtype, np.floating):
+                    if arr.max() <= 1.0:
+                        arr = (arr * 255.0).round()
+                    arr = np.clip(arr, 0.0, 255.0).astype(np.uint8)
+                elif arr.dtype == np.bool_:
+                    arr = arr.astype(np.uint8) * 255
+                elif np.issubdtype(arr.dtype, np.integer):
+                    arr = np.clip(arr, 0, 255).astype(np.uint8)
+                else:
+                    gs.raise_exception(
+                        f"Unsupported image dtype {arr.dtype}. "
+                        "Only uint8, integer, floating-point, or bool types are supported."
+                    )
+            self.image_array = arr
 
         # calculate channel
         if self.image_array is None:
+            if isinstance(self.resolution, (tuple, list)):
+                H, W = self.resolution
+            else:
+                H = W = self.resolution
+
+            # Default to 3-channel RGB
+            white = np.array([255, 255, 255], dtype=np.uint8)
+            self.image_array = np.full((H, W, 3), white, dtype=np.uint8)
             self._mean_color = np.array([1.0, 1.0, 1.0], dtype=np.float16)
             self._channel = 3
         else:
@@ -163,8 +187,6 @@ def __init__(self, **data):
         if self.encoding not in ["srgb", "linear"]:
             gs.raise_exception(f"Invalid image encoding: {self.encoding}.")
 
-        assert self.image_array is None or self.image_array.dtype == np.uint8
-
     def check_dim(self, dim):
         if self.image_array is not None:
             if self._channel > dim:

tests/test_mesh.py

@@ -1,15 +1,15 @@
+import os
+from pathlib import Path
+import numpy as np
 import pytest
 import trimesh
-import numpy as np
-import os
-from huggingface_hub import snapshot_download
 
 import genesis as gs
-import genesis.utils.mesh as mu
 import genesis.utils.gltf as gltf_utils
+import genesis.utils.mesh as mu
 import genesis.utils.usda as usda_utils
 
-from .utils import get_hf_assets, assert_allclose, assert_array_equal
+from .utils import assert_allclose, assert_array_equal, get_hf_assets
 
 VERTICES_TOL = 1e-05  # Transformation loses a little precision in vertices
 NORMALS_TOL = 1e-02  # Conversion from .usd to .glb loses a little precision in normals
@@ -292,3 +292,73 @@ def test_usd_parse(usd_filename):
         check_gs_textures(
             gs_glb_material.emissive_texture, gs_usd_material.emissive_texture, 0.0, material_name, "emissive"
         )
+
+
+@pytest.mark.required
+def test_urdf_with_existing_glb(tmp_path, show_viewer):
+    assets = Path(gs.utils.get_assets_dir())
+    glb_path = assets / "usd" / "sneaker_airforce.glb"
+    urdf_path = tmp_path / "model.urdf"
+    urdf_path.write_text(
+        f"""<robot name="shoe">
+              <link name="base">
+                <visual>
+                  <geometry><mesh filename="{glb_path}"/></geometry>
+                </visual>
+              </link>
+            </robot>
+         """
+    )
+    scene = gs.Scene(
+        show_viewer=show_viewer,
+        show_FPS=False,
+    )
+    scene.build()
+    scene.step()
+
+
+@pytest.mark.required
+@pytest.mark.parametrize(
+    "n_channels, float_type",
+    [
+        (1, np.float32),  # grayscale → H×W
+        (2, np.float64),  # L+A       → H×W×2
+    ],
+)
+def test_urdf_with_float_texture_glb(tmp_path, show_viewer, n_channels, float_type):
+    vertices = np.array(
+        [[-0.5, -0.5, 0.0], [0.5, -0.5, 0.0], [0.5, 0.5, 0.0], [-0.5, 0.5, 0.0]],
+        dtype=np.float32,
+    )
+    faces = np.array([[0, 1, 2], [0, 2, 3]], dtype=np.uint32)
+
+    mesh = trimesh.Trimesh(vertices, faces, process=False)
+
+    H = W = 16
+    if n_channels == 1:
+        img = np.random.rand(H, W).astype(float_type)
+    else:
+        img = np.random.rand(H, W, n_channels).astype(float_type)
+
+    mesh.visual = trimesh.visual.texture.TextureVisuals(
+        uv=np.array([[0, 0], [1, 0], [1, 1], [0, 1]], dtype=np.float32),
+        material=trimesh.visual.material.SimpleMaterial(image=img),
+    )
+
+    glb_path = tmp_path / f"tex_{n_channels}c.glb"
+    urdf_path = tmp_path / f"tex_{n_channels}c.urdf"
+    trimesh.Scene([mesh]).export(glb_path)
+
+    urdf_path.write_text(
+        f"""<robot name="tex{n_channels}c">
+              <link name="base">
+                <visual>
+                  <geometry><mesh filename="{glb_path}"/></geometry>
+                </visual>
+              </link>
+            </robot>
+         """
+    )
+    scene = gs.Scene(show_viewer=show_viewer, show_FPS=False)
+    scene.build()
+    scene.step()