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Merge pull request #49 from ft-lab/dev/material_dae
COLLADA (dae): Materials support
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‎tests/data/assets/box_materials.dae‎

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‎tests/data/assets/box_transparent_material.dae‎

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<?xml version="1.0" encoding="utf-8"?>
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<asset>
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<unit name="meter" meter="1"/>
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<up_axis>Z_UP</up_axis>
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</asset>
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<library_effects>
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<effect id="transparent_mat-effect">
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<profile_COMMON>
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<technique sid="common">
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<lambert>
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<emission>
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<color sid="emission">0 0 0 1</color>
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</emission>
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<diffuse>
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<color sid="diffuse">0.1 0.8 0.1 1</color>
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</diffuse>
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<transparent opaque="RGB_ZERO">
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<color sid="alpha">0.2 0.3 0.1 1</color>
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</transparent>
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<index_of_refraction>
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<float sid="ior">1.45</float>
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</index_of_refraction>
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</lambert>
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</technique>
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</profile_COMMON>
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</effect>
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</library_effects>
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<library_images/>
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<library_materials>
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<material id="transparent_mat-material" name="transparent_mat">
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<instance_effect url="#transparent_mat-effect"/>
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</material>
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</library_materials>
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<library_geometries>
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<geometry id="Cube-mesh" name="Cube">
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<mesh>
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<source id="Cube-mesh-positions">
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<float_array id="Cube-mesh-positions-array" count="24">1 1 1 1 1 -1 1 -1 1 1 -1 -1 -1 1 1 -1 1 -1 -1 -1 1 -1 -1 -1</float_array>
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<technique_common>
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<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="Cube-mesh-normals">
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<float_array id="Cube-mesh-normals-array" count="36">0 0 1 0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0 0 0 1 0 -1 0 -1 0 0 0 0 -1 1 0 0 0 1 0</float_array>
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<technique_common>
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<accessor source="#Cube-mesh-normals-array" count="12" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="Cube-mesh-map-0">
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<float_array id="Cube-mesh-map-0-array" count="72">0.875 0.5 0.625 0.75 0.625 0.5 0.625 0.75 0.375 1 0.375 0.75 0.625 0 0.375 0.25 0.375 0 0.375 0.5 0.125 0.75 0.125 0.5 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.25 0.375 0.5 0.375 0.25 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0.75 0.625 1 0.375 1 0.625 0 0.625 0.25 0.375 0.25 0.375 0.5 0.375 0.75 0.125 0.75 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.25 0.625 0.5 0.375 0.5</float_array>
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<technique_common>
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<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
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<param name="S" type="float"/>
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<param name="T" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<vertices id="Cube-mesh-vertices">
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<input semantic="POSITION" source="#Cube-mesh-positions"/>
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</vertices>
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<triangles material="transparent_mat-material" count="12">
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<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
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<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
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<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
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<p>4 0 0 2 0 1 0 0 2 2 1 3 7 1 4 3 1 5 6 2 6 5 2 7 7 2 8 1 3 9 7 3 10 5 3 11 0 4 12 3 4 13 1 4 14 4 5 15 1 5 16 5 5 17 4 6 18 6 6 19 2 6 20 2 7 21 6 7 22 7 7 23 6 8 24 4 8 25 5 8 26 1 9 27 3 9 28 7 9 29 0 10 30 2 10 31 3 10 32 4 11 33 0 11 34 1 11 35</p>
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</triangles>
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</mesh>
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</geometry>
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</library_geometries>
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<library_visual_scenes>
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<visual_scene id="Scene" name="Scene">
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<node id="Cube" name="Cube" type="NODE">
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<matrix sid="transform">0.5 0 0 0 0 0.5 0 0 0 0 0.5 0 0 0 0 1</matrix>
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<instance_geometry url="#Cube-mesh" name="Cube">
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<bind_material>
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<technique_common>
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<instance_material symbol="transparent_mat-material" target="#transparent_mat-material">
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<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
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</instance_material>
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</technique_common>
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</bind_material>
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</instance_geometry>
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</node>
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</visual_scene>
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</library_visual_scenes>
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<scene>
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<instance_visual_scene url="#Scene"/>
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</scene>
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</COLLADA>

‎tests/data/assets/emissive.png‎

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‎tests/data/dae_materials.urdf‎

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<?xml version="1.0"?>
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<robot name="dae_materials">
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="assets/box_materials.dae"/>
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</geometry>
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</visual>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="assets/box_two_materials.dae"/>
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</geometry>
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</visual>
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</link>
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<link name="link_transparent">
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<visual>
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<geometry>
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<mesh filename="assets/box_transparent_material.dae"/>
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</geometry>
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</visual>
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</link>
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<joint name="joint_link" type="fixed">
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<origin rpy="0 0 0" xyz="2 0 0"/>
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<parent link="link1"/>
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<child link="link2"/>
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</joint>
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<joint name="joint_link_transparent" type="fixed">
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<origin rpy="0 0 0" xyz="2 0 0"/>
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<parent link="link2"/>
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<child link="link_transparent"/>
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</joint>
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</robot>

‎tests/testMaterial.py‎

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@@ -550,3 +550,210 @@ def test_material_mesh_override(self):
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# Check that the material bind is overwritten with blue_material.
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self.check_material_binding(two_boxes_prim, blue_material)
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def test_dae_materials(self):
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input_path = "tests/data/dae_materials.urdf"
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output_dir = self.tmpDir()
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converter = urdf_usd_converter.Converter()
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asset_path = converter.convert(input_path, output_dir)
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self.assertIsNotNone(asset_path)
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self.assertTrue(pathlib.Path(asset_path.path).exists())
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stage: Usd.Stage = Usd.Stage.Open(asset_path.path)
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self.assertIsValidUsd(stage)
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default_prim = stage.GetDefaultPrim()
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# Check the materials.
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material_scope_prim = default_prim.GetChild("Materials")
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self.assertTrue(material_scope_prim.IsValid())
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material_prim = material_scope_prim.GetChild("texture_mat")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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texture_material = UsdShade.Material(material_prim)
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diffuse_color_texture_path = self.get_material_texture_path(texture_material, "diffuseColor")
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self.assertEqual(diffuse_color_texture_path, pathlib.Path("./Textures/grid.png"))
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opacity = self.get_material_opacity(texture_material)
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self.assertAlmostEqual(opacity, 1.0, places=6)
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material_prim = material_scope_prim.GetChild("emissive_mat")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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emissive_material = UsdShade.Material(material_prim)
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diffuse_color = self.get_material_diffuse_color(emissive_material)
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diffuse_color = usdex.core.linearToSrgb(diffuse_color)
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self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(0, 0, 0), 1e-6))
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emissive_color = self.get_material_emissive_color(emissive_material)
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emissive_color = usdex.core.linearToSrgb(emissive_color)
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self.assertTrue(Gf.IsClose(emissive_color, Gf.Vec3f(1, 1, 0), 1e-6))
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opacity = self.get_material_opacity(emissive_material)
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self.assertAlmostEqual(opacity, 1.0, places=6)
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material_prim = material_scope_prim.GetChild("emissive_color_tex_mat")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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emissive_color_tex_material = UsdShade.Material(material_prim)
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diffuse_color = self.get_material_diffuse_color(emissive_color_tex_material)
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self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(0, 0, 0), 1e-6))
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emissive_color_texture_path = self.get_material_texture_path(emissive_color_tex_material, "emissiveColor")
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self.assertEqual(emissive_color_texture_path, pathlib.Path("./Textures/emissive.png"))
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material_prim = material_scope_prim.GetChild("opacity_mat")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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opacity_material = UsdShade.Material(material_prim)
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diffuse_texture_path = self.get_material_texture_path(opacity_material, "diffuseColor")
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self.assertEqual(diffuse_texture_path, pathlib.Path("./Textures/grid.png"))
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opacity = self.get_material_opacity(opacity_material)
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self.assertAlmostEqual(opacity, 0.4, places=6)
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material_prim = material_scope_prim.GetChild("opacity_texture_mat")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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opacity_texture_material = UsdShade.Material(material_prim)
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diffuse_texture_path = self.get_material_texture_path(opacity_texture_material, "diffuseColor")
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self.assertEqual(diffuse_texture_path, pathlib.Path("./Textures/grid.png"))
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opacity_texture_path = self.get_material_texture_path(opacity_texture_material, "opacity")
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self.assertEqual(opacity_texture_path, pathlib.Path("./Textures/opacity.png"))
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material_prim = material_scope_prim.GetChild("specular_mat")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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specular_material = UsdShade.Material(material_prim)
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diffuse_color = self.get_material_diffuse_color(specular_material)
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diffuse_color = usdex.core.linearToSrgb(diffuse_color)
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self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(0.2, 0.2, 0.2), 1e-6))
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specular_color = self.get_material_specular_color(specular_material)
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specular_color = usdex.core.linearToSrgb(specular_color)
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self.assertTrue(Gf.IsClose(specular_color, Gf.Vec3f(0.8, 0.7, 0.1), 1e-6))
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opacity = self.get_material_opacity(specular_material)
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self.assertAlmostEqual(opacity, 1.0, places=6)
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specular_workflow = self.get_material_specular_workflow(specular_material)
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self.assertTrue(specular_workflow)
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material_prim = material_scope_prim.GetChild("specular_texture_mat")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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specular_texture_material = UsdShade.Material(material_prim)
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diffuse_color = self.get_material_diffuse_color(specular_texture_material)
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diffuse_color = usdex.core.linearToSrgb(diffuse_color)
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self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(0.2, 0.2, 0.2), 1e-6))
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specular_texture_path = self.get_material_texture_path(specular_texture_material, "specularColor")
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self.assertEqual(specular_texture_path, pathlib.Path("./Textures/specular.png"))
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opacity = self.get_material_opacity(specular_texture_material)
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self.assertAlmostEqual(opacity, 1.0, places=6)
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specular_workflow = self.get_material_specular_workflow(specular_texture_material)
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self.assertTrue(specular_workflow)
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material_prim = material_scope_prim.GetChild("Material_red")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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material_red = UsdShade.Material(material_prim)
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diffuse_color = self.get_material_diffuse_color(material_red)
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diffuse_color = usdex.core.linearToSrgb(diffuse_color)
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self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(1, 0, 0), 1e-6))
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opacity = self.get_material_opacity(material_red)
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self.assertAlmostEqual(opacity, 1.0, places=6)
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material_prim = material_scope_prim.GetChild("Material_green")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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material_green = UsdShade.Material(material_prim)
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diffuse_color = self.get_material_diffuse_color(material_green)
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diffuse_color = usdex.core.linearToSrgb(diffuse_color)
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self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(0, 1, 0), 1e-6))
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opacity = self.get_material_opacity(material_green)
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self.assertAlmostEqual(opacity, 1.0, places=6)
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material_prim = material_scope_prim.GetChild("transparent_mat")
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self.assertTrue(material_prim.IsValid())
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self.assertTrue(material_prim.IsA(UsdShade.Material))
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material_transparent = UsdShade.Material(material_prim)
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diffuse_color = self.get_material_diffuse_color(material_transparent)
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diffuse_color = usdex.core.linearToSrgb(diffuse_color)
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self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(0.1, 0.8, 0.1), 1e-6))
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opacity = self.get_material_opacity(material_transparent)
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self.assertAlmostEqual(opacity, 0.8, places=6)
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# Check the bindings.
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default_prim = stage.GetDefaultPrim()
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geometry_scope_prim = default_prim.GetChild("Geometry")
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self.assertTrue(geometry_scope_prim.IsValid())
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self.assertTrue(geometry_scope_prim.IsA(UsdGeom.Scope))
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link1_prim = geometry_scope_prim.GetChild("link1")
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box_materials_prim = link1_prim.GetChild("box_materials")
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self.assertTrue(box_materials_prim.IsValid())
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self.assertTrue(box_materials_prim.IsA(UsdGeom.Xform))
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self.assertTrue(box_materials_prim.HasAuthoredReferences())
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cube_prim = box_materials_prim.GetChild("Cube")
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self.assertTrue(cube_prim.IsValid())
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self.assertTrue(cube_prim.IsA(UsdGeom.Mesh))
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self.check_material_binding(cube_prim, texture_material)
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cube_002_prim = box_materials_prim.GetChild("tn__Cube002_VB")
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self.assertTrue(cube_002_prim.IsValid())
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self.assertTrue(cube_002_prim.IsA(UsdGeom.Mesh))
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self.check_material_binding(cube_002_prim, emissive_material)
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cube_003_prim = box_materials_prim.GetChild("tn__Cube003_VB")
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self.assertTrue(cube_003_prim.IsValid())
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self.assertTrue(cube_003_prim.IsA(UsdGeom.Mesh))
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self.check_material_binding(cube_003_prim, emissive_color_tex_material)
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cube_004_prim = box_materials_prim.GetChild("tn__Cube004_VB")
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self.assertTrue(cube_004_prim.IsValid())
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self.assertTrue(cube_004_prim.IsA(UsdGeom.Mesh))
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self.check_material_binding(cube_004_prim, opacity_material)
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cube_005_prim = box_materials_prim.GetChild("tn__Cube005_VB")
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self.assertTrue(cube_005_prim.IsValid())
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self.assertTrue(cube_005_prim.IsA(UsdGeom.Mesh))
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self.check_material_binding(cube_005_prim, opacity_texture_material)
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cube_001_prim = box_materials_prim.GetChild("tn__Cube001_VB")
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self.assertTrue(cube_001_prim.IsValid())
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self.assertTrue(cube_001_prim.IsA(UsdGeom.Mesh))
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self.check_material_binding(cube_001_prim, specular_material)
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cube_006_prim = box_materials_prim.GetChild("tn__Cube006_VB")
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self.assertTrue(cube_006_prim.IsValid())
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self.assertTrue(cube_006_prim.IsA(UsdGeom.Mesh))
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self.check_material_binding(cube_006_prim, specular_texture_material)
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# Check material binding to GeomSubset.
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link2_prim = link1_prim.GetChild("link2")
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box_materials_prim = link2_prim.GetChild("box_two_materials")
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self.assertTrue(box_materials_prim.IsValid())
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self.assertTrue(box_materials_prim.IsA(UsdGeom.Mesh))
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self.assertTrue(box_materials_prim.HasAuthoredReferences())
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subset_001_prim = box_materials_prim.GetChild("GeomSubset_001")
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self.assertTrue(subset_001_prim.IsValid())
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self.assertTrue(subset_001_prim.IsA(UsdGeom.Subset))
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self.check_material_binding(subset_001_prim, material_red)
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subset_002_prim = box_materials_prim.GetChild("GeomSubset_002")
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self.assertTrue(subset_002_prim.IsValid())
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self.assertTrue(subset_002_prim.IsA(UsdGeom.Subset))
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self.check_material_binding(subset_002_prim, material_green)
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link_transparent_prim = link2_prim.GetChild("link_transparent")
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box_transparent_prim = link_transparent_prim.GetChild("box_transparent_material")
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self.assertTrue(box_transparent_prim.IsValid())
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self.assertTrue(box_transparent_prim.IsA(UsdGeom.Mesh))
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self.assertTrue(box_transparent_prim.HasAuthoredReferences())
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self.check_material_binding(box_transparent_prim, material_transparent)

‎tests/util/ConverterTestCase.py‎

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@@ -41,6 +41,9 @@ def _get_material_input_value(self, material: UsdShade.Material, input_name: str
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def get_material_diffuse_color(self, material: UsdShade.Material) -> Gf.Vec3f | None:
4242
return self._get_material_input_value(material, "diffuseColor")
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def get_material_emissive_color(self, material: UsdShade.Material) -> Gf.Vec3f | None:
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return self._get_material_input_value(material, "emissiveColor")
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4447
def get_material_specular_color(self, material: UsdShade.Material) -> Gf.Vec3f | None:
4548
return self._get_material_input_value(material, "specularColor")
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