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Merged
andrewkaufman merged 3 commits into from
Dec 9, 2025
Merged

Convert OBJ to USD #34

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44a3674
Convert obj to usd
ft-lab Oct 31, 2025
c78947e
obj to usd: Adjustment when there is one mesh in obj
ft-lab Dec 5, 2025
aeb343b
obj to usd: Mesh load optimization
ft-lab Dec 5, 2025
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65 changes: 65 additions & 0 deletions tests/data/assets/box.obj
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Original file line number Diff line number Diff line change
@@ -0,0 +1,65 @@
# Box with normals and uvs
# 8 points
# 24 vertices
# 6 primitives
# Bounds: [-0.5, -0.5, -0.5] to [0.5, 0.5, 0.5]
g
v 0.5 -0.5 0.5
v -0.5 -0.5 0.5
v 0.5 0.5 0.5
v -0.5 0.5 0.5
v -0.5 -0.5 -0.5
v 0.5 -0.5 -0.5
v -0.5 0.5 -0.5
v 0.5 0.5 -0.5
vt 1 0 1
vt 1 1 1
vt 0 1 1
vt 0 0 1
vt 1 0 1
vt 1 1 1
vt 0 1 1
vt 0 0 1
vt 0 1 1
vt 0 0 1
vt 1 0 1
vt 1 1 1
vt 1 0 1
vt 1 1 1
vt 0 1 1
vt 0 0 1
vt 0 1 1
vt 0 0 1
vt 1 0 1
vt 1 1 1
vn 0 0 1
vn -0 -0 1
vn -0 -0 1
vn -0 -0 1
vn 0 -0 -1
vn -0 -0 -1
vn -0 0 -1
vn -0 -0 -1
vn -0 1 -0
vn 0 1 0
vn -0 1 -0
vn -0 1 -0
vn -0 -1 -0
vn 0 -1 -0
vn -0 -1 -0
vn -0 -1 0
vn 1 -0 -0
vn 1 0 0
vn 1 -0 -0
vn 1 -0 -0
vn -1 -0 -0
vn -1 -0 0
vn -1 -0 -0
vn -1 0 -0
g
f 1/1/1 3/2/2 4/3/3 2/4/4
f 5/5/5 7/6/6 8/7/7 6/8/8
f 7/9/9 4/10/10 3/11/11 8/12/12
f 6/13/13 1/14/14 2/15/15 5/16/16
f 6/13/17 8/12/18 3/17/19 1/18/20
f 2/19/21 4/20/22 7/9/23 5/16/24
72 changes: 72 additions & 0 deletions tests/data/assets/name_test.obj
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o Cube:Red
v 0.500000 0.300000 0.500000
v 0.500000 0.300000 -0.500000
v -0.500000 0.300000 0.500000
v -0.500000 0.300000 -0.500000
v 0.500000 1.300000 0.500000
v 0.500000 1.300000 -0.500000
v -0.500000 1.300000 0.500000
v -0.500000 1.300000 -0.500000
vn -0.0000 -0.0000 1.0000
vn -1.0000 -0.0000 -0.0000
vn -0.0000 1.0000 -0.0000
vn -0.0000 -0.0000 -1.0000
vn -0.0000 -1.0000 -0.0000
vn 1.0000 -0.0000 -0.0000
vt 0.625000 0.500000
vt 0.875000 0.500000
vt 0.875000 0.750000
vt 0.625000 0.750000
vt 0.375000 0.750000
vt 0.625000 1.000000
vt 0.375000 1.000000
vt 0.375000 0.000000
vt 0.625000 0.000000
vt 0.625000 0.250000
vt 0.375000 0.250000
vt 0.125000 0.500000
vt 0.375000 0.500000
vt 0.125000 0.750000
s 0
f 1/1/1 5/2/1 7/3/1 3/4/1
f 4/5/2 3/4/2 7/6/2 8/7/2
f 8/8/3 7/9/3 5/10/3 6/11/3
f 6/12/4 2/13/4 4/5/4 8/14/4
f 2/13/5 1/1/5 3/4/5 4/5/5
f 6/11/6 5/10/6 1/1/6 2/13/6
o Cube:Green
v 0.500000 -1.300000 0.500000
v 0.500000 -1.300000 -0.500000
v -0.500000 -1.300000 0.500000
v -0.500000 -1.300000 -0.500000
v 0.500000 -0.300000 0.500000
v 0.500000 -0.300000 -0.500000
v -0.500000 -0.300000 0.500000
v -0.500000 -0.300000 -0.500000
vn -0.0000 -0.0000 1.0000
vn -1.0000 -0.0000 -0.0000
vn -0.0000 1.0000 -0.0000
vn -0.0000 -0.0000 -1.0000
vn -0.0000 -1.0000 -0.0000
vn 1.0000 -0.0000 -0.0000
vt 0.625000 0.500000
vt 0.875000 0.500000
vt 0.875000 0.750000
vt 0.625000 0.750000
vt 0.375000 0.750000
vt 0.625000 1.000000
vt 0.375000 1.000000
vt 0.375000 0.000000
vt 0.625000 0.000000
vt 0.625000 0.250000
vt 0.375000 0.250000
vt 0.125000 0.500000
vt 0.375000 0.500000
vt 0.125000 0.750000
s 0
f 9/15/7 13/16/7 15/17/7 11/18/7
f 12/19/8 11/18/8 15/20/8 16/21/8
f 16/22/9 15/23/9 13/24/9 14/25/9
f 14/26/10 10/27/10 12/19/10 16/28/10
f 10/27/11 9/15/11 11/18/11 12/19/11
f 14/25/12 13/24/12 9/15/12 10/27/12
1 change: 1 addition & 0 deletions tests/data/assets/no_shape.obj
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# empty file.
19 changes: 19 additions & 0 deletions tests/data/assets/two_boxes.mtl
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newmtl green_mat
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 1.000000 0.000000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
illum 2

newmtl red_mat
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Kd 1.000000 0.000000 0.000000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
75 changes: 75 additions & 0 deletions tests/data/assets/two_boxes.obj
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mtllib two_boxes.mtl
o Cube_Red
v 0.500000 0.300000 0.500000
v 0.500000 0.300000 -0.500000
v -0.500000 0.300000 0.500000
v -0.500000 0.300000 -0.500000
v 0.500000 1.300000 0.500000
v 0.500000 1.300000 -0.500000
v -0.500000 1.300000 0.500000
v -0.500000 1.300000 -0.500000
vn -0.0000 -0.0000 1.0000
vn -1.0000 -0.0000 -0.0000
vn -0.0000 1.0000 -0.0000
vn -0.0000 -0.0000 -1.0000
vn -0.0000 -1.0000 -0.0000
vn 1.0000 -0.0000 -0.0000
vt 0.625000 0.500000
vt 0.875000 0.500000
vt 0.875000 0.750000
vt 0.625000 0.750000
vt 0.375000 0.750000
vt 0.625000 1.000000
vt 0.375000 1.000000
vt 0.375000 0.000000
vt 0.625000 0.000000
vt 0.625000 0.250000
vt 0.375000 0.250000
vt 0.125000 0.500000
vt 0.375000 0.500000
vt 0.125000 0.750000
s 0
usemtl red_mat
f 1/1/1 5/2/1 7/3/1 3/4/1
f 4/5/2 3/4/2 7/6/2 8/7/2
f 8/8/3 7/9/3 5/10/3 6/11/3
f 6/12/4 2/13/4 4/5/4 8/14/4
f 2/13/5 1/1/5 3/4/5 4/5/5
f 6/11/6 5/10/6 1/1/6 2/13/6
o Cube_Green
v 0.500000 -1.300000 0.500000
v 0.500000 -1.300000 -0.500000
v -0.500000 -1.300000 0.500000
v -0.500000 -1.300000 -0.500000
v 0.500000 -0.300000 0.500000
v 0.500000 -0.300000 -0.500000
v -0.500000 -0.300000 0.500000
v -0.500000 -0.300000 -0.500000
vn -0.0000 -0.0000 1.0000
vn -1.0000 -0.0000 -0.0000
vn -0.0000 1.0000 -0.0000
vn -0.0000 -0.0000 -1.0000
vn -0.0000 -1.0000 -0.0000
vn 1.0000 -0.0000 -0.0000
vt 0.625000 0.500000
vt 0.875000 0.500000
vt 0.875000 0.750000
vt 0.625000 0.750000
vt 0.375000 0.750000
vt 0.625000 1.000000
vt 0.375000 1.000000
vt 0.375000 0.000000
vt 0.625000 0.000000
vt 0.625000 0.250000
vt 0.375000 0.250000
vt 0.125000 0.500000
vt 0.375000 0.500000
vt 0.125000 0.750000
s 0
usemtl green_mat
f 9/15/7 13/16/7 15/17/7 11/18/7
f 12/19/8 11/18/8 15/20/8 16/21/8
f 16/22/9 15/23/9 13/24/9 14/25/9
f 14/26/10 10/27/10 12/19/10 16/28/10
f 10/27/11 9/15/11 11/18/11 12/19/11
f 14/25/12 13/24/12 9/15/12 10/27/12
11 changes: 11 additions & 0 deletions tests/data/error_obj_no_exist_filename.urdf
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<robot name="obj_no_exist_filename">
<link name="BaseLink">
<visual>
<geometry>
<!-- This is a deliberate mistake. -->
<!-- The mesh filename does not exist. -->
<mesh filename="assets/no_exist.obj"/>
</geometry>
</visual>
</link>
</robot>
11 changes: 11 additions & 0 deletions tests/data/error_obj_no_shape.urdf
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<robot name="obj_no_shape">
<link name="BaseLink">
<visual>
<geometry>
<!-- This is a deliberate mistake. -->
<!-- There is no shape. -->
<mesh filename="assets/no_shape.obj"/>
</geometry>
</visual>
</link>
</robot>
25 changes: 25 additions & 0 deletions tests/data/meshes.urdf
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Expand Up @@ -13,6 +13,23 @@
<mesh filename="assets/box.obj" scale="0.8 0.8 0.8" />
</geometry>
</visual>
<collision name="collision_box">
<geometry>
<mesh filename="assets/box.obj" scale="0.8 0.8 0.8" />
</geometry>
</collision>
</link>
<link name="link_mesh_multi_objs">
<visual>
<geometry>
<mesh filename="assets/two_boxes.obj" scale="0.8 0.8 0.8" />
</geometry>
</visual>
<collision name="two_collision_boxes">
<geometry>
<mesh filename="assets/two_boxes.obj" scale="0.8 0.8 0.8" />
</geometry>
</collision>
</link>
<link name="link_mesh_dae">
<visual>
Expand Down Expand Up @@ -44,4 +61,12 @@
<parent link="link_mesh_dae"/>
<child link="link_mesh_dxf"/>
</joint>

<!-- Verify that the multi-object mesh is converted correctly. -->
<joint name="joint_obj_multi_objs" type="fixed">
<origin rpy="0 0 0" xyz="-1 0 0"/>
<parent link="link_mesh_stl"/>
<child link="link_mesh_multi_objs"/>
</joint>

</robot>
14 changes: 14 additions & 0 deletions tests/data/test_displayname.urdf
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Expand Up @@ -15,10 +15,24 @@
</geometry>
</visual>
</link>
<link name="link-mesh_obj">
<visual>
<geometry>
<!-- Contains "Cube:Red" and "Cube:Green" as meshes. -->
<mesh filename="assets/name_test.obj" scale="0.5 0.5 0.5"/>
</geometry>
</visual>
</link>

<joint name="joint:root" type="fixed">
<origin rpy="0 0 0" xyz="1 0 0"/>
<parent link="link-box"/>
<child link="link-box2"/>
</joint>
<joint name="mesh_obj" type="fixed">
<origin rpy="0 0 0" xyz="1 0 0"/>
<parent link="link-box2"/>
<child link="link-mesh_obj"/>
</joint>

</robot>
20 changes: 20 additions & 0 deletions tests/testConverter.py
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Expand Up @@ -43,3 +43,23 @@ def test_joint_loop_structure(self):
converter = urdf_usd_converter.Converter()
with self.assertRaisesRegex(ValueError, r".*Closed loop articulations are not supported.*"):
converter.convert(input_path, output_dir)

def test_load_error_obj_no_exist_filename(self):
# A non-existent obj file is specified.

input_path = "tests/data/error_obj_no_exist_filename.urdf"
output_dir = str(pathlib.Path(self.tmpDir()) / "error_obj_no_exist_filename")

converter = urdf_usd_converter.Converter()
with self.assertRaisesRegex(RuntimeError, r".*could not be parsed..*"):
converter.convert(input_path, output_dir)

def test_load_error_obj_no_shape(self):
# There is no shape.

input_path = "tests/data/error_obj_no_shape.urdf"
output_dir = str(pathlib.Path(self.tmpDir()) / "error_obj_no_shape")

converter = urdf_usd_converter.Converter()
with self.assertRaisesRegex(RuntimeError, r".*contains no meshes.*"):
converter.convert(input_path, output_dir)
21 changes: 21 additions & 0 deletions tests/testDisplayName.py
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Expand Up @@ -46,6 +46,27 @@ def test_display_name(self):
self.assertTrue(box_2_prim.IsValid())
self.assertTrue(box_2_prim.IsA(UsdGeom.Cube))

# Check for obj containing two meshes.
link_mesh_obj_prim = link_box_2_prim.GetChild("tn__linkmesh_obj_VI")
self.assertTrue(link_mesh_obj_prim.IsValid())
self.assertTrue(link_mesh_obj_prim.IsA(UsdGeom.Xform))
self.assertEqual(usdex.core.getDisplayName(link_mesh_obj_prim), "link-mesh_obj")

mesh_obj_prim = link_mesh_obj_prim.GetChild("name_test")
self.assertTrue(mesh_obj_prim.IsValid())
self.assertTrue(mesh_obj_prim.IsA(UsdGeom.Xform))

mesh_obj_mesh_prim = mesh_obj_prim.GetChild("tn__CubeRed_YE")
self.assertTrue(mesh_obj_mesh_prim.IsValid())
self.assertTrue(mesh_obj_mesh_prim.IsA(UsdGeom.Mesh))
self.assertEqual(usdex.core.getDisplayName(mesh_obj_mesh_prim), "Cube:Red")

mesh_obj_mesh_prim = mesh_obj_prim.GetChild("tn__CubeGreen_vH")
self.assertTrue(mesh_obj_mesh_prim.IsValid())
self.assertTrue(mesh_obj_mesh_prim.IsA(UsdGeom.Mesh))
self.assertEqual(usdex.core.getDisplayName(mesh_obj_mesh_prim), "Cube:Green")

# Check for physics.
physics_scope_prim = default_prim.GetChild("Physics")
self.assertTrue(physics_scope_prim.IsValid())

Expand Down
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