Convert native & OBJ materials

tests/data/assets/box_with_texture.mtl

@@ -0,0 +1,12 @@
+newmtl texture_mat
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+map_Kd ./grid.png
+norm ./normal.png
+map_Pr ./roughness.png
+map_Pm ./metallic.png

tests/data/assets/box_with_texture.obj

@@ -0,0 +1,38 @@
+mtllib box_with_texture.mtl
+o Cube
+v 0.500000 0.500000 -0.500000
+v 0.500000 -0.500000 -0.500000
+v 0.500000 0.500000 0.500000
+v 0.500000 -0.500000 0.500000
+v -0.500000 0.500000 -0.500000
+v -0.500000 -0.500000 -0.500000
+v -0.500000 0.500000 0.500000
+v -0.500000 -0.500000 0.500000
+vn -0.0000 1.0000 -0.0000
+vn -0.0000 -0.0000 1.0000
+vn -1.0000 -0.0000 -0.0000
+vn -0.0000 -1.0000 -0.0000
+vn 1.0000 -0.0000 -0.0000
+vn -0.0000 -0.0000 -1.0000
+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 texture_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

tests/data/assets/two_boxes.mtl

@@ -16,4 +16,6 @@ Ks 0.500000 0.500000 0.500000
 Ke 0.000000 0.000000 0.000000
 Ni 1.450000
 d 1.000000
+Pr 0.3
+Pm 0.05
 illum 2

tests/data/material_color.urdf

@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<robot name="material_color">
+  <material name="red">
+    <color rgba="1 0 0 1"/>
+  </material>
+  <material name="green">
+    <color rgba="0 1 0 1"/>
+  </material>
+  <material name="opacity_half">
+    <color rgba="0.2 0.5 1 0.5"/>
+  </material>
+
+  <link name="link_box_red">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="red"/>
+    </visual>
+  </link>
+  <link name="link_box_green">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="green"/>
+    </visual>
+  </link>
+  <link name="link_box_opacity_half">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="opacity_half"/>
+    </visual>
+  </link>
+
+  <joint name="joint_root" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_box_red"/>
+    <child link="link_box_green"/>
+  </joint>
+  <joint name="joint_box_green_opacity_half" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_box_green"/>
+    <child link="link_box_opacity_half"/>
+  </joint>
+</robot>

tests/data/material_mesh_color.urdf

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<robot name="material_mesh_color">
+  <link name="link_box">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.5"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link_obj">
+    <visual>
+      <geometry>
+        <!-- This obj file has two materials: green_mat and red_mat. -->
+        <mesh filename="assets/two_boxes.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <joint name="joint_box_obj" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_box"/>
+    <child link="link_obj"/>
+  </joint>
+</robot>

tests/data/material_mesh_override.urdf

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot name="material_mesh_override">
+  <material name="blue">
+    <color rgba="0 0 1 1"/>
+  </material>
+  <link name="link_box">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.5"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link_obj">
+    <visual>
+      <geometry>
+        <!-- This obj file has two materials: green_mat and red_mat. -->
+        <mesh filename="assets/two_boxes.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+      <!-- Override the material with blue. -->
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <joint name="joint_box_obj" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_box"/>
+    <child link="link_obj"/>
+  </joint>
+</robot>

tests/data/material_mesh_texture.urdf

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<robot name="material_mesh_texture">
+  <link name="link_box">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.5"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="link_obj">
+    <visual>
+      <geometry>
+        <mesh filename="assets/box_with_texture.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+    </visual>
+  </link>
+
+  <joint name="joint_box_obj" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_box"/>
+    <child link="link_obj"/>
+  </joint>
+</robot>

tests/data/material_texture.urdf

@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+<robot name="material_texture">
+  <material name="texture_material">
+    <texture filename="assets/grid.png"/>
+  </material>
+  <material name="color_texture_material">
+    <color rgba="0.5 0.2 0.5 1.0"/>
+    <texture filename="assets/grid.png"/>
+  </material>
+
+  <link name="link_box">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="texture_material"/>
+    </visual>
+  </link>
+  <link name="link_sphere">
+    <visual>
+      <geometry>
+        <sphere radius="0.5"/>
+      </geometry>
+      <material name="texture_material"/>
+    </visual>
+  </link>
+  <link name="link_cylinder">
+    <visual>
+      <geometry>
+        <cylinder radius="0.5" length="1.0"/>
+      </geometry>
+      <material name="texture_material"/>
+    </visual>
+  </link>
+
+  <link name="link_obj_texture">
+    <visual>
+      <geometry>
+        <mesh filename="assets/box.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="texture_material"/>
+    </visual>
+  </link>
+  <link name="link_obj_color_texture">
+    <visual>
+      <geometry>
+        <mesh filename="assets/box.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="color_texture_material"/>
+    </visual>
+  </link>
+
+  <joint name="joint_box_sphere" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_box"/>
+    <child link="link_sphere"/>
+  </joint>
+  <joint name="joint_sphere_cylinder" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_sphere"/>
+    <child link="link_cylinder"/>
+  </joint>
+  <joint name="joint_cylinder_obj_texture" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_cylinder"/>
+    <child link="link_obj_texture"/>
+  </joint>
+  <joint name="joint_cylinder_obj_color_texture" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_obj_texture"/>
+    <child link="link_obj_color_texture"/>
+  </joint>
+</robot>

tests/data/material_texture_name_duplication.urdf

@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<robot name="material_texture_name_duplication">
+  <material name="texture_material">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+    <texture filename="assets/grid.png"/>
+  </material>
+  <material name="texture_material_2">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+    <texture filename="assets/textures/grid.png"/>
+  </material>
+
+  <link name="link_obj">
+    <visual>
+      <geometry>
+        <mesh filename="assets/box.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="texture_material"/>
+    </visual>
+  </link>
+  <link name="link_obj2">
+    <visual>
+      <geometry>
+        <mesh filename="assets/box.obj" scale="0.5 0.5 0.5"/>
+      </geometry>
+      <material name="texture_material_2"/>
+    </visual>
+  </link>
+
+  <joint name="joint_obj" type="fixed">
+    <origin rpy="0 0 0" xyz="1 0 0"/>
+    <parent link="link_obj"/>
+    <child link="link_obj2"/>
+  </joint>
+</robot>

tests/data/test_displayname.urdf

@@ -1,6 +1,9 @@
 <?xml version="1.0"?>
 <!-- Using characters other than alphanumeric characters and '_' -->
 <robot name="test_displayname">
+  <material name="material:red">
+    <color rgba="1.0 0.0 0.0 1.0"/>
+  </material>
   <link name="link-box">
     <visual>
       <geometry>
@@ -21,6 +24,7 @@
         <!-- Contains "Cube:Red" and "Cube:Green" as meshes. -->
         <mesh filename="assets/name_test.obj" scale="0.5 0.5 0.5"/>
       </geometry>
+      <material name="material:red"/>
     </visual>
   </link>
 

tests/data/verifying_elements.urdf

@@ -9,7 +9,7 @@
   <material name="blue">
     <color rgba="0.0 0.0 1.0 1"/>
   </material>
-  <material name="black">
+  <material name="default">
     <color />  <!-- To test the default value, no attribute is provided here. -->
   </material>
   <material name="texture">

tests/testCli.py

@@ -30,13 +30,22 @@ def test_run(self):
         self.assertTrue((pathlib.Path(self.tmpDir()) / "simple-primitives.usda").exists())
 
     def test_no_layer_structure(self):
-        model = "tests/data/simple_box.urdf"
+        model = "tests/data/material_mesh_texture.urdf"
         robot_name = pathlib.Path(model).stem
+
+        # This is the process to check whether an existing folder will be removed.
+        textures_dir = pathlib.Path(self.tmpDir()) / "Textures"
+        if not textures_dir.exists():
+            textures_dir.mkdir(parents=True, exist_ok=True)
+            shutil.copy("tests/data/assets/grid.png", textures_dir / "foo.png")
+
         with patch("sys.argv", ["urdf_usd_converter", model, self.tmpDir(), "--no-layer-structure"]):
             self.assertEqual(run(), 0, f"Failed to convert {model}")
             self.assertFalse((pathlib.Path(self.tmpDir()) / "Payload").exists())
             self.assertFalse((pathlib.Path(self.tmpDir()) / f"{robot_name}.usda").exists())
             self.assertTrue((pathlib.Path(self.tmpDir()) / f"{robot_name}.usdc").exists())
+            self.assertTrue((textures_dir / "grid.png").exists())
+            self.assertFalse((textures_dir / "foo.png").exists())
 
     def test_no_physics_scene(self):
         model = "tests/data/simple_box.urdf"
@@ -211,7 +220,10 @@ def test_conversion_warning_multiple_ros_packages_invalid(self):
             patch("sys.argv", ["urdf_usd_converter", robot, str(output_dir), "--package", package_1]),
             usdex.test.ScopedDiagnosticChecker(
                 self,
-                [(Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*Failed to convert mesh:.*")],
+                [
+                    (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*Failed to convert mesh:.*"),
+                    (Tf.TF_DIAGNOSTIC_WARNING_TYPE, ".*Textures are not projection mapped for Cube, Sphere, and Cylinder:.*"),
+                ],
                 level=usdex.core.DiagnosticsLevel.eWarning,
             ),
         ):