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Merged
andrewkaufman merged 14 commits into from
Jan 14, 2026
Merged

Convert native & OBJ materials #42

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321cbf3
Convert native & OBJ materials
ft-lab Dec 22, 2025
e9183b0
unit tests: updated test_no_layer_structure
ft-lab Dec 23, 2025
77d0267
Updated ros_packages.urdf
ft-lab Dec 23, 2025
56f34b4
Adjusted obj material processing.
ft-lab Jan 6, 2026
7ff2a0a
Adjusted to handle URDF materials and mesh materials uniformly.
ft-lab Jan 8, 2026
ee00d77
Resolve conflicts
ft-lab Jan 8, 2026
7460ab8
Adjusted the existence check for textures referenced in materials
ft-lab Jan 8, 2026
8387310
obj: If no Normal Map is specified, a Bump Map will be used as the no…
ft-lab Jan 8, 2026
ab03fac
obj: Adjusted the process to load the obj file once instead of twice.
ft-lab Jan 9, 2026
8aeb8fd
obj materials: If the texture file does not exist, the path is not pa…
ft-lab Jan 13, 2026
71f10f5
obj materials: Added ior
ft-lab Jan 13, 2026
880744e
obj materials: Updated ior (unit tests)
ft-lab Jan 13, 2026
37dfe9f
obj materials: Updated ior (unit tests)
ft-lab Jan 13, 2026
dd878df
Material: Material interface
ft-lab Jan 14, 2026
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9 changes: 9 additions & 0 deletions tests/data/assets/box_specular_workflow.mtl
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Original file line number Diff line number Diff line change
@@ -0,0 +1,9 @@
newmtl specular_workflow_mat
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Ks 0.500000 0.200000 0.100000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
map_Kd ./grid.png
38 changes: 38 additions & 0 deletions tests/data/assets/box_specular_workflow.obj
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@@ -0,0 +1,38 @@
mtllib box_specular_workflow.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 specular_workflow_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
10 changes: 10 additions & 0 deletions tests/data/assets/box_specular_workflow_with_texture.mtl
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newmtl specular_workflow_with_texture_mat
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Kd 0.400000 0.400000 0.400000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
map_Ks ./specular.png
38 changes: 38 additions & 0 deletions tests/data/assets/box_specular_workflow_with_texture.obj
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mtllib box_specular_workflow_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 specular_workflow_with_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
12 changes: 12 additions & 0 deletions tests/data/assets/box_with_texture.mtl
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@@ -0,0 +1,12 @@
newmtl texture_mat
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Ks 0.000000 0.000000 0.000000
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
38 changes: 38 additions & 0 deletions tests/data/assets/box_with_texture.obj
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@@ -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
10 changes: 10 additions & 0 deletions tests/data/assets/box_with_texture_opacity.mtl
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newmtl texture_opacity_mat
Ns 250.000000
Ka 1.000000 1.000000 1.000000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Kd ./grid.png
map_d ./opacity.png
38 changes: 38 additions & 0 deletions tests/data/assets/box_with_texture_opacity.obj
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mtllib box_with_texture_opacity.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_opacity_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
Binary file added tests/data/assets/metallic.png
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Binary file added tests/data/assets/normal.png
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Binary file added tests/data/assets/opacity.png
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Binary file added tests/data/assets/roughness.png
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Binary file added tests/data/assets/specular.png
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6 changes: 4 additions & 2 deletions tests/data/assets/two_boxes.mtl
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@ 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
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.500000
d 1.000000
Expand All @@ -12,8 +12,10 @@ 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
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
Pr 0.3
Pm 0.05
illum 2
48 changes: 48 additions & 0 deletions tests/data/material_color.urdf
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<?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>
36 changes: 36 additions & 0 deletions tests/data/material_mesh_color.urdf
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<?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>
<link name="link_obj_specular_workflow">
<visual>
<geometry>
<mesh filename="assets/box_specular_workflow.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>
<joint name="joint_box_obj_specular_workflow" type="fixed">
<origin rpy="0 0 0" xyz="1 0 0"/>
<parent link="link_obj"/>
<child link="link_obj_specular_workflow"/>
</joint>
</robot>
29 changes: 29 additions & 0 deletions tests/data/material_mesh_override.urdf
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<?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>
47 changes: 47 additions & 0 deletions tests/data/material_mesh_texture.urdf
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<?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>
<link name="link_obj_opacity">
<visual>
<geometry>
<mesh filename="assets/box_with_texture_opacity.obj" scale="0.5 0.5 0.5"/>
</geometry>
</visual>
</link>
<link name="link_obj_specular_workflow_with_texture">
<visual>
<geometry>
<mesh filename="assets/box_specular_workflow_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>
<joint name="joint_box_obj_opacity" type="fixed">
<origin rpy="0 0 0" xyz="1 0 0"/>
<parent link="link_obj"/>
<child link="link_obj_opacity"/>
</joint>
<joint name="joint_box_obj_specular_workflow_with_texture" type="fixed">
<origin rpy="0 0 0" xyz="1 0 0"/>
<parent link="link_obj_opacity"/>
<child link="link_obj_specular_workflow_with_texture"/>
</joint>
</robot>
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