Skip to content

Fixed the DAE file conversion errors #60

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
andrewkaufman merged 6 commits into from
Jan 27, 2026
Merged

Fixed the DAE file conversion errors #60

Show file tree
Hide file tree
Changes from 4 commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
ce67947
dae: Fixed an issue where materials would sometimes not bind
ft-lab Jan 23, 2026
6a233fa
dae: Ignore broken references
ft-lab Jan 23, 2026
15a3a1b
dae: Organizing codes when storing UVs
ft-lab Jan 23, 2026
87308f8
dae: Changed to use material ID for material identification within on…
ft-lab Jan 23, 2026
973d25a
Merge remote-tracking branch 'origin/main' into dev/bug_fixes
ft-lab Jan 27, 2026
c1b5277
dae: If there are no duplicate material names in dae, use the materia…
ft-lab Jan 27, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions tests/data/assets/box_transparent_material.dae
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,9 @@
<transparent opaque="RGB_ZERO">
<color sid="alpha">0.2 0.3 0.1 1</color>
</transparent>
<transparency>
<float sid="transparency">1.0</float>
</transparency>
<index_of_refraction>
<float sid="ior">1.45</float>
</index_of_refraction>
Expand Down
124 changes: 124 additions & 0 deletions tests/data/assets/box_two_materials_same_names.dae
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,124 @@
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<asset>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_effects>
<effect id="Material_red-effect">
<profile_COMMON>
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<diffuse>
<color sid="diffuse">1 0 0 1</color>
</diffuse>
<index_of_refraction>
<float sid="ior">1.45</float>
</index_of_refraction>
</lambert>
</technique>
</profile_COMMON>
</effect>
<effect id="Material_green-effect">
<profile_COMMON>
<technique sid="common">
<lambert>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<diffuse>
<color sid="diffuse">0 1 0 1</color>
</diffuse>
<index_of_refraction>
<float sid="ior">1.5</float>
</index_of_refraction>
</lambert>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_images/>
<library_materials>
<material id="Material_red-material" name="Material_same">
<instance_effect url="#Material_red-effect"/>
</material>
<material id="Material_green-material" name="Material_same">
<instance_effect url="#Material_green-effect"/>
</material>
</library_materials>
<library_geometries>
<geometry id="Cube-mesh" name="Cube">
<mesh>
<source id="Cube-mesh-positions">
<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>
<technique_common>
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-normals">
<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>
<technique_common>
<accessor source="#Cube-mesh-normals-array" count="12" stride="3">
<param name="X" type="float"/>
<param name="Y" type="float"/>
<param name="Z" type="float"/>
</accessor>
</technique_common>
</source>
<source id="Cube-mesh-map-0">
<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>
<technique_common>
<accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
<param name="S" type="float"/>
<param name="T" type="float"/>
</accessor>
</technique_common>
</source>
<vertices id="Cube-mesh-vertices">
<input semantic="POSITION" source="#Cube-mesh-positions"/>
</vertices>
<triangles material="Material_red-material" count="6">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
<p>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 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</p>
</triangles>
<triangles material="Material_green-material" count="6">
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
<p>4 0 0 2 0 1 0 0 2 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 0 10 30 2 10 31 3 10 32 4 11 33 0 11 34 1 11 35</p>
</triangles>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="Cube" name="Cube" type="NODE">
<matrix sid="transform">0.5 0 0 0 0 0.5 0 0 0 0 0.5 0 0 0 0 1</matrix>
<instance_geometry url="#Cube-mesh" name="Cube">
<bind_material>
<technique_common>
<instance_material symbol="Material_red-material" target="#Material_red-material">
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
</instance_material>
<instance_material symbol="Material_green-material" target="#Material_green-material">
<bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
14 changes: 13 additions & 1 deletion tests/data/test_displayname.urdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,14 @@
</geometry>
</visual>
</link>
<link name="link-box_two_materials_same_names">
<visual>
<geometry>
<!-- With the same material name (IDs differ) -->
<mesh filename="assets/box_two_materials_same_names.dae" 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"/>
Expand All @@ -51,5 +59,9 @@
<parent link="link-box2"/>
<child link="link-mesh_dae"/>
</joint>

<joint name="box_two_materials_same_names" type="fixed">
<origin rpy="0 0 0" xyz="0 3 0"/>
<parent link="link-box2"/>
<child link="link-box_two_materials_same_names"/>
</joint>
</robot>
25 changes: 25 additions & 0 deletions tests/testAssetStructure.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,31 @@ def test_display_name(self):
self.assertTrue(material_red_prim.IsA(UsdShade.Material))
self.assertEqual(usdex.core.getDisplayName(material_red_prim), "material:red")

material_red_prim = material_scope_prim.GetChild("tn__red_matmaterial_jM")
self.assertTrue(material_red_prim.IsValid())
self.assertTrue(material_red_prim.IsA(UsdShade.Material))
self.assertEqual(usdex.core.getDisplayName(material_red_prim), "red_mat")

material_blue_prim = material_scope_prim.GetChild("tn__blue_matmaterial_yN")
self.assertTrue(material_blue_prim.IsValid())
self.assertTrue(material_blue_prim.IsA(UsdShade.Material))
self.assertEqual(usdex.core.getDisplayName(material_blue_prim), "blue_mat")

material_green_prim = material_scope_prim.GetChild("tn__green_matmaterial_iP")
self.assertTrue(material_green_prim.IsValid())
self.assertTrue(material_green_prim.IsA(UsdShade.Material))
self.assertEqual(usdex.core.getDisplayName(material_green_prim), "green_mat")

material_red_prim = material_scope_prim.GetChild("tn__Material_redmaterial_wT")
self.assertTrue(material_red_prim.IsValid())
self.assertTrue(material_red_prim.IsA(UsdShade.Material))
self.assertEqual(usdex.core.getDisplayName(material_red_prim), "Material_same")

material_green_prim = material_scope_prim.GetChild("tn__Material_greenmaterial_vW0")
self.assertTrue(material_green_prim.IsValid())
self.assertTrue(material_green_prim.IsA(UsdShade.Material))
self.assertEqual(usdex.core.getDisplayName(material_green_prim), "Material_same")

def test_interface_layer(self):
input_path = "tests/data/simple_box.urdf"
robot_name = pathlib.Path(input_path).stem
Expand Down
26 changes: 13 additions & 13 deletions tests/testMaterial.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -564,7 +564,7 @@ def test_material_mesh_override(self):
opacity = self.get_material_opacity(green_material)
self.assertAlmostEqual(opacity, 1.0, places=6)

dae_material_prim = material_scope_prim.GetChild("Material")
dae_material_prim = material_scope_prim.GetChild("tn__Materialmaterial_yN")
self.assertTrue(dae_material_prim.IsValid())
self.assertTrue(dae_material_prim.IsA(UsdShade.Material))
dae_material = UsdShade.Material(dae_material_prim)
Expand Down Expand Up @@ -626,7 +626,7 @@ def test_dae_materials(self):
material_scope_prim = default_prim.GetChild("Materials")
self.assertTrue(material_scope_prim.IsValid())

material_prim = material_scope_prim.GetChild("texture_mat")
material_prim = material_scope_prim.GetChild("tn__texture_matmaterial_hS")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
texture_material = UsdShade.Material(material_prim)
Expand All @@ -636,7 +636,7 @@ def test_dae_materials(self):
opacity = self.get_material_opacity(texture_material)
self.assertAlmostEqual(opacity, 1.0, places=6)

material_prim = material_scope_prim.GetChild("emissive_mat")
material_prim = material_scope_prim.GetChild("tn__emissive_matmaterial_wT")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
emissive_material = UsdShade.Material(material_prim)
Expand All @@ -650,7 +650,7 @@ def test_dae_materials(self):
opacity = self.get_material_opacity(emissive_material)
self.assertAlmostEqual(opacity, 1.0, places=6)

material_prim = material_scope_prim.GetChild("emissive_color_tex_mat")
material_prim = material_scope_prim.GetChild("tn__emissive_color_tex_matmaterial_ri0")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
emissive_color_tex_material = UsdShade.Material(material_prim)
Expand All @@ -660,7 +660,7 @@ def test_dae_materials(self):
emissive_color_texture_path = self.get_material_texture_path(emissive_color_tex_material, "emissiveColor")
self.assertEqual(emissive_color_texture_path, pathlib.Path("./Textures/emissive.png"))

material_prim = material_scope_prim.GetChild("opacity_mat")
material_prim = material_scope_prim.GetChild("tn__opacity_matmaterial_hS")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
opacity_material = UsdShade.Material(material_prim)
Expand All @@ -670,7 +670,7 @@ def test_dae_materials(self):
opacity = self.get_material_opacity(opacity_material)
self.assertAlmostEqual(opacity, 0.4, places=6)

material_prim = material_scope_prim.GetChild("opacity_texture_mat")
material_prim = material_scope_prim.GetChild("tn__opacity_texture_matmaterial_de0")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
opacity_texture_material = UsdShade.Material(material_prim)
Expand All @@ -680,7 +680,7 @@ def test_dae_materials(self):
opacity_texture_path = self.get_material_texture_path(opacity_texture_material, "opacity")
self.assertEqual(opacity_texture_path, pathlib.Path("./Textures/opacity.png"))

material_prim = material_scope_prim.GetChild("specular_mat")
material_prim = material_scope_prim.GetChild("tn__specular_matmaterial_wT")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
specular_material = UsdShade.Material(material_prim)
Expand All @@ -696,7 +696,7 @@ def test_dae_materials(self):
specular_workflow = self.get_material_specular_workflow(specular_material)
self.assertTrue(specular_workflow)

material_prim = material_scope_prim.GetChild("specular_texture_mat")
material_prim = material_scope_prim.GetChild("tn__specular_texture_mat_001material_ql0")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
specular_texture_material = UsdShade.Material(material_prim)
Expand All @@ -711,7 +711,7 @@ def test_dae_materials(self):
specular_workflow = self.get_material_specular_workflow(specular_texture_material)
self.assertTrue(specular_workflow)

material_prim = material_scope_prim.GetChild("Material_red")
material_prim = material_scope_prim.GetChild("tn__Material_redmaterial_wT")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
material_red = UsdShade.Material(material_prim)
Expand All @@ -722,7 +722,7 @@ def test_dae_materials(self):
opacity = self.get_material_opacity(material_red)
self.assertAlmostEqual(opacity, 1.0, places=6)

material_prim = material_scope_prim.GetChild("Material_green")
material_prim = material_scope_prim.GetChild("tn__Material_greenmaterial_vW0")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
material_green = UsdShade.Material(material_prim)
Expand All @@ -733,7 +733,7 @@ def test_dae_materials(self):
opacity = self.get_material_opacity(material_green)
self.assertAlmostEqual(opacity, 1.0, places=6)

material_prim = material_scope_prim.GetChild("transparent_mat")
material_prim = material_scope_prim.GetChild("tn__transparent_matmaterial_fY0")
self.assertTrue(material_prim.IsValid())
self.assertTrue(material_prim.IsA(UsdShade.Material))
material_transparent = UsdShade.Material(material_prim)
Expand Down Expand Up @@ -853,7 +853,7 @@ def test_mesh_subsets_materials(self):
opacity = self.get_material_opacity(material_red)
self.assertAlmostEqual(opacity, 1.0, places=6)

material_red_1_prim = material_scope_prim.GetChild("Material_red_1")
material_red_1_prim = material_scope_prim.GetChild("tn__Material_redmaterial_wT")
self.assertTrue(material_red_1_prim.IsValid())
self.assertTrue(material_red_1_prim.IsA(UsdShade.Material))
material_red_1 = UsdShade.Material(material_red_1_prim)
Expand All @@ -863,7 +863,7 @@ def test_mesh_subsets_materials(self):
opacity = self.get_material_opacity(material_red_1)
self.assertAlmostEqual(opacity, 1.0, places=6)

material_green_1_prim = material_scope_prim.GetChild("Material_green_1")
material_green_1_prim = material_scope_prim.GetChild("tn__Material_greenmaterial_vW0")
self.assertTrue(material_green_1_prim.IsValid())
self.assertTrue(material_green_1_prim.IsA(UsdShade.Material))
material_green_1 = UsdShade.Material(material_green_1_prim)
Expand Down
Loading
Loading