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Merged
andrewkaufman merged 1 commit into from
Jan 27, 2026
+2 −49
Merged

Disabled specular workflow #65

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11 changes: 1 addition & 10 deletions tests/testAssetStructure.py
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Original file line number Diff line number Diff line change
Expand Up @@ -498,17 +498,8 @@ def test_no_layer_structure_material_texture(self):
texture_file_attr = value_attrs[0]
self.assertEqual(texture_file_attr.Get().path, "./Textures/opacity.png")

# Specular Workflow is currently disabled.
material_prim = stage.GetPrimAtPath(f"/{robot_name}/Materials/specular_workflow_with_texture_mat")
self.assertTrue(material_prim.IsValid())
shader = usdex.core.computeEffectivePreviewSurfaceShader(UsdShade.Material(material_prim))
self.assertTrue(shader)

texture_input: UsdShade.Input = shader.GetInput("specularColor")
connected_source = texture_input.GetConnectedSource()
texture_shader_prim = UsdShade.Shader(connected_source[0].GetPrim())

# The values are defined in the material interface, not in the shader
value_attrs = UsdShade.Utils.GetValueProducingAttributes(texture_shader_prim.GetInput("file"))
self.assertEqual(value_attrs[0].GetPrim(), material_prim)
texture_file_attr = value_attrs[0]
self.assertEqual(texture_file_attr.Get().path, "./Textures/specular.png")
24 changes: 1 addition & 23 deletions tests/testMaterial.py
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Original file line number Diff line number Diff line change
Expand Up @@ -346,16 +346,12 @@ def test_material_mesh_color(self):
self.assertEqual(opacity, 1.0)
ior = self.get_material_ior(green_material)
self.assertAlmostEqual(ior, 1.5, places=6)
specular_workflow = self.get_material_specular_workflow(green_material)
self.assertFalse(specular_workflow)

red_material_prim = material_scope_prim.GetChild("red_mat")
self.assertTrue(red_material_prim.IsValid())
self.assertTrue(red_material_prim.IsA(UsdShade.Material))
red_material = UsdShade.Material(red_material_prim)
self.assertTrue(red_material)
specular_workflow = self.get_material_specular_workflow(red_material)
self.assertFalse(specular_workflow)

diffuse_color = self.get_material_diffuse_color(red_material)
diffuse_color = usdex.core.linearToSrgb(diffuse_color)
Expand All @@ -374,14 +370,8 @@ def test_material_mesh_color(self):
self.assertTrue(box_specular_workflow_prim.IsA(UsdShade.Material))
box_specular_workflow_material = UsdShade.Material(box_specular_workflow_prim)
self.assertTrue(box_specular_workflow_material)

ior = self.get_material_ior(box_specular_workflow_material)
self.assertAlmostEqual(ior, 1.45, places=6)
specular_workflow = self.get_material_specular_workflow(box_specular_workflow_material)
self.assertTrue(specular_workflow)
specular_color = self.get_material_specular_color(box_specular_workflow_material)
specular_color = usdex.core.linearToSrgb(specular_color)
self.assertTrue(Gf.IsClose(specular_color, Gf.Vec3f(0.5, 0.2, 0.1), 1e-6))

mesh_prim = two_boxes_prim.GetChild("Cube_Green")
self.assertTrue(mesh_prim.IsValid())
Expand Down Expand Up @@ -502,15 +492,12 @@ def test_material_mesh_texture(self):
wrap_mode = self.get_material_wrap_mode(texture_specular_workflow_material)
self.assertEqual(wrap_mode, "repeat")

# Specular Workflow is currently disabled.
diffuse_color = self.get_material_diffuse_color(texture_specular_workflow_material)
diffuse_color = usdex.core.linearToSrgb(diffuse_color)
self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(0.4, 0.4, 0.4), 1e-6))
ior = self.get_material_ior(texture_specular_workflow_material)
self.assertAlmostEqual(ior, 1.45, places=6)
specular_workflow = self.get_material_specular_workflow(texture_specular_workflow_material)
self.assertTrue(specular_workflow)
specular_texture_path = self.get_material_texture_path(texture_specular_workflow_material, "specularColor")
self.assertEqual(specular_texture_path, pathlib.Path("./Textures/specular.png"))

self.check_material_binding(box_with_texture_prim, texture_material)
self.check_material_binding(box_with_texture_opacity_prim, texture_opacity_material)
Expand Down Expand Up @@ -698,13 +685,8 @@ def test_dae_materials(self):
diffuse_color = self.get_material_diffuse_color(specular_material)
diffuse_color = usdex.core.linearToSrgb(diffuse_color)
self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(0.2, 0.2, 0.2), 1e-6))
specular_color = self.get_material_specular_color(specular_material)
specular_color = usdex.core.linearToSrgb(specular_color)
self.assertTrue(Gf.IsClose(specular_color, Gf.Vec3f(0.8, 0.7, 0.1), 1e-6))
opacity = self.get_material_opacity(specular_material)
self.assertAlmostEqual(opacity, 1.0, places=6)
specular_workflow = self.get_material_specular_workflow(specular_material)
self.assertTrue(specular_workflow)

material_prim = material_scope_prim.GetChild("specular_texture_mat")
self.assertTrue(material_prim.IsValid())
Expand All @@ -714,12 +696,8 @@ def test_dae_materials(self):
diffuse_color = self.get_material_diffuse_color(specular_texture_material)
diffuse_color = usdex.core.linearToSrgb(diffuse_color)
self.assertTrue(Gf.IsClose(diffuse_color, Gf.Vec3f(0.2, 0.2, 0.2), 1e-6))
specular_texture_path = self.get_material_texture_path(specular_texture_material, "specularColor")
self.assertEqual(specular_texture_path, pathlib.Path("./Textures/specular.png"))
opacity = self.get_material_opacity(specular_texture_material)
self.assertAlmostEqual(opacity, 1.0, places=6)
specular_workflow = self.get_material_specular_workflow(specular_texture_material)
self.assertTrue(specular_workflow)

material_prim = material_scope_prim.GetChild("Material_red")
self.assertTrue(material_prim.IsValid())
Expand Down
6 changes: 0 additions & 6 deletions tests/util/ConverterTestCase.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,12 +44,6 @@ def get_material_diffuse_color(self, material: UsdShade.Material) -> Gf.Vec3f |
def get_material_emissive_color(self, material: UsdShade.Material) -> Gf.Vec3f | None:
return self._get_material_input_value(material, "emissiveColor")

def get_material_specular_color(self, material: UsdShade.Material) -> Gf.Vec3f | None:
return self._get_material_input_value(material, "specularColor")

def get_material_specular_workflow(self, material: UsdShade.Material) -> bool:
return self._get_material_input_value(material, "useSpecularWorkflow") == 1

def get_material_opacity(self, material: UsdShade.Material) -> float:
return self._get_material_input_value(material, "opacity")

Expand Down
10 changes: 0 additions & 10 deletions urdf_usd_converter/_impl/material.py
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Original file line number Diff line number Diff line change
Expand Up @@ -108,7 +108,6 @@ def _convert_material(
The material prim.
"""
diffuse_color = usdex.core.sRgbToLinear(material_data.diffuse_color)
specular_color = usdex.core.sRgbToLinear(material_data.specular_color)
emissive_color = usdex.core.sRgbToLinear(material_data.emissive_color)

# Build kwargs for material properties
Expand Down Expand Up @@ -147,15 +146,6 @@ def _convert_material(
if material_data.opacity_texture_path:
usdex.core.addOpacityTextureToPreviewMaterial(material_prim, _get_texture_asset_path(material_data.opacity_texture_path, texture_paths, data))

# If the specular color is not black or the specular texture exists, use the specular workflow.
if specular_color != [0, 0, 0] or material_data.specular_texture_path:
surface_shader.CreateInput("useSpecularWorkflow", Sdf.ValueTypeNames.Int).Set(1)
surface_shader.CreateInput("specularColor", Sdf.ValueTypeNames.Color3f).Set(specular_color)
if material_data.specular_texture_path:
_add_color_texture_to_preview_material(
material_prim, "specularColor", "SpecularTexture", _get_texture_asset_path(material_data.specular_texture_path, texture_paths, data)
)

# Add the emissive color to the preview material.
if emissive_color != [0, 0, 0] or material_data.emissive_texture_path:
surface_shader.CreateInput("emissiveColor", Sdf.ValueTypeNames.Color3f).Set(emissive_color)
Expand Down
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