[MISC] Add parse_glb_with_zup for URDF

genesis/engine/mesh.py

@@ -343,21 +343,19 @@ def from_morph_surface(cls, morph, surface=None):
             if morph.is_format(gs.options.morphs.MESH_FORMATS):
                 meshes = mu.parse_mesh_trimesh(morph.file, morph.group_by_material, morph.scale, surface)
             elif morph.is_format(gs.options.morphs.GLTF_FORMATS):
-                if not morph.parse_glb_with_zup:
+                if morph.parse_glb_with_trimesh:
+                    meshes = mu.parse_mesh_trimesh(morph.file, morph.group_by_material, morph.scale, surface)
+                else:
+                    meshes = gltf_utils.parse_mesh_glb(morph.file, morph.group_by_material, morph.scale, surface)
+                if morph.parse_glb_with_zup:
+                    for mesh in meshes:
+                        mesh.convert_to_zup()
+                else:
                     gs.logger.warning(
                         "GLTF is using y-up while Genesis uses z-up. Please set parse_glb_with_zup=True"
                         " in morph options if you find the mesh is 90-degree rotated. We will set parse_glb_with_zup=True"
                         " and rotate glb mesh by default later and gradually enforce this option."
                     )
-                if morph.parse_glb_with_trimesh:
-                    meshes = mu.parse_mesh_trimesh(morph.file, morph.group_by_material, morph.scale, surface)
-                    if morph.parse_glb_with_zup:
-                        for mesh in meshes:
-                            mesh.apply_transform(mu.Y_UP_TRANSFORM.T)
-                else:
-                    meshes = gltf_utils.parse_mesh_glb(
-                        morph.file, morph.group_by_material, morph.scale, surface, morph.parse_glb_with_zup
-                    )
             elif morph.is_format(gs.options.morphs.USD_FORMATS):
                 import genesis.utils.usda as usda_utils
 
@@ -385,7 +383,7 @@ def from_morph_surface(cls, morph, surface=None):
             else:
                 gs.raise_exception()
 
-            metadata = {"mesh_path": morph.file} if isinstance(morph, gs.options.morphs.FileMorph) else {}
+            metadata = {}
             return cls.from_trimesh(tmesh, surface=surface, metadata=metadata)
 
     def set_color(self, color):
@@ -404,6 +402,12 @@ def update_trimesh_visual(self):
         """
         self._mesh.visual = mu.surface_uvs_to_trimesh_visual(self.surface, self.uvs, len(self.verts))
 
+    def convert_to_zup(self):
+        """
+        Convert the mesh to z-up.
+        """
+        self._mesh.apply_transform(mu.Y_UP_TRANSFORM.T)
+
     def apply_transform(self, T):
         """
         Apply a 4x4 transformation matrix (translation on the right column) to the mesh.

genesis/ext/urdfpy/utils.py

@@ -245,24 +245,14 @@ def load_meshes(filename):
     meshes = trimesh.load(filename, process=False)
 
     if isinstance(meshes, trimesh.Scene):
-        T = np.array([
-            [ 1.,  0.,  0.,  0.],
-            [ 0.,  0., -1.,  0.],
-            [ 0.,  1.,  0.,  0.],
-            [ 0.,  0.,  0.,  1.]], dtype=np.float32,
-        )
         # FIXME: Scene.dump() has bug that uses copy without include_cache=True,
         #  it will lose the vertex normals.
         results = []
-        is_glb = filename.endswith((".gltf", ".glb"))
         for node_name in meshes.graph.nodes_geometry:
             transform, geometry_name = meshes.graph[node_name]
             current = meshes.geometry[geometry_name].copy(include_cache=True)
             if isinstance(current, trimesh.Trimesh):
-                if is_glb:
-                    current.apply_transform(T @ transform)
-                else:
-                    current.apply_transform(transform)
+                current.apply_transform(transform)
                 current.metadata["name"] = geometry_name
                 current.metadata["node"] = node_name
                 results.append(current)

genesis/options/morphs.py

@@ -503,6 +503,8 @@ class FileMorph(Morph):
         0.0 to enforce decomposition, float("inf") to disable it completely. Defaults to float("inf").
     coacd_options : CoacdOptions, optional
         Options for configuring coacd convex decomposition. Needs to be a `gs.options.CoacdOptions` object.
+    parse_glb_with_zup : bool, optional
+        Whether to use zup to load glb files. Defaults to False.
     visualization : bool, optional
         Whether the entity needs to be visualized. Set it to False if you need a invisible object only for collision
         purposes. Defaults to True. `visualization` and `collision` cannot both be False.
@@ -526,6 +528,7 @@ class FileMorph(Morph):
     decompose_robot_error_threshold: float = float("inf")
     coacd_options: Optional[CoacdOptions] = None
     recompute_inertia: bool = False
+    parse_glb_with_zup: bool = False
 
     def __init__(self, **data):
         super().__init__(**data)
@@ -681,7 +684,6 @@ class Mesh(FileMorph, TetGenMixin):
     """
 
     parse_glb_with_trimesh: bool = False
-    parse_glb_with_zup: bool = False
 
     # Rigid specific
     fixed: bool = False
@@ -771,6 +773,8 @@ class MJCF(FileMorph):
         0.0 to enforce decomposition, float("inf") to disable it completely. Defaults to float("inf").
     coacd_options : CoacdOptions, optional
         Options for configuring coacd convex decomposition. Needs to be a `gs.options.CoacdOptions` object.
+    parse_glb_with_zup : bool, optional
+        Whether to use zup to load glb files. Defaults to False. Mujoco currently does not support glb mesh.
     visualization : bool, optional
         Whether the entity needs to be visualized. Set it to False if you need a invisible object only for collision
         purposes. Defaults to True. `visualization` and `collision` cannot both be False.
@@ -872,6 +876,8 @@ class URDF(FileMorph):
         0.0 to enforce decomposition, float("inf") to disable it completely. Defaults to float("inf").
     coacd_options : CoacdOptions, optional
         Options for configuring coacd convex decomposition. Needs to be a `gs.options.CoacdOptions` object.
+    parse_glb_with_zup : bool, optional
+        Whether to use zup to load glb files. Defaults to False.
     visualization : bool, optional
         Whether the entity needs to be visualized. Set it to False if you need a invisible object only for collision
         purposes. Defaults to True. `visualization` and `collision` cannot both be False.
@@ -965,6 +971,8 @@ class Drone(FileMorph):
         0.0 to enforce decomposition, float("inf") to disable it completely. Defaults to float("inf").
     coacd_options : CoacdOptions, optional
         Options for configuring coacd convex decomposition. Needs to be a `gs.options.CoacdOptions` object.
+    parse_glb_with_zup : bool, optional
+        Whether to use zup to load glb files. Defaults to False.
     visualization : bool, optional
         Whether the entity needs to be visualized. Set it to False if you need a invisible object only for collision
         purposes. Defaults to True. `visualization` and `collision` cannot both be False.

genesis/utils/gltf.py

@@ -290,7 +290,7 @@ def parse_glb_tree(glb, node_index):
     return mesh_list
 
 
-def parse_mesh_glb(path, group_by_material, scale, surface, convert_zup=False):
+def parse_mesh_glb(path, group_by_material, scale, surface):
     glb = pygltflib.GLTF2().load(path)
     assert glb is not None
     glb.convert_images(pygltflib.ImageFormat.DATAURI)
@@ -383,8 +383,6 @@ def parse_mesh_glb(path, group_by_material, scale, surface, convert_zup=False):
                     if primitive.attributes.TEXCOORD_1:
                         uvs = get_glb_data_from_accessor(glb, primitive.attributes.TEXCOORD_1).astype(np.float32)
 
-            if convert_zup:
-                mesh_transform @= mu.Y_UP_TRANSFORM
             points, normals = mu.apply_transform(mesh_transform, points, normals)
             if normals is None:
                 normals = trimesh.Trimesh(points, triangles, process=False).vertex_normals

genesis/utils/urdf.py

@@ -114,17 +114,25 @@ def parse_urdf(morph, surface):
                     if geom.geometry.geometry.scale is not None:
                         scale *= geom.geometry.geometry.scale
 
+                    mesh_path = urdfpy.utils.get_filename(os.path.dirname(path), geom.geometry.geometry.filename)
                     mesh = gs.Mesh.from_trimesh(
                         tmesh,
                         scale=scale,
                         surface=gs.surfaces.Collision() if geom_is_col else surface,
-                        metadata={
-                            "mesh_path": urdfpy.utils.get_filename(
-                                os.path.dirname(path), geom.geometry.geometry.filename
-                            )
-                        },
+                        metadata={"mesh_path": mesh_path},
                     )
 
+                    if mesh_path.lower().endswith(gs.morphs.GLTF_FORMATS):
+                        if morph.parse_glb_with_zup:
+                            mesh.convert_to_zup()
+                        else:
+                            gs.logger.warning(
+                                "This URDF file contains GLTF mesh, which is using y-up while Genesis uses z-up."
+                                " Please set parse_glb_with_zup=True in morph options if you find the mesh is"
+                                " 90-degree rotated. We will set parse_glb_with_zup=True and rotate glb mesh by"
+                                " default later and gradually enforce this option."
+                            )
+
                     if not geom_is_col and (morph.prioritize_urdf_material or not tmesh.visual.defined):
                         if geom.material is not None and geom.material.color is not None:
                             mesh.set_color(geom.material.color)

tests/test_mesh.py

@@ -371,18 +371,26 @@ def test_urdf_with_existing_glb(tmp_path, show_viewer):
         show_viewer=show_viewer,
         show_FPS=False,
     )
-    robot_urdf = scene.add_entity(
+    robot_urdf_yup = scene.add_entity(
         gs.morphs.URDF(
             file=urdf_path,
         ),
     )
+    robot_urdf_zup = scene.add_entity(
+        gs.morphs.URDF(
+            file=urdf_path,
+            parse_glb_with_zup=True,
+        ),
+    )
     robot_mesh = scene.add_entity(
         gs.morphs.Mesh(
             file=glb_path,
             parse_glb_with_zup=True,
         ),
     )
-    check_gs_meshes(robot_urdf.vgeoms[0].vmesh, robot_mesh.vgeoms[0].vmesh, "robot")
+    check_gs_meshes(robot_urdf_zup.vgeoms[0].vmesh, robot_mesh.vgeoms[0].vmesh, "robot")
+    robot_urdf_yup.vgeoms[0].vmesh.convert_to_zup()
+    check_gs_meshes(robot_urdf_yup.vgeoms[0].vmesh, robot_mesh.vgeoms[0].vmesh, "robot")
 
 
 @pytest.mark.required