URDF USD Converter v0.1.0a2

[andrewkaufman]

Features

• Added conversion of DAE embedded materials to UsdPreviewSurface materials
• Improved performance by optimizing numpy processing when converting STL, OBJ, and DAE meshes

Fixes

• Fixed several DAE mesh conversion issues
  • Fixed to correctly parse even when the DAE file structure is corrupted
  • Fixed an issue where the UV array could not be acquired correctly in some cases
  • Fixed familyType attribute when meshes contain subsets
• Fixed OBJ per-face material assignments via UsdGeomSubsets
• Fixed material overrides beween native URDF & embedded OBJ/DAE materials
  • We now match rviz & urdfviewer where embedded OBJ/DAE materials take priority over URDF materials
• Fixed texture wrapping behaviour using repeat mode on all UsdUvTexture shaders
  • The wrapMode is exposed on the material interface so users can change it as needed
• Fixed color issue related to the specular workflow
  • Specular workflow has been unconditionally disabled. There is no meaningful mapping of URDF specular color (phong based materials) to UsdPreviewSurface (simplistic PBR based materials) so we ignore specular color for now. This gives results more closely matching rviz & urdfviewer
• Fixed URDF Parser to allow invalid axis specification on fixed joints
  • Many sample assets have axis="0 0 0" on fixed joints, which is meaningless but harmless
• Fixed URDF Parser to handle errors when no links exist in the file

Documention

• Update Concept Mapping document to reflect new stance on material overrides

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This discussion was created from the release URDF USD Converter v0.1.0a2.