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Adds minor fix to handle normalmaps and blending #22

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Merged
kevinzakka merged 3 commits into from
Jun 10, 2026
Merged

Adds minor fix to handle normalmaps and blending #22

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c2af44f
Adds minor fix to handle normalmaps and blending
wpumacay May 28, 2026
b4e69b7
Adds guard to index with -1 when there's no normalmap
wpumacay May 30, 2026
02bc019
Enable blending for textures with transparent pixels
kevinzakka Jun 10, 2026
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26 changes: 21 additions & 5 deletions src/mjviser/conversions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,11 @@ def _get_texture_id(mj_model: mujoco.MjModel, matid: int) -> int:
return texid


def _get_texture_normalmap_id(mj_model: mujoco.MjModel, matid: int) -> int:
"""Returns the normalmap texture ID for a material, or -1."""
return int(mj_model.mat_texid[matid, int(mujoco.mjtTextureRole.mjTEXROLE_NORMAL)])


def _extract_texture_image(mj_model: mujoco.MjModel, texid: int) -> Image.Image | None:
"""Extract a 2D texture as a PIL Image, or None for unsupported types."""
w = mj_model.tex_width[texid]
Expand Down Expand Up @@ -190,16 +195,27 @@ def mujoco_mesh_to_trimesh(mj_model: mujoco.MjModel, geom_idx: int) -> trimesh.T

# Path 1: mesh has UVs and material has a 2D texture.
if uvs is not None and matid >= 0:
texid = _get_texture_id(mj_model, matid)
if texid >= 0:
image = _extract_texture_image(mj_model, texid)
if image is not None:
texid_albedo = _get_texture_id(mj_model, matid)
texid_normalmap = _get_texture_normalmap_id(mj_model, matid)
if texid_albedo >= 0:
image_albedo = _extract_texture_image(mj_model, texid_albedo)
image_normalmap: Image.Image | None = None
if image_normalmap_flipped := _extract_texture_image(mj_model, texid_normalmap):
image_normalmap = image_normalmap_flipped.transpose(
Image.Transpose.FLIP_TOP_BOTTOM
)

if image_albedo is not None:
rgba = mj_model.mat_rgba[matid]
geom_rgba = mj_model.geom_rgba[geom_idx]
use_blending = rgba[-1] < 0.99 or geom_rgba[-1] < 0.99
material = trimesh.visual.material.PBRMaterial(
baseColorFactor=rgba,
baseColorTexture=image,
baseColorTexture=image_albedo,
metallicFactor=0.0,
roughnessFactor=1.0,
normalTexture=image_normalmap,
alphaMode="BLEND" if use_blending else "OPAQUE",
)
mesh.visual = trimesh.visual.TextureVisuals(uv=uvs, material=material)
return mesh
Expand Down
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