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Allow multiple textures per material in MJCF.

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PiperOrigin-RevId: 654795013
Change-Id: I418b72533484d00accaf801a342aa183e602a2d0
This commit is contained in:
Tom Erez
2024-07-22 09:56:58 -07:00
committed by Copybara-Service
parent e79efa60d6
commit 33e5960653
14 changed files with 474 additions and 106 deletions
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doc/XMLschema.rst
+64 -1
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@@ -163,7 +163,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`markrgb<asset-texture-markrgb>` | :ref:`random<asset-texture-random>` | :ref:`width<asset-texture-width>` | :ref:`height<asset-texture-height>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`hflip<asset-texture-hflip>` | :ref:`vflip<asset-texture-vflip>` | | | |
| | | | :ref:`hflip<asset-texture-hflip>` | :ref:`vflip<asset-texture-vflip>` | :ref:`nchannel<asset-texture-nchannel>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
@@ -177,6 +177,69 @@
| | | | :ref:`reflectance<asset-material-reflectance>` | :ref:`metallic<asset-material-metallic>` | :ref:`roughness<asset-material-roughness>` | :ref:`rgba<asset-material-rgba>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`rgb | ? | :class: mjcf-attributes |
| <material-rgb>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-rgb-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`occlusion | ? | :class: mjcf-attributes |
| <material-occlusion>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-occlusion-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`roughness | ? | :class: mjcf-attributes |
| <material-roughness>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-roughness-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`metallic | ? | :class: mjcf-attributes |
| <material-metallic>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-metallic-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`normal | ? | :class: mjcf-attributes |
| <material-normal>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-normal-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`opacity | ? | :class: mjcf-attributes |
| <material-opacity>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-opacity-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`emissive | ? | :class: mjcf-attributes |
| <material-emissive>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-emissive-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`rgba | ? | :class: mjcf-attributes |
| <material-rgba>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-rgba-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_2| material |br| |_2| |L| | | .. table:: |
| :ref:`orm | ? | :class: mjcf-attributes |
| <material-orm>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`texture<material-orm-texture>` | | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| asset |br| |_| |L| | | .. table:: |
| :ref:`model | \* | :class: mjcf-attributes |
| <asset-model>` | | |