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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/changelog.rst
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@@ -10,15 +10,18 @@ General
1. Renamed ``mjModel.tex_rbg`` to ``mjModel.tex_data``.
2. Added a new disable flag ``mjDSBL_AUTORESETNAN`` to disable automatic reset when NaNs or infinities are produced.
3. Added sub-elements to the MJCF :ref:`material<asset-material>` element, to allow specification of multiple textures
for rendering (e.g., :ref:`occlusion-roughness-metallic<material-orm>`). Note that the MuJoCo renderer doesn't support
these new features, and they are made available for use with external renderers.
MJX
^^^
3. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
4. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs.
Python bindings
^^^^^^^^^^^^^^^
4. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
5. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and
``mujoco.spec.compile``.
Version 3.2.0 (Jul 15, 2024)