Add textured materials to render context, and refactor mjvGeom to refer to those textures.

PiperOrigin-RevId: 648719103
Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc

python/mujoco/usd/component.py

@@ -258,17 +258,10 @@ class USDPrimitiveMesh:
 
     assert self.prim_mesh
 
-    x_scale, y_scale = self.geom.texrepeat
-
     mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
     mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
 
-    x_multiplier, y_multiplier = 1, 1
-    if self.geom.texuniform:
-      x_multiplier, y_multiplier = self.geom.size[:2]
-
-    mesh_texcoord[:, 0] *= x_scale * x_multiplier
-    mesh_texcoord[:, 1] *= y_scale * y_multiplier
+    # TODO(etom): bring back support for rescaling the texture coordinates.
 
     return mesh_texcoord, mesh_facetexcoord.flatten()
 

python/mujoco/usd/exporter.py

@@ -232,7 +232,11 @@ class USDExporter:
     geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
     assert geom_name not in self.geom_name2usd
 
-    texture_file = self.texture_files[geom.texid] if geom.texid != -1 else None
+    texture_file = (
+        self.texture_files[self.model.mat_texid[geom.matid]]
+        if geom.matid != -1
+        else None
+    )
 
     # handles meshes in scene
     if geom.type == mujoco.mjtGeom.mjGEOM_MESH: