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

PiperOrigin-RevId: 648719103 Change-Id: Idb4425bdeea3cbc1133cda3e4366574ed3bb5ccc
2024-07-02 08:00:06 -07:00
parent af3233f98d
commit 3b73dfe33b
14 changed files with 252 additions and 195 deletions
@@ -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: