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Refactor PBR texture layers from separate sub-elements to a single layer sub-element.

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Add new element to PyMJCF schema.

PiperOrigin-RevId: 690115286
Change-Id: I7bb3f184cb321ca96037b2ca0ee160efef37469d
This commit is contained in:
Yuval Tassa
2024-10-26 07:40:49 -07:00
committed by Copybara-Service
parent 078c7bb42e
commit 61cb552f8a
7 changed files with 80 additions and 200 deletions
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test/xml/xml_native_reader_test.cc
+7 -7
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@@ -805,10 +805,10 @@ TEST_F(XMLReaderTest, MaterialTextureTest) {
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material">
<occlusion texture="tiny0"/>
<roughness texture="tiny0"/>
<metallic texture="tiny0"/>
<rgb texture="tiny1"/>
<layer role="occlusion" texture="tiny0"/>
<layer role="roughness" texture="tiny0"/>
<layer role="metallic" texture="tiny0"/>
<layer role="rgb" texture="tiny1"/>
</material>
</asset>
<worldbody>
@@ -873,8 +873,8 @@ TEST_F(XMLReaderTest, MaterialTextureFailTest) {
<texture file="tiny0.png" type="2d" name="tiny0"/>
<texture file="tiny1.png" type="2d" name="tiny1"/>
<material name="material" texture="tiny1">
<rgb texture="tiny1"/>
<occlusion texture="tiny0"/>
<layer role="rgb" texture="tiny1"/>
<layer role="occlusion" texture="tiny0"/>
</material>
</asset>
<worldbody>
@@ -887,7 +887,7 @@ TEST_F(XMLReaderTest, MaterialTextureFailTest) {
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull());
EXPECT_THAT(error.data(), HasSubstr("A material with a texture attribute "
"cannot have texture sub-elements"));
"cannot have layer sub-elements"));
}
TEST_F(XMLReaderTest, LargeTextureTest) {