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Remove custom mujoco.texture format.

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PiperOrigin-RevId: 960257562
Change-Id: I318c84d82576d405f0a5d8510acd5bab5f08c9af
This commit is contained in:
Sam Haves
2026-08-06 06:13:17 -07:00
committed by Copybara-Service
parent 84950fa371
commit 6fe04aa8d3
6 changed files with 14 additions and 120 deletions
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doc/XMLreference.rst
+5 -15
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@@ -1653,18 +1653,9 @@ The texture data can be loaded from files or can be generated by the compiler as
different texture types require different parameters, only a subset of the attributes below are used for any given
texture. Provisions are provided for loading cube and skybox textures from individual image files.
Three file formats are supported for loading textures: PNG, KTX, and a custom MuJoCo texture format. The
loader will use the extension of the file name to determine which format to use, defaulting to the custom format if
the extension is not recognized. Alternatively, the content_type attribute can be used to specify the format
explicitly. Only ``image/png``, ``image/ktx``, or ``image/vnd.mujoco.texture`` are supported.
The custom MuJoCo format is assumed to be a binary file containing the following data:
.. code:: Text
(int32) width
(int32) height
(byte) rgb_data[3*width*height]
Two file formats are supported for loading textures: PNG and KTX. The loader will use the extension of the file name to
determine which format to use. Alternatively, the content_type attribute can be used to specify the format explicitly.
Only ``image/png`` and ``image/ktx`` are supported.
.. _asset-texture-name:
@@ -1687,7 +1678,7 @@ The custom MuJoCo format is assumed to be a binary file containing the following
corresponding texture color. The six square images defining the cube can be the same or different; if they are the
same, only one copy is stored in mjModel. There are four mechanisms for specifying the texture data:
#. Single file (PNG or custom) specified with the file attribute, containing a square image which is repeated on each
#. Single file (PNG or KTX) specified with the file attribute, containing a square image which is repeated on each
side of the cube. This is the most common approach. If for example the goal is to create the appearance of wood,
repeating the same image on all sides is sufficient.
#. Single file containing a composite image from which the six squares are extracted by the compiler. The layout of
@@ -1722,8 +1713,7 @@ The custom MuJoCo format is assumed to be a binary file containing the following
:at:`content_type`: :at-val:`string, optional`
If the file attribute is specified, then this sets the
`Media Type <https://www.iana.org/assignments/media-types/media-types.xhtml>`_ (formerly known as MIME types) of the
file to be loaded. Any filename extensions will be ignored. Currently ``image/png``, ``image/ktx``, and
``image/vnd.mujoco.texture`` are supported.
file to be loaded. Any filename extensions will be ignored. Currently ``image/png`` and ``image/ktx`` are supported.
.. _asset-texture-file: