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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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src/user/user_objects.cc
+1 -45
View File
@@ -5293,43 +5293,6 @@ void mjCTexture::LoadKTX(mjResource* resource, std::vector<std::byte>& image,
}
// load custom file
void mjCTexture::LoadCustom(mjResource* resource, std::vector<std::byte>& image,
unsigned int& w, unsigned int& h, bool& is_srgb) {
const void* buffer = 0;
int buffer_sz = mju_readResource(resource, &buffer);
// still not found
if (buffer_sz < 0) {
throw mjCError(this, "could not read texture file '%s'", resource->name);
} else if (!buffer_sz) {
throw mjCError(this, "texture file is empty: '%s'", resource->name);
}
// read dimensions
int* pint = (int*)buffer;
w = pint[0];
h = pint[1];
// assume linear color space
is_srgb = false;
// check dimensions
if (w < 1 || h < 1) {
throw mjCError(this, "Non-PNG texture, assuming custom binary file format,\n"
"non-positive texture dimensions in file '%s'", resource->name);
}
// check buffer size
if (buffer_sz != 2*sizeof(int) + w*h*3*sizeof(char)) {
throw mjCError(this, "Non-PNG texture, assuming custom binary file format,\n"
"unexpected file size in file '%s'", resource->name);
}
// allocate and copy
image.resize(w*h*3);
memcpy(image.data(), (void*)(pint+2), w*h*3*sizeof(char));
}
void mjCTexture::FlipIfNeeded(std::vector<std::byte>& image, unsigned int w,
unsigned int h) {
@@ -5398,12 +5361,7 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
std::string asset_type = GetAssetContentType(filename, content_type_);
// fallback to custom
if (asset_type.empty()) {
asset_type = "image/vnd.mujoco.texture";
}
if (asset_type != "image/png" && asset_type != "image/ktx" && asset_type != "image/vnd.mujoco.texture") {
if (asset_type != "image/png" && asset_type != "image/ktx") {
throw mjCError(this, "unsupported content type: '%s'", asset_type.c_str());
}
@@ -5423,8 +5381,6 @@ void mjCTexture::LoadFlip(std::string filename, const mjVFS* vfs,
throw mjCError(this, "cannot flip KTX textures");
}
LoadKTX(resource, image, w, h, is_srgb);
} else {
LoadCustom(resource, image, w, h, is_srgb);
}
} catch(mjCError err) {
mju_closeResource(resource);
src/user/user_objects.h
-2
View File
@@ -1494,8 +1494,6 @@ class mjCTexture : public mjCTexture_, private mjsTexture {
unsigned int& w, unsigned int& h, bool& is_srgb);
void LoadKTX(mjResource* resource, std::vector<std::byte>& image,
unsigned int& w, unsigned int& h, bool& is_srgb);
void LoadCustom(mjResource* resource, std::vector<std::byte>& image,
unsigned int& w, unsigned int& h, bool& is_srgb);
bool clear_data_; // if true, data_ is empty and should be filled by Compile
};