Add support in mjModel for tagging textures with different roles, and use the slot index of a texture to designate its role.

PiperOrigin-RevId: 654030065
Change-Id: I34a5b132a7f91a6bb8f260500c1b9c128a03b596

introspect/enums.py

@@ -119,6 +119,24 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjTEXTURE_SKYBOX', 2),
          ]),
      )),
+    ('mjtTextureRole',
+     EnumDecl(
+         name='mjtTextureRole',
+         declname='enum mjtTextureRole_',
+         values=dict([
+             ('mjTEXROLE_USER', 0),
+             ('mjTEXROLE_RGB', 1),
+             ('mjTEXROLE_OCCLUSION', 2),
+             ('mjTEXROLE_ROUGHNESS', 3),
+             ('mjTEXROLE_METALLIC', 4),
+             ('mjTEXROLE_NORMAL', 5),
+             ('mjTEXROLE_OPACITY', 6),
+             ('mjTEXROLE_EMISSIVE', 7),
+             ('mjTEXROLE_RGBA', 8),
+             ('mjTEXROLE_ORM', 9),
+             ('mjNTEXROLE', 10),
+         ]),
+     )),
     ('mjtIntegrator',
      EnumDecl(
          name='mjtIntegrator',

introspect/structs.py

@@ -2925,7 +2925,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='indices of textures; -1: none            (nmat x mjNTEXMAT)',  # pylint: disable=line-too-long
+                 doc='indices of textures; -1: none            (nmat x mjNTEXROLE)',  # pylint: disable=line-too-long
              ),
              StructFieldDecl(
                  name='mat_texuniform',
@@ -7967,7 +7967,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  name='mat_texid',
                  type=ArrayType(
                      inner_type=ValueType(name='int'),
-                     extents=(600,),
+                     extents=(1000,),
                  ),
                  doc='material texture ids (-1: no texture)',
              ),