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
2024-07-19 09:28:34 -07:00
parent 8a8a44a4db
commit 796173170c
14 changed files with 99 additions and 27 deletions
@@ -252,7 +252,9 @@ class USDExporter:
    assert geom_name not in self.geom_names

    texture_file = (
-        self.texture_files[self.model.mat_texid[geom.matid][0]]
+        self.texture_files[
+            self.model.mat_texid[geom.matid][mujoco.mjTEXROLE_RGB]
+        ]
        if geom.matid != -1
        else None
    )