add support for non-rgb textures in xml_native_writer

PiperOrigin-RevId: 736221430 Change-Id: I83c19e06f0f7be054a88c3e894807e7b90ee012a
2025-03-12 12:16:31 -07:00
parent 5c3bab4d09
commit 8f4c5c4b16
5 changed files with 55 additions and 6 deletions
@@ -0,0 +1,17 @@
+<mujoco>
+  <asset>
+    <hfield name="hfield" file="hfield.png" size="0.5 0.5 0.05 0.1"/>
+
+    <texture name="hfield" type="2d" file="hfield.png"/>
+    <material name="hfield">
+      <layer texture="hfield" role="rgb"/>
+      <layer texture="hfield" role="orm"/>
+      <layer texture="hfield" role="normal"/>
+    </material>
+  </asset>
+
+  <worldbody>
+    <light pos="-.4 .6 1"/>
+    <geom type="hfield" hfield="hfield" pos="-.4 .6 .05" material="hfield"/>
+  </worldbody>
+</mujoco>