From da36e822a8abf6ff6b88fb2768857a76f8fad0db Mon Sep 17 00:00:00 2001
From: Haroon Qureshi <haroonq@google.com>
Date: Thu, 4 Dec 2025 08:22:05 -0800
Subject: [PATCH] Allow material default classes to define texture layers.

PiperOrigin-RevId: 840254100
Change-Id: I59f67fc4d1485cf80bbc005d1b35cda6224248ed
---
 doc/XMLschema.rst            | 7 +++++++
 src/xml/xml_native_reader.cc | 3 +++
 src/xml/xml_native_reader.h  | 2 +-
 3 files changed, 11 insertions(+), 1 deletion(-)

diff --git a/doc/XMLschema.rst b/doc/XMLschema.rst
index 56901533..a42b23fa 100644
--- a/doc/XMLschema.rst
+++ b/doc/XMLschema.rst
@@ -1428,6 +1428,13 @@
 |                                    |    |    | :ref:`texrepeat<default-material-texrepeat>`                    | :ref:`texuniform<default-material-texuniform>`                  |                                                                 |                                                                 | |
 |                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
 +------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
+| |_2| material |br| |_2| |L|        |    | .. table::                                                                                                                                                                                                                                                                   |
+| :ref:`layer                        | \* |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
+| <material-layer>`                  |    |                                                                                                                                                                                                                                                                              |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+|                                    |    |    | :ref:`texture<material-layer-texture>`                          | :ref:`role<material-layer-role>`                                |                                                                 |                                                                 | |
+|                                    |    |    +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
++------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
 | |_| default |br| |_| |L|           |    | .. table::                                                                                                                                                                                                                                                                   |
 | :ref:`joint                        | ?  |    :class: mjcf-attributes                                                                                                                                                                                                                                                   |
 | <default-joint>`                   |    |                                                                                                                                                                                                                                                                              |
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 47413f3e..fbee962a 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -156,6 +156,9 @@ std::vector<const char*> MJCF[nMJCF] = {
         {"mesh", "?", "scale", "maxhullvert", "inertia"},
         {"material", "?", "texture", "emission", "specular", "shininess",
             "reflectance", "metallic", "roughness", "rgba", "texrepeat", "texuniform"},
+        {"<"},
+            {"layer", "*", "texture", "role"},
+        {">"},
         {"joint", "?", "type", "group", "pos", "axis", "springdamper",
             "limited", "actuatorfrclimited", "solreflimit", "solimplimit",
             "solreffriction", "solimpfriction", "stiffness", "range", "actuatorfrcrange",
diff --git a/src/xml/xml_native_reader.h b/src/xml/xml_native_reader.h
index 51f8bf4d..570a6542 100644
--- a/src/xml/xml_native_reader.h
+++ b/src/xml/xml_native_reader.h
@@ -102,7 +102,7 @@ class mjXReader : public mjXBase {
 };
 
 // MJCF schema
-#define nMJCF 241
+#define nMJCF 244
 extern std::vector<const char*> MJCF[nMJCF];
 
 #endif  // MUJOCO_SRC_XML_XML_NATIVE_READER_H_