Add support for multiple textures in one material (mjModel).

PiperOrigin-RevId: 648732764 Change-Id: I29b60dd62a069789a32017ff0d55e36b57e0052b
2024-07-02 08:49:24 -07:00
parent 3b73dfe33b
commit df7ea3ed33
9 changed files with 20 additions and 11 deletions
@@ -233,7 +233,7 @@ class USDExporter:
    assert geom_name not in self.geom_name2usd

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