Add mjmodel support for textures with different number of channels.

PiperOrigin-RevId: 653974959 Change-Id: Ia280e0bdb21027646249f104f21bedee792ba7e5
2024-07-19 05:21:16 -07:00
parent 70ac76bb4b
commit e92af73cbf
11 changed files with 43 additions and 24 deletions
@@ -212,9 +212,10 @@ class USDExporter:
    for texture_id in tqdm.tqdm(range(self.model.ntex)):
      texture_height = self.model.tex_height[texture_id]
      texture_width = self.model.tex_width[texture_id]
-      pixels = 3 * texture_height * texture_width
+      texture_nchannel = self.model.tex_nchannel[texture_id]
+      pixels = texture_nchannel * texture_height * texture_width
      img = im.fromarray(
-          self.model.tex_rgb[data_adr : data_adr + pixels].reshape(
+          self.model.tex_data[data_adr : data_adr + pixels].reshape(
              texture_height, texture_width, 3
          )
      )