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Add support for ORM maps in mujoco file format plugin

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The ORM texture is a packed-channel map, with ambient occlusion in Red, roughness in Green, and metallic in Blue channel.

PiperOrigin-RevId: 772367369
Change-Id: I88a4dee2477daa1e3c0b00197bfbe2b276ba9937
This commit is contained in:
Google DeepMind
2025-06-17 01:44:17 -07:00
committed by Copybara-Service
parent e2e2932fe6
commit ea949f1cee
4 changed files with 104 additions and 23 deletions
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test/experimental/usd/plugins/mjcf/testdata/materials.xml
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@@ -2,11 +2,14 @@
<asset>
<texture name="diffuse_tex" file="textures/cube.png" type="2d" />
<texture name="normal_tex" file="textures/normal.png" type="2d" />
<texture name="orm_tex" file="textures/orm.png" type="2d" />
<material name="material_red" rgba="0.8 0 0 1" />
<material name="material_texture" texture="diffuse_tex" />
<material name="material_metallic" rgba="0.8 0 0 1" metallic="0.6"/>
<material name="material_layered">
<layer texture="diffuse_tex" role="rgb"/>
<layer texture="normal_tex" role="normal"/>
<layer texture="orm_tex" role="orm"/>
</material>
2d texture="diffuse" normal="normal" />
<mesh name="tetrahedron" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>