Merge remote-tracking branch 'upstream/main' into tendons

2024-07-04 15:10:29 -05:00
parent c79ae6f242 d029e4ff99
commit fcb247e35b
143 changed files with 7752 additions and 3408 deletions
@@ -247,7 +247,11 @@ class USDExporter:

    assert geom_name not in self.geom_names

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

    # handling meshes in our scene
    if geom.type == mujoco.mjtGeom.mjGEOM_MESH: