File size: 1,558 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 | <mujoco model="mesh test">
<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" />
<texture name="emissive_tex" file="textures/emissive.png" type="2d" />
<texture name="occlusion_tex" file="textures/occlusion.png" type="2d" />
<texture name="roughness_tex" file="textures/roughness.png" type="2d" />
<texture name="metallic_tex" file="textures/metallic.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"/>
<layer texture="emissive_tex" role="emissive"/>
</material>
<material name="material_pbr_separate">
<layer texture="occlusion_tex" role="occlusion"/>
<layer texture="roughness_tex" role="roughness"/>
<layer texture="metallic_tex" role="metallic"/>
</material>
2d texture="diffuse" normal="normal" />
<mesh name="tetrahedron" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<body name="test_body">
<geom material="material_red" type="mesh" mesh="tetrahedron"/>
<geom material="material_texture" type="mesh" mesh="tetrahedron"/>
</body>
</worldbody>
</mujoco>
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