Extend texture support #27
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Adds texture support to the scene rendering layer. Plane geoms with a 2D material texture now render as a textured, double-sided quad whose UVs follow MuJoCo's texrepeat/texuniform semantics, instead of only the flat infinite grid. Untextured planes still render as the infinite reference grid; textured planes are routed through the mesh path in ViserMujocoScene._add_fixed_geometry. Infinite planes (size 0) fall back to a finite 20x20 textured quad. Spheres and ellipsoids with a cube map are sampled per the OpenGL cube-map spec MuJoCo uses for a geom (regular) cube texture (texcoords = geom-local position, faces stored right/left/up/down/front/back on +X/-X/+Y/-Y/+Z/-Z), baked into an equirectangular image and UV-mapped onto a lat-long sphere. Ellipsoids sample by their scaled local position to match MuJoCo. The cube-map box renderer shares the same per-face (s,t) math so box and sphere stay consistent; verified against MuJoCo's own EGL render. Translucent untextured geoms are split by color in group_geoms_by_visual_compat and given a PBR alphaMode=BLEND material, since trimesh exports per-vertex alpha as opaque. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
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Primarily renders 2D plane textures and cube maps on spheres/ellipsoids.
Plane geoms with a 2D material texture now render as a textured, double-sided quad whose UVs follow MuJoCo's texrepeat/texuniform semantics, instead of only the flat infinite grid. Untextured planes still render as the infinite reference grid; textured planes are routed through the mesh path in ViserMujocoScene._add_fixed_geometry.
Spheres and ellipsoids with a cube map are sampled per the OpenGL cube-map spec MuJoCo uses for a geom (regular) cube texture (texcoords = geom-local position, faces stored right/left/up/down/front/back on +X/-X/+Y/-Y/+Z/-Z), baked into an equirectangular image and UV-mapped onto a lat-long sphere. Ellipsoids sample by their scaled local position to match MuJoCo. The cube-map box renderer shares the same per-face (s,t) math so box and sphere stay consistent; verified against MuJoCo's own EGL render.
Translucent untextured geoms are split by color in group_geoms_by_visual_compat and given a PBR alphaMode=BLEND material, since trimesh exports per-vertex alpha as opaque.
Example
Original
Mjviser
Full scene