From 1608629d1cd9678fe21ef3dbf712a6f81f4e2c95 Mon Sep 17 00:00:00 2001
From: Tom Erez <etom@google.com>
Date: Mon, 22 Jul 2024 09:56:58 -0700
Subject: [PATCH] Allow multiple textures per material in MJCF.

PiperOrigin-RevId: 654795013
Change-Id: I7a0ba31f6ea19e52ddee51b36df72d3d15e439dd
---
 dm_control/mjcf/schema.xml | 47 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 47 insertions(+)

diff --git a/dm_control/mjcf/schema.xml b/dm_control/mjcf/schema.xml
index 5ef7c5df..56c61f88 100644
--- a/dm_control/mjcf/schema.xml
+++ b/dm_control/mjcf/schema.xml
@@ -909,6 +909,53 @@
             <attribute name="hflip" type="keyword" valid_values="false true"/>
             <attribute name="vflip" type="keyword" valid_values="false true"/>
           </attributes>
+          <children>
+            <element name="rgb" repeated="false">
+              <attributes>
+                <attribute name="texture" type="reference" required="false" reference_namespace="texture"/>
+              </attributes>
+            </element>
+            <element name="normal" repeated="false">
+              <attributes>
+                <attribute name="texture" type="reference" required="false" reference_namespace="texture"/>
+              </attributes>
+            </element>
+            <element name="occlusion" repeated="false">
+              <attributes>
+                <attribute name="texture" type="reference" required="false" reference_namespace="texture"/>
+              </attributes>
+            </element>
+            <element name="roughness" repeated="false">
+              <attributes>
+                <attribute name="texture" type="reference" required="false" reference_namespace="texture"/>
+              </attributes>
+            </element>
+            <element name="metallic" repeated="false">
+              <attributes>
+                <attribute name="texture" type="reference" required="false" reference_namespace="texture"/>
+              </attributes>
+            </element>
+            <element name="opacity" repeated="false">
+              <attributes>
+                <attribute name="texture" type="reference" required="false" reference_namespace="texture"/>
+              </attributes>
+            </element>
+            <element name="emissive" repeated="false">
+              <attributes>
+                <attribute name="texture" type="reference" required="false" reference_namespace="texture"/>
+              </attributes>
+            </element>
+            <element name="orm" repeated="false">
+              <attributes>
+                <attribute name="texture" type="reference" required="false" reference_namespace="texture"/>
+              </attributes>
+            </element>
+            <element name="rgba" repeated="false">
+              <attributes>
+                <attribute name="texture" type="reference" required="false" reference_namespace="texture"/>
+              </attributes>
+            </element>
+          </children>
         </element>
         <element name="hfield" repeated="true">
           <attributes>