Rendering with custom environment lighting

[luciancosw]

Intro

Hi!

I am a researcher at discoverobotics, I use MuJoCo for my research on sim2real simulation.

My question

I am wondering if Mujoco supports loading a custom environment lighting (in the formats of HDR map or cube map) for rendering, just like the features in Blender. After searching in the doc I have not found the solution yet.

Thanks in advance!

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

We are working on adding this, but it's early days, likely early next year.

[MarcelTorne]

Hi, I'm wondering if this is implemented already? Thanks!

[yuvaltassa]

We now load KTX files, is that what you need?

https://mujoco.readthedocs.io/en/latest/XMLreference.html#asset-texture-content-type

[yuvaltassa]

cc @haroonq