mujoco

<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>