diff --git a/doc/changelog.rst b/doc/changelog.rst index 721d968a..b5cc4caf 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -13,23 +13,25 @@ General 3. Added sub-elements to the MJCF :ref:`material` element, to allow specification of multiple textures for rendering (e.g., :ref:`occlusion-roughness-metallic`). Note that the MuJoCo renderer doesn't support these new features, and they are made available for use with external renderers. +4. Increase texture and material limit back to 1000. 3.2.0 inadvertently reduced this limit to 100, breaking some + existing models (:github:issue:`1877`). MJX ^^^ -4. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs. -5. Added support for :ref:`fixed tendons `. -6. Added support for tendon length limits (``mjCNSTR_LIMIT_TENDON`` in :ref:`mjtConstraint`). -7. Added support for tendon equality constraints (``mjEQ_TENDON`` in :ref:`mjtEq`). -8. Added support for tendon actuator transmission (``mjTRN_TENDON`` in :ref:`mjtTrn`). +5. Added more fields to ``mjx.Model`` and ``mjx.Data`` for further compatibility with the corresponding MuJoCo structs. +6. Added support for :ref:`fixed tendons `. +7. Added support for tendon length limits (``mjCNSTR_LIMIT_TENDON`` in :ref:`mjtConstraint`). +8. Added support for tendon equality constraints (``mjEQ_TENDON`` in :ref:`mjtEq`). +9. Added support for tendon actuator transmission (``mjTRN_TENDON`` in :ref:`mjtTrn`). Python bindings ^^^^^^^^^^^^^^^ -9. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and +10. Added support for asset dictionary argument in ``mujoco.spec.from_file``, ``mujoco.spec.from_string`` and ``mujoco.spec.compile``. Bug fixes ^^^^^^^^^ -10. Fixed a bug where implicit integrators did not take into account disabled actuators (:github:issue:`1838`). +11. Fixed a bug where implicit integrators did not take into account disabled actuators (:github:issue:`1838`). Version 3.2.0 (Jul 15, 2024) ---------------------------- diff --git a/include/mujoco/mjrender.h b/include/mujoco/mjrender.h index 020ecc5d..ff9dbe34 100644 --- a/include/mujoco/mjrender.h +++ b/include/mujoco/mjrender.h @@ -22,8 +22,8 @@ extern "C" { #endif #define mjNAUX 10 // number of auxiliary buffers -#define mjMAXTEXTURE 100 // maximum number of textures -#define mjMAXMATERIAL 100 // maximum number of materials with textures +#define mjMAXTEXTURE 1000 // maximum number of textures +#define mjMAXMATERIAL 1000 // maximum number of materials with textures //---------------------------------- primitive types (mjt) ----------------------------------------- diff --git a/introspect/structs.py b/introspect/structs.py index 5c00f51e..1348f5a1 100644 --- a/introspect/structs.py +++ b/introspect/structs.py @@ -7967,7 +7967,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([ name='mat_texid', type=ArrayType( inner_type=ValueType(name='int'), - extents=(1000,), + extents=(10000,), ), doc='material texture ids (-1: no texture)', ), @@ -7975,7 +7975,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([ name='mat_texuniform', type=ArrayType( inner_type=ValueType(name='int'), - extents=(100,), + extents=(1000,), ), doc='texture repetition for 2d mapping', ), @@ -7983,7 +7983,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([ name='mat_texrepeat', type=ArrayType( inner_type=ValueType(name='int'), - extents=(200,), + extents=(2000,), ), doc='texture repetition for 2d mapping', ), @@ -7996,7 +7996,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([ name='textureType', type=ArrayType( inner_type=ValueType(name='int'), - extents=(100,), + extents=(1000,), ), doc='type of texture (mjtTexture) (ntexture)', ), @@ -8004,7 +8004,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([ name='texture', type=ArrayType( inner_type=ValueType(name='unsigned int'), - extents=(100,), + extents=(1000,), ), doc='texture names', ), diff --git a/unity/Runtime/Bindings/MjBindings.cs b/unity/Runtime/Bindings/MjBindings.cs index d5cf1a77..e9d70b2d 100644 --- a/unity/Runtime/Bindings/MjBindings.cs +++ b/unity/Runtime/Bindings/MjBindings.cs @@ -54,8 +54,8 @@ public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJPLUGIN_H_ = true; public const bool mjEXTERNC = true; public const bool THIRD_PARTY_MUJOCO_MJRENDER_H_ = true; public const int mjNAUX = 10; -public const int mjMAXTEXTURE = 100; -public const int mjMAXMATERIAL = 100; +public const int mjMAXTEXTURE = 1000; +public const int mjMAXMATERIAL = 1000; public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJSPEC_H_ = true; public const bool THIRD_PARTY_MUJOCO_INCLUDE_MJTHREAD_H_ = true; public const int mjMAXTHREAD = 128; @@ -5644,12 +5644,12 @@ public unsafe struct mjrContext_ { public fixed uint auxFBO_r[10]; public fixed uint auxColor[10]; public fixed uint auxColor_r[10]; - public fixed int mat_texid[1000]; - public fixed int mat_texuniform[100]; - public fixed int mat_texrepeat[200]; + public fixed int mat_texid[10000]; + public fixed int mat_texuniform[1000]; + public fixed int mat_texrepeat[2000]; public int ntexture; - public fixed int textureType[100]; - public fixed uint texture[100]; + public fixed int textureType[1000]; + public fixed uint texture[1000]; public uint basePlane; public uint baseMesh; public uint baseHField;